CN114197622B - Cover plate paving and retracting equipment - Google Patents
Cover plate paving and retracting equipment Download PDFInfo
- Publication number
- CN114197622B CN114197622B CN202111429995.XA CN202111429995A CN114197622B CN 114197622 B CN114197622 B CN 114197622B CN 202111429995 A CN202111429995 A CN 202111429995A CN 114197622 B CN114197622 B CN 114197622B
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- plate
- sliding
- mechanical arm
- cover plate
- support
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- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 230000015572 biosynthetic process Effects 0.000 claims abstract 3
- 238000001514 detection method Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000013011 mating Effects 0.000 claims 4
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 15
- 230000007246 mechanism Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F5/00—Sewerage structures
- E03F5/04—Gullies inlets, road sinks, floor drains with or without odour seals or sediment traps
- E03F5/06—Gully gratings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/12—Manhole shafts; Other inspection or access chambers; Accessories therefor
- E02D29/14—Covers for manholes or the like; Frames for covers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a trench cover plate paving and retracting device which comprises an AGV, wherein a mechanical arm is arranged on a vehicle body of the AGV, a fixed end of the mechanical arm is fixedly arranged on the vehicle body of the AGV, a movable end of the mechanical arm is connected with a grabbing clamp, the grabbing clamp comprises a support frame, the support frame is connected with the movable end of the mechanical arm, clamp bodies are respectively arranged at two opposite ends of the support frame, each clamp body comprises a guide rail and a slide plate which are matched with each other, the guide rails are fixedly arranged on the support frame, the slide plates are in sliding connection with the guide rails, a grapple is fixedly arranged on each slide plate, the two slide plates in the clamp bodies are respectively driven by cylinders to slide close to or away from each other, and a visual sensor and a proximity switch are further arranged on the support frame. The purpose is in order to provide a device is removed to cover plate formation, can conveniently mat formation and remove the receipts to the cover plate through this equipment, labour saving and time saving.
Description
Technical Field
The invention relates to automatic mechanical equipment, in particular to equipment for paving and removing a trench cover plate.
Background
The ditch cover plate is widely applied to different places such as municipal roads, garden facilities, residential communities, schools, stadiums and the like, paved above the ditch, and has various types for selection so as to adapt to different span load requirements. For different places, the use amount of the ditch cover plate is very huge, and when paving and withdrawing the ditch cover plate, the manual operation is basically carried out by workers at present, thereby being time-consuming and labor-consuming.
Disclosure of Invention
The invention aims to solve the technical problem of providing a device for paving and withdrawing a trench cover, which can conveniently pave and withdraw the trench cover, and is time-saving and labor-saving.
The invention discloses a trench cover plate paving and retracting device, which comprises an AGV, wherein a mechanical arm is arranged on a vehicle body of the AGV, a fixed end of the mechanical arm is fixedly arranged on the vehicle body of the AGV, a movable end of the mechanical arm is connected with a grabbing clamp, the grabbing clamp comprises a support frame, the support frame is connected with the movable end of the mechanical arm, clamp bodies are respectively arranged at two opposite ends of the support frame, each clamp body comprises a guide rail and a slide plate which are matched with each other, the guide rails are fixedly arranged on the support frame, the slide plates are connected onto the guide rails in a sliding manner, a grapple is fixedly arranged on each slide plate, the two slide plates in the clamp bodies slide close to or far away from each other respectively through cylinder driving actions, and a visual sensor and a proximity switch are further arranged on the support frame.
The invention discloses a trench cover plate paving and retracting device, wherein a supporting frame comprises a supporting flat plate and a supporting frame, the supporting frame comprises two vertical plates which are oppositely arranged, the lower ends of the two vertical plates are fixedly arranged on the supporting flat plate, a transverse plate is fixedly connected between the upper ends of the two vertical plates, the transverse plate is connected with the movable end of a mechanical arm through a self-adaptive structure, the two opposite ends of the top surface of the supporting flat plate are respectively provided with a clamp body, a guide rail and an air cylinder are fixedly arranged on the top surface of the supporting flat plate, strip-shaped through holes which are arranged in one-to-one correspondence with grappling hooks are formed in the supporting flat plate, the arrangement directions of the strip-shaped through holes and the guide rail are the same, the upper ends of the grappling hooks are fixedly arranged on a sliding plate, and the lower ends of the grappling hooks extend to the lower side of the supporting flat plate after passing through the corresponding strip-shaped through holes.
