CN-122008297-A - Vehicle-mounted manipulator for curb installation

CN122008297ACN 122008297 ACN122008297 ACN 122008297ACN-122008297-A

Abstract

The invention discloses a curb stone mounting vehicle-mounted manipulator, which belongs to the technical field of building machinery and comprises a vehicle body, wherein the vehicle body comprises a vehicle frame, travelling mechanisms are arranged at two ends in the vehicle frame, cameras and radars are arranged around the vehicle frame, a battery compartment is arranged in the middle of the vehicle frame, batteries are arranged in the battery compartment, telescopic side supports are arranged at two sides of the vehicle frame, a vehicle plate is arranged at the upper end of the vehicle frame, a curb stone stacking area, arms and a controller are sequentially arranged on the vehicle plate, the arms comprise upright posts, a cross beam capable of being adjusted up and down is arranged on the upright posts, a slidable supporting arm is connected to the cross beam, a pull arm with adjustable height is arranged at the end part of the supporting arm, and rotatable clamping jaws are arranged at the bottom of the pull arm.

Inventors

LIU FENG
NIU ZHIXIN
XU GENG
LI JIANG
LI MENG
LI ZHUANGZHUANG
WEI PENG
XING YUJIAO
ZHAO YANTAO
SONG LEI

Assignees

济南城建集团有限公司
辽宁协尔智能光电有限公司

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (10)

1. The vehicle-mounted manipulator for mounting the curb stone comprises a vehicle body and is characterized in that the vehicle body comprises a vehicle frame, travelling mechanisms are arranged at two ends in the vehicle frame, cameras and radars are arranged around the vehicle frame, a battery compartment is arranged in the middle of the vehicle frame, batteries are arranged in the battery compartment, telescopic side supports are arranged at two sides of the vehicle frame, a vehicle plate is arranged at the upper end of the vehicle frame, a curb stacking area, an arm and a controller are sequentially arranged on the vehicle plate, the arm comprises a stand column, a cross beam capable of being adjusted up and down is arranged on the stand column, a slidable supporting arm is connected to the cross beam, a pull arm with adjustable height is arranged at the end part of the supporting arm, a rotatable clamping jaw is arranged at the bottom of the pull arm, and the clamping jaw is used for carrying the curb stone.
2. The kerbstone mounting vehicle-mounted manipulator of claim 1, wherein the travelling mechanism comprises a supporting frame, the middle part of the supporting frame is connected with a frame through a rotating shaft, two ends of the supporting frame are provided with fixed plates, wheels are arranged below the fixed plates, wheel seats of the wheels are connected with the fixed plates through wheel shafts, second gears connected with the fixed plates are sleeved on the outer sides of the wheel shafts, first motors for driving the wheels are arranged on the side walls of the wheel seats, second motors are arranged at the bottoms of the wheel seats, first gears meshed with the second gears are connected to output shafts of the second motors, limiting plates positioned above the supporting frame are arranged on the side walls of the frame, and shock absorption pads matched with the limiting plates are arranged at the upper ends of the supporting frame.
3. The on-vehicle manipulator of claim 1, further comprising a positioning mechanism for determining the placing position of the curb, wherein the positioning mechanism comprises a base plate, a second clamping plate is arranged at one end of the base plate, a first clamping plate capable of sliding is sleeved at the other end of the base plate, a first locking bolt is arranged on the first clamping plate, a parallel guide rod is connected to one side of the base plate, a positioning plate is sleeved on the guide rod, a second locking bolt is arranged on the side wall of the positioning plate, a spacer block positioned between two curbs is arranged at the upper end of the positioning plate, a support rod and a datum line for positioning the placing position of the curb are arranged at the upper end of the vehicle plate, and a positioning groove for placing the curb is arranged at the upper end of the support rod.
4. The kerbstone mounting vehicle-mounted manipulator of claim 1, wherein the opening of the battery compartment is provided with a gland for fixing the battery, the side wall of the frame is provided with a mounting groove, and the side wall of the gland is provided with a pressing block for fixing the battery and a pressing plate matched with the mounting groove.
5. The kerbstone mounting vehicle-mounted manipulator of claim 1, wherein the side support comprises a support leg and a first screw rod fixed in the frame, a third motor is arranged at one end of the first screw rod, a guide sleeve is arranged at the upper end of the frame, a telescopic rod matched with the guide sleeve is arranged at the upper end of the support leg, a first nut sleeve matched with the first screw rod is arranged on the side wall of the telescopic rod, and a universal wheel is arranged at the lower end of the support leg.
6. The curb installation vehicle-mounted manipulator of claim 1, wherein the lower end of the upright post is provided with a base, a motor for driving the upright post to rotate is arranged in the base, a guide groove is arranged on the side wall of the base, a second screw rod is arranged in the guide groove, the upper end of the upright post is provided with a fourth motor for driving the second screw rod, the side wall of the cross beam is provided with a lifting sleeve sleeved on the outer side of the upright post, the inner wall of the lifting sleeve is provided with a guide block matched with the guide groove, and a second nut sleeve matched with the second screw rod is fixed in the guide block.
7. The kerbstone mounting vehicle-mounted manipulator of claim 6, wherein a slide bar is arranged at the upper end of the cross beam, a third screw rod is arranged at the lower end of the cross beam, a fifth motor is arranged at one end of the third screw rod, a guide rail is arranged on the side wall of the cross beam, the support arm comprises a support sleeve, one end of the support sleeve is connected with a slide block matched with the guide rail, an upper hook block matched with the slide bar is arranged at the upper end of the slide block, a driving block matched with the third screw rod is arranged at the lower end of the slide block, a proximity switch for detecting the driving block is arranged below the third screw rod, a support rod is inserted at the other end of the support sleeve, and a first hydraulic cylinder for driving the support rod is arranged at the upper end of the support sleeve.
8. A kerbstone mounting vehicle-mounted manipulator as in claim 7, wherein a fourth screw rod and a sixth motor for driving the fourth screw rod are arranged in the supporting rod, an inner supporting rod matched with the fourth screw rod is inserted into the end part of the supporting rod, an opening is formed in one side of the pulling arm, a pulling hole is formed in the other side of the pulling arm, a fifth screw rod is arranged in the pulling arm, a seventh motor for driving the fifth screw rod is arranged at the upper end of the pulling arm, a supporting block matched with the opening is arranged at the end part of the inner supporting rod, the supporting block is in threaded fit with the fifth screw rod, a positioning block matched with the pulling hole is arranged on the side wall of the supporting block, a pulling plate attached to the outer side of the pulling arm is arranged at the end part of the positioning block, a supporting plate is connected to the lower end of the pulling arm, a rotary table connected with the clamping jaw is arranged at the bottom of the supporting plate, an eighth motor for driving the rotary table is arranged at the upper end of the supporting plate, and an industrial camera is arranged on the side wall of the pulling arm.
9. The kerbstone mounting vehicle-mounted manipulator of claim 6, wherein the clamping jaw comprises transversely arranged I-steel, the middle part of the I-steel is connected with the turntable, clamping sleeves are arranged at two ends of the I-steel, two clamping rods for clamping the I-steel are arranged on the side wall of the clamping sleeve, a limiting hole is arranged on the side wall of the I-steel, a limiting bolt matched with the limiting hole is connected between the two clamping rods, a second hydraulic cylinder for driving the clamping sleeve is arranged at the upper end of the I-steel, a clamping plate is connected with the lower end of the clamping sleeve through a clamping rod, a positioning bolt for fixing the clamping rod is arranged on the side wall of the clamping sleeve, a holding rod is arranged on the side wall of the clamping plate, and a bracket is arranged at the upper end of the holding rod.
10. The kerbstone mounting vehicle-mounted manipulator of claim 8, wherein a supporting seat is arranged at the upper end of the vehicle plate, the base is connected with the supporting seat through a driving shaft, a ninth motor connected with the driving shaft is fixed on the side wall of the supporting seat, one side of the sliding block is connected with an arc-shaped rail, a track hole is formed in the middle of the arc-shaped rail, the end portion of the supporting sleeve is positioned in the track hole, a clamping groove matched with the arc-shaped rail is formed in the side wall of the supporting sleeve, a rack is arranged on the side wall of the arc-shaped rail, a driving gear meshed with the rack is arranged on one side of the supporting sleeve, a motor connected with the driving gear is arranged in the supporting sleeve, and a tenth motor for driving the supporting block to rotate is fixed in the end portion of the supporting rod.