The invention relates to a trench cover plate paving and retracting device, wherein a convex plate is fixedly arranged on a transverse plate, the end head of the convex plate extends to the outer side of a support flat plate, the bottom of the end head of the convex plate is provided with a vision sensor, a proximity switch is fixedly arranged on the support flat plate, and the detection end of the proximity switch extends to the lower side of the support flat plate.
The invention relates to a trench cover plate paving and retracting device, wherein the concrete mode of driving a sliding plate through an air cylinder is as follows: the cylinder body of cylinder is fixed to be located on the top surface of supporting flat board, the cylinder is close to the middle part arrangement of supporting flat board, the piston rod fixedly connected with push-and-pull piece of cylinder, push-and-pull piece passes through connecting plate and slide fixed connection.
The invention relates to a trench cover plate paving and retracting device, wherein supporting plates on two opposite sides of a sliding plate are respectively provided with a support column, the support columns are arranged close to the middle of the supporting plates, and springs are connected between the support columns and the sliding plate.
The invention relates to a trench cover plate paving and retracting device, wherein the concrete mode that a strip-shaped through hole is formed in a supporting flat plate is as follows: the utility model discloses a bar through-hole, including support flat board, round through-hole, locating pin, axial arrangement's logical groove has been seted up on the outer peripheral face of locating pin, constitute jointly between logical groove and the inner wall of round through-hole the round through-hole.
The invention discloses a trench cover plate paving and retracting device, wherein a grapple comprises a top plate and a hook body which are fixedly connected, the lower end of the hook body is provided with a hook part, the top plate is fixedly connected to the bottom surface of a sliding plate, the hook body is positioned in a strip-shaped through hole, and the hook part of the hook body is arranged towards the middle part of a supporting flat plate.
The invention relates to a trench cover plate paving and retracting device, wherein two oppositely arranged grapples are fixedly arranged on a sliding plate, a connecting line between the two grapples on the same sliding plate is perpendicular to a guide rail, and two strip-shaped through holes are respectively formed at two ends of a supporting flat plate.
The invention relates to a trench cover plate paving and retracting device, wherein the concrete mode that a sliding plate is connected to a guide rail in a sliding way is as follows: the bottom surface of the sliding plate is fixedly provided with a sliding block, and the sliding block is connected to the guide rail in a sliding manner.
The invention discloses a trench cover plate paving and retracting device, wherein the self-adaptive structure is a joint bearing, the outer ring of the joint bearing is fixedly connected to a transverse plate, the inner ring of the joint bearing is fixedly connected to the movable end of a mechanical arm, and a control cabinet and a laser safety scanner are further arranged on the vehicle body of an AGV.
The invention is characterized in that when the invention is used, the AGV is placed at the position where the groove cover plate is required to be paved or withdrawn, then the grabbing clamp at the movable end of the mechanical arm is controlled to move towards the groove cover plate, then the accurate position of the groove cover plate is identified by the visual sensor, the grabbing clamp is controlled to be close to the groove cover plate, then the air cylinder drives the two sliding plates to slide away from each other, then the grabbing clamp is controlled to be kept away from each other, the groove cover plate is controlled to be in the grabbing position (at the moment, the groove cover plate is positioned between the grabs of the two sliding plates), in the process, the proximity switch detects whether the grabbing clamp is in the grabbing position, then the air cylinder drives the two sliding plates to slide close to each other until the grabs of the two sliding plates clamp the groove cover plate, and then the mechanical arm is controlled to pave or withdraw the groove cover plate to the required position. When the grabbing clamp releases the cover plate, the cylinder only needs to drive the two sliding plates to slide away from each other again, and therefore the cover plate can fall off from the position between the grabbers of the two sliding plates. Therefore, the invention can conveniently pave and retract the trench cover plate, and is time-saving and labor-saving.
The invention is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a perspective view of a gutter cover laying and removing apparatus of the present invention;
FIG. 2 is a perspective view of a gripping jig according to the present invention;
FIG. 3 is a further perspective view of the grasping jig according to the invention;
FIG. 4 is a top view of a gripping jig according to the present invention;
FIG. 5 is a perspective view of the invention after the gripping clamp conceals the slide;
FIG. 6 is a top view of the invention after the gripping jigs are hidden;
FIG. 7 is a perspective view of a skateboard in accordance with the present invention;
FIG. 8 is a further perspective view of the skateboard of the present invention;
FIG. 9 is a diagram showing the relative positions of the grapple and the locating pin (the hook portion of the grapple is located in the locating pin) according to the present invention;
FIG. 10 is a diagram showing the relative positions of the grapple and the locating pin (the grapple is positioned outside the locating pin) according to the present invention;
FIG. 11 is a schematic view of a positioning pin according to the present invention;
fig. 12 is a schematic view of the structure of the grapple in the present invention.
Detailed Description
As shown in fig. 1 and combined with fig. 2-12, the trench cover plate paving and retracting device comprises an AGV, wherein a mechanical arm 3 is arranged on a vehicle body 1 of the AGV, a fixed end of the mechanical arm 3 is fixedly arranged on the vehicle body 1 of the AGV, a movable end of the mechanical arm 3 is connected with a grabbing clamp 2, the grabbing clamp 2 comprises a support frame, the support frame is connected with the movable end of the mechanical arm 3, clamp bodies are respectively arranged at two opposite ends of the support frame, each clamp body comprises a guide rail 16 and a sliding plate 14 which are matched with each other, the guide rails 16 are fixedly arranged on the support frame, the sliding plates 14 are slidably connected onto the guide rails 16, a grabbing hook 17 is fixedly arranged on each sliding plate 14, the sliding plates 14 in the two clamp bodies are respectively driven to slide close to or away from each other through an air cylinder 12, and a visual sensor 11 and a proximity switch 21 are further arranged on the support frame.
When the automatic gripping device is used, an AGV is placed at a position where a groove cover plate 6 needs to be paved or retracted, then the gripping clamp 2 at the movable end of the mechanical arm 3 is controlled to move towards the groove cover plate 6, then the accurate position of the groove cover plate 6 is identified by the visual sensor 11, the gripping clamp 2 is continuously controlled to approach the groove cover plate 6, then the air cylinder 12 drives the two sliding plates 14 to slide away from each other, then the gripping clamp 2 is continuously controlled to reach the gripping position (at the moment, the groove cover plate 6 is positioned between the gripping hooks 17 of the two sliding plates 14), in the process, the proximity switch 21 detects whether the gripping clamp 2 reaches the gripping position, then the air cylinder 12 drives the two sliding plates 14 to slide close to each other until the gripping hooks 17 of the two sliding plates 14 clamp the groove cover plate 6, and then the mechanical arm 3 is controlled to pave or retract the groove cover plate 6 to the required position. When the gripping jig 2 releases the cover plate 6, the cylinder 12 is required to drive the two slide plates 14 to slide away from each other again, so that the cover plate 6 can be released from between the hooks 17 of the two slide plates 14. Therefore, the invention can conveniently pave and retract the trench cover plate 6, and saves time and labor.
As shown in fig. 2 and combined with fig. 3-6, the trench cover plate paving and retracting device of the invention comprises a supporting flat plate 23 and a supporting frame, wherein the supporting frame comprises two opposite vertical plates 7, the lower ends of the two vertical plates 7 are fixedly arranged on the supporting flat plate 23, a transverse plate 8 is fixedly connected between the upper ends of the two vertical plates 7, the transverse plate 8 is connected with the movable end of the mechanical arm 3 through a self-adaptive structure, the opposite ends of the top surface of the supporting flat plate 23 are respectively provided with the clamp body, the guide rail 16 and the air cylinder 12 are fixedly arranged on the top surface of the supporting flat plate 23, strip-shaped through holes which are arranged in one-to-one correspondence with the grapple hooks 17 are arranged on the supporting flat plate 23, the arrangement directions of the strip-shaped through holes and the guide rail 16 are the same, the upper ends of the grapple hooks 17 are fixedly arranged on the sliding plate 14, and the lower ends of the grapple hooks 17 penetrate through the corresponding strip-shaped through holes and then extend to the lower part of the supporting flat plate 23.
The self-adaptive structure is a joint bearing 9, the outer ring of the joint bearing 9 is fixedly connected to the transverse plate 8, and the inner ring of the joint bearing 9 is fixedly connected to the movable end of the mechanical arm 3. When the grabbing clamp 2 grabs the trench cover plate 6, after the grabbing clamp 2 is in initial contact with the trench cover plate 6, the grabbing clamp 2 can adjust the posture of the grabbing clamp through the self-adaptive structure so as to adapt to the placement posture of the trench cover plate 6, and therefore grabbing of the trench cover plate 6 by the grabbing clamp 2 is facilitated.
In this embodiment, the support plate 23 is a rectangular plate, and the two clamp bodies are respectively disposed at two ends of the support plate 23 in the length direction, and the guide rail 16 is disposed along the length direction of the support plate 23.
As shown in fig. 2, and in conjunction with fig. 3-6, the slide plate 14 is driven by the cylinder 12 in the following specific manner: the cylinder body of the cylinder 12 is fixedly arranged on the top surface of the supporting flat plate 23, the cylinder 12 is arranged near the middle part of the supporting flat plate 23, a piston rod 24 of the cylinder 12 is fixedly connected with a push-pull block 25, and the push-pull block 25 is fixedly connected with the sliding plate 14 through the connecting plate 13.
Since the cylinders 12 in both the clamp bodies are arranged near the middle of the support plate 23, when the piston rods 24 of the cylinders 12 extend, the two slide plates 14 slide toward the both end portions of the support plate 23, respectively, that is, the two slide plates 14 slide away from each other; conversely, when the piston rod 24 of the cylinder 12 is retracted, both slide plates 14 slide toward the middle of the support plate 23, i.e., the slide plates 14 slide closer to each other. For each clamp body, there are two cylinders 12, the two cylinders 12 are arranged side by side, and the piston rods 24 of the two cylinders 12 are fixedly connected with the push-pull block 25.
Since the grapple 17 is fixedly provided on each slide plate 14, when the two slide plates 14 slide away from or close to each other, the grapple 17 on the two slide plates 14 also moves away from or close to each other at the same time, and when the grapple 17 moves, it moves along the corresponding bar-shaped through hole. When gripping the cover plate 6, the grapples 17 on the two slide plates 14 are moved closer to each other until the lower ends of the grapples 17 on the two slide plates 14 grip the cover plate 6, and at this time, the cover plate 6 gripped by the grapples 17 is also positioned below the support plate 23 since the lower ends of the grapples 17 are positioned below the support plate 23.
As shown in fig. 2, and in combination with fig. 3-6, the device for spreading and removing a trench cover according to the present invention is characterized in that a convex plate 10 is fixedly disposed on the transverse plate 8, the end of the convex plate 10 extends to the outer side of the supporting plate 23, and the bottom of the end of the convex plate 10 is provided with the vision sensor 11. The ends of the boss 10 are extended beyond the support plate 23 to prevent the support plate 23 from blocking the visual sensor 11 from recognizing the cover plate 6. The proximity switch 21 is fixedly arranged on the support plate 23, and the detection end of the proximity switch 21 extends to the lower side of the support plate 23. The support plate 23 is provided with a through hole for mounting the proximity switch 21, and the proximity switch 21 may be mounted in the through hole with its detection end facing downward.
When the grabbing clamp 2 grabs the groove cover plate 6, the visual sensor 11 is used for identifying the position of the groove cover plate 6 and transmitting a signal to the control mechanism, and the control mechanism controls the mechanical arm 3 to act so as to enable the grabbing clamp 2 to move towards the position of the groove cover plate 6; the proximity switch 21 is used for measuring the distance between the cover plate 6 and the supporting flat plate 23, when the distance between the cover plate 6 and the supporting flat plate reaches the grabbing distance, the proximity switch 21 transmits a signal to the control mechanism, then the control mechanism controls the movable end of the mechanical arm 3 to stop moving, and then the piston rod 24 of the cylinder 12 is controlled to retract so that the grabbing hooks 17 clamp the cover plate 6.
As shown in fig. 2, and in combination with fig. 3 and 4, the device for spreading and removing a trench cover according to the present invention is characterized in that a support 22 is respectively provided on the support plates 23 on opposite sides of the sliding plate 14, the support 22 is disposed near the middle of the support plate 23, and a spring 20 is connected between the support 22 and the sliding plate 14. When the spring 20 is installed, a certain pre-tightening force exists in the spring 20, and due to the fact that the strut 22 is arranged near the middle of the supporting flat plate 23, under the pre-tightening force of the spring 20, even if the air cylinder 12 breaks down, the two sliding plates 14 can slide from a position far away from each other to a position near each other (namely, the two sliding plates 14 slide from two ends of the supporting flat plate 23 to a position near the middle), and are maintained at the position. In this way, after the catch hooks 17 clamp the cover plate 6, even if the air cylinder 12 cannot provide clamping force due to air passage failure, the catch hooks 17 on the two sliding plates 14 can clamp the cover plate 6 under the tensile force of the springs 20, so that the phenomenon that the cover plate 6 falls off due to the air cylinder 12 failure can be avoided, and the safety of the invention is further improved.
As shown in fig. 2, and in combination with fig. 3, 5, 9-12, the trench cover plate paving and retracting device of the present invention, wherein the specific manner of forming the strip-shaped through holes on the supporting plate 23 is as follows: the supporting plate 23 is provided with circular through holes which are arranged in one-to-one correspondence with the grapples 17, the positioning pins 18 are fixedly arranged in the circular through holes, the lower ends of the positioning pins 18 extend to the lower side of the supporting plate 23, the outer peripheral surface of the positioning pins 18 is provided with through grooves 29 which are axially arranged, and the through grooves 29 and the inner walls of the circular through holes jointly form the strip-shaped through holes.
As shown in fig. 9, and in combination with fig. 10 to 12, the trench cover laying and removing device of the present invention, wherein the grapple 17 comprises a top plate 26 and a hook body 27 which are fixedly connected, a hook portion 28 is provided at the lower end of the hook body 27, the top plate 26 is fixedly connected to the bottom surface of the slide plate 14, the hook body 27 is located in the strip-shaped through hole, and the hook portion 28 of the hook body 27 is disposed toward the middle of the supporting plate 23.
Under the driving of the cylinder 12, when the two slide plates 14 slide away from each other (i.e., when the two slide plates 14 slide from the position near the middle of the support plate 23 to the two ends), the hook portion 28 at the lower end of each grapple 17 enters into the through groove 29 of the corresponding positioning pin 18, respectively, so that the two slide plates 14 slide close to each other (i.e., when the two slide plates 14 slide from the two ends of the support plate 23 to the middle position) when the two slide plates 6 are gripped by the cylinder 12, the hook portions 28 at the lower ends of the two slide plates 14 can smoothly insert into the circular holes 19 of the corresponding positioning pins 6 (because the gripping clamp 2 and the movable ends of the mechanical arm 3 are connected by the knuckle bearing 9, when the positioning pins 18 are inserted into the circular holes 19 of the corresponding slide plates 6, the insertion angle of the positioning pins 18 can be automatically adjusted by the knuckle bearing 9, thereby ensuring smooth insertion), and when the positioning pins 18 are inserted into the appropriate positions in the circular holes 19 of the corresponding slide plates 6 (the positions measured by the proximity switch 21), the cylinder 12 drives the two slide plates 14 to slide away from each other (i.e., the two slide plates 14 slide from the two ends of the support plate 23 to the middle position) so that the hooks 17 on the two slide plates 17 come out of the corresponding to the corresponding positions of the corresponding positioning pins 18. Since the hook portion 28 of the hook body 27 is disposed toward the middle of the support plate 23, the hook portion 28 abuts against the bottom surface of the cover plate 6 when the grapple 17 clamps the cover plate 6.
As shown in fig. 2, and in combination with fig. 3-6, the trench cover plate paving and retracting device of the present invention is characterized in that two oppositely arranged grapples 17 are fixedly arranged on the slide plate 14, a connecting line between the two grapples 17 on the same slide plate 14 is perpendicular to the guide rail 16, and two strip-shaped through holes are respectively formed at two ends of the support flat plate 23. The two bar-shaped through holes at each end of the support plate 23 are arranged in one-to-one correspondence with the two grapples 17 on the slide plate 14 at that end.
As shown in fig. 2, and in combination with fig. 3-8, the gutter cover laying and removing device of the present invention, wherein the sliding plate 14 is slidably connected to the guide rail 16 in the following specific manner: a sliding block 15 is fixedly arranged on the bottom surface of the sliding plate 14, and the sliding block 15 is connected to the guide rail 16 in a sliding manner. Two guide rails 16 corresponding to each slide plate 14 are provided, and two sliding blocks 15 are connected to each guide rail 16 in a sliding manner.
As shown in FIG. 1, the AGV body 1 is also provided with a control cabinet 5 and a laser safety scanner 30. The control cabinet 5 is used for arranging a control mechanism, the laser safety scanner 30 can scan a safety light curtain 4 between the control cabinet 5 and the mechanical arm 3 when being started, the safety light curtain 4 divides the upper part of the AGV body 1 into a mechanical arm area and an operation area, an operator can stand or sit in the operation area to control the work of the invention in actual use (when the operator sits in the operation area, the operation area is provided with a seat as a driving position of the operator), the safety light curtain 4 plays a role in protecting the safety light curtain 4, the mechanical arm 3 is prevented from entering the operation area by accident or fault to endanger equipment and the safety of the operator (when the mechanical arm 3 passes through the safety light curtain 4 and enters the operation area from the mechanical arm area, the laser safety scanner 30 transmits a signal to the control mechanism, and the control mechanism stops the mechanical arm 3 to execute corresponding actions after receiving the signal, so that the equipment and the operator in the operation area are protected), and the operator can operate outside the equipment through a remote controller or an automatic control program.
In use, the AGV is placed at a position where the cover plate 6 is required to be paved or withdrawn, then the grabbing clamp 2 at the movable end of the mechanical arm 3 is controlled to move towards the cover plate 6, then the vision sensor 11 is used for identifying the accurate position of the cover plate 6 (such as the position of the round hole 19 of the cover plate 6), then the cylinder 12 continues to control the grabbing clamp 2 to approach the cover plate 6, then the cylinder 12 drives the two sliding plates 14 to slide away from each other (the hook part 28 of the grabbing hook 17 enters the through groove 29 of the corresponding positioning pin 18 in the process), then the grabbing clamp 2 is controlled to reach the grabbing position (namely the positioning pin 18 is inserted into the round hole 19 of the cover plate 6, at the moment, the cover plate 6 is positioned between the grabbing hooks 17 of the two sliding plates 14), the approach switch 21 detects whether the grabbing clamp 2 reaches the grabbing position, and then the cylinder 12 drives the two sliding plates 14 to slide close to each other, so that the hook part 28 of the grabbing hook 17 can come out of the through groove 29 of the corresponding positioning pin 18 until the two sliding plates 14 clamp the hook part 28 to clamp the cover plate 6 (the hook part 17 is clamped by the hook part 28 of the positioning pin 18) to the bottom surface of the cover plate 6, and then the mechanical arm 6 is paved or withdrawn to the position where the cover plate 6 is required to be clamped. When the gripping jig 2 releases the cover plate 6, the cylinder 12 is required to drive the two slide plates 14 to slide away from each other again (in this case, the hook portions 28 of the gripping hooks 17 are again inserted into the through grooves 29 of the corresponding positioning pins 18, that is, the gripping hooks 17 are no longer gripping the cover plate 6), so that the cover plate 6 can be released from between the gripping hooks 17 of the two slide plates 14, that is, the cover plate 6 is separated from the positioning pins 18. Therefore, the invention can conveniently pave and retract the trench cover plate 6, and saves time and labor.
The AGV in the invention adopts the intelligent omnidirectional mobile vehicle body 1, and can realize omnidirectional mobile, automatic navigation and accurate positioning. The mechanical arm 3 adopts a five-degree-of-freedom industrial mechanical arm, and the movable end of the mechanical arm 3 is additionally provided with the grabbing clamp 2, so that automatic identification and automatic grabbing of the trench cover plate 6 are realized.
It should be noted that, the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. The utility model provides a ditch cover board is mated formation and is removed receipts equipment which characterized in that: the automatic gripping device comprises an AGV, a mechanical arm is arranged on a vehicle body of the AGV, a fixed end of the mechanical arm is fixedly arranged on the vehicle body of the AGV, a movable end of the mechanical arm is connected with a gripping fixture, the gripping fixture comprises a support frame, the support frame is connected with the movable end of the mechanical arm, two opposite ends of the support frame are respectively provided with a fixture body, the fixture bodies comprise mutually matched guide rails and sliding plates, the guide rails are fixedly arranged on the support frame, the sliding plates are slidably connected onto the guide rails, a grapple is fixedly arranged on the sliding plates, the two sliding plates in the fixture bodies respectively slide close to or far away from each other through cylinder driving actions, the support frame is also provided with a visual sensor and a proximity switch,
the support frame comprises a support flat plate and a support frame, the support frame comprises two vertical plates which are oppositely arranged, the lower ends of the two vertical plates are fixedly arranged on the support flat plate, a transverse plate is fixedly connected between the upper ends of the two vertical plates and connected with the movable end of the mechanical arm through a self-adaptive structure, the opposite ends of the top surface of the support flat plate are respectively provided with a clamp body, the guide rail and the air cylinder are fixedly arranged on the top surface of the support flat plate, the support flat plate is provided with strip-shaped through holes which are in one-to-one correspondence with the grapple hooks, the strip-shaped through holes are identical to the arrangement direction of the guide rail, the upper ends of the grapple hooks are fixedly arranged on the sliding plate, the lower ends of the grapple hooks extend to the lower side of the support flat plate after penetrating through the corresponding strip-shaped through holes,
the support plates on the two opposite sides of the sliding plate are respectively provided with a support column, the support columns are arranged close to the middle part of the support plate, a spring is connected between the support columns and the sliding plate,
the supporting flat plate is provided with round through holes which are arranged in one-to-one correspondence with the grapples, the round through holes are internally and fixedly provided with positioning pins, the lower ends of the positioning pins extend to the lower part of the supporting flat plate, the outer peripheral surface of the positioning pins is provided with through grooves which are axially arranged, the through grooves and the inner walls of the round through holes jointly form the strip-shaped through holes,
the grapple comprises a top plate and a hook body which are fixedly connected, wherein the lower end of the hook body is provided with a hook part, the top plate is fixedly connected to the bottom surface of the sliding plate, the hook body is positioned in the strip-shaped through hole, and the hook part of the hook body is arranged towards the middle of the supporting plate.
2. The gutter cover mating removal apparatus of claim 1, wherein: the automatic detection device is characterized in that a convex plate is fixedly arranged on the transverse plate, the end head of the convex plate extends to the outer side of the supporting plate, the bottom of the end head of the convex plate is provided with the vision sensor, the proximity switch is fixedly arranged on the supporting plate, and the detection end of the proximity switch extends to the lower side of the supporting plate.
3. The gutter cover paving retraction device according to claim 2, wherein the specific manner in which the slide is driven by the cylinder is: the cylinder body of cylinder is fixed to be located on the top surface of supporting flat board, the cylinder is close to the middle part arrangement of supporting flat board, the piston rod fixedly connected with push-and-pull piece of cylinder, push-and-pull piece passes through connecting plate and slide fixed connection.
4. A gutter cover mating removal apparatus as claimed in claim 3, wherein: the sliding plate is fixedly provided with two oppositely arranged grapples, a connecting line between the two grapples on the same sliding plate is perpendicular to the guide rail, and two strip-shaped through holes are respectively formed in two ends of the supporting plate.
5. A gutter cover mating removal apparatus as claimed in claim 4, wherein said slide is slidably connected to said guide rail in the following manner: the bottom surface of the sliding plate is fixedly provided with a sliding block, and the sliding block is connected to the guide rail in a sliding manner.
6. The gutter cover mating removal apparatus of claim 5, wherein: the self-adaptive structure is a joint bearing, the outer ring of the joint bearing is fixedly connected to the transverse plate, the inner ring of the joint bearing is fixedly connected to the movable end of the mechanical arm, and a control cabinet and a laser safety scanner are further arranged on the vehicle body of the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429995.XA CN114197622B (en) | 2021-11-29 | 2021-11-29 | Cover plate paving and retracting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429995.XA CN114197622B (en) | 2021-11-29 | 2021-11-29 | Cover plate paving and retracting equipment |
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| CN114197622A CN114197622A (en) | 2022-03-18 |
| CN114197622B true CN114197622B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111429995.XA Active CN114197622B (en) | 2021-11-29 | 2021-11-29 | Cover plate paving and retracting equipment |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114803973B (en) * | 2022-06-07 | 2023-07-25 | 北京市政路桥管理养护集团有限公司 | Device and method for installing trench cover plate |
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| CN105839569A (en) * | 2016-04-01 | 2016-08-10 | 山东国兴智能科技有限公司 | Methods for cleaning, mounting and recovering well lids in communities or on municipal roads by intelligent robot |
| CN106892362A (en) * | 2016-05-11 | 2017-06-27 | 李刚 | Boom hoisting |
| CN109141168A (en) * | 2018-10-26 | 2019-01-04 | 上海应用技术大学 | A kind of locating and detecting device of deep trouth sheet metal component |
| CN111230834A (en) * | 2020-02-12 | 2020-06-05 | 浙江工业职业技术学院 | Cable fault inspection device snatchs mechanism |
| CN213085418U (en) * | 2020-07-20 | 2021-04-30 | 云南恒诺机电安装有限责任公司 | Trench cover plate carrier |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120061632A1 (en) * | 2010-09-13 | 2012-03-15 | Panio Michael T | Hydraulic Lifting Apparatus |
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- 2021-11-29 CN CN202111429995.XA patent/CN114197622B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105839569A (en) * | 2016-04-01 | 2016-08-10 | 山东国兴智能科技有限公司 | Methods for cleaning, mounting and recovering well lids in communities or on municipal roads by intelligent robot |
| CN106892362A (en) * | 2016-05-11 | 2017-06-27 | 李刚 | Boom hoisting |
| CN109141168A (en) * | 2018-10-26 | 2019-01-04 | 上海应用技术大学 | A kind of locating and detecting device of deep trouth sheet metal component |
| CN111230834A (en) * | 2020-02-12 | 2020-06-05 | 浙江工业职业技术学院 | Cable fault inspection device snatchs mechanism |
| CN213085418U (en) * | 2020-07-20 | 2021-04-30 | 云南恒诺机电安装有限责任公司 | Trench cover plate carrier |
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| CN114197622A (en) | 2022-03-18 |
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