Description

Vehicle-mounted manipulator for curb installation Technical Field The invention relates to the technical field of building machinery, in particular to a curb stone installation vehicle-mounted manipulator. Background The kerbstone (also called kerbstone, curb stone) is used as an indispensable boundary member in urban roads, highways and landscapes, and has the core functions of clearly defining different functional areas such as a roadway, a sidewalk, a green belt and the like, and has the functions of guiding drainage, protecting the edges of the pavement and improving the overall landscape effect. Therefore, the paving of the curb is a critical and huge-process operation in road construction. At present, although paving construction of the curb stone is practiced for many years, a core operation mode of the curb stone still depends on a mode of combining manual operation with simple mechanical assistance, the automation degree and the intelligent degree are extremely low, and a series of industry pain points which cannot be effectively solved for a long time exist. A typical construction process is one in which a batch of curbs are first transported by a cargo truck to a construction site and removed near the subgrade, and then, by means of a simple tool such as a hand-push transfer cart, the workers are transported short-distance by short-distance to the design paving line site, typically requiring at least 3-4 workers to cooperate. The above conventional operation mode has the following drawbacks: The labor intensity is extremely high, the labor cost and the dependence degree are extremely high, the carrying and the installation of the curb are typical repeated heavy physical labor, and the labor intervention of the whole process with high intensity causes huge demands of construction teams on strong labor and high labor cost. The construction efficiency is low, the construction period guarantee capability is weak, the working procedure chain is long, the connection is loose, and the natural bottleneck exists in the pure manual operation speed from unloading and secondary carrying to multi-person cooperative installation. Factors such as bad weather and fatigue of workers further influence the progress, and strict requirements of modern infrastructure construction projects on a compact construction period are difficult to meet. The safety risk is outstanding, the occupational health damage is serious, and the frequent freehand or simple tool handling of heavy objects and the installation process of dense cooperation of multiple people are extremely easy to cause the safety accidents such as musculoskeletal injury, collision injury and the like. The long-term working of such operations is a great hazard to the occupational health of workers. Therefore, an integrated and mobile special conveying device is needed to improve the overall operation efficiency and safety. Disclosure of Invention The invention aims at the defects in the prior art, provides a curb installation vehicle-mounted manipulator, and realizes the fundamental transition from 'manpower intensive' to 'technology intensive' construction modes. The method has very positive and obvious technical effects in the aspects of efficiency, safety, adaptability, economy and the like. In order to achieve the above purpose, the present invention provides the following technical solutions: The utility model provides a curb installation vehicle-mounted manipulator, which comprises a vehicle body, the automobile body includes the frame, both ends in the frame are equipped with running gear, all be equipped with camera and radar around the frame, the middle part of frame is equipped with the battery compartment, install the battery in the battery compartment, the both sides of frame are equipped with telescopic side support, the upper end of frame is equipped with the sweep, be equipped with curb pile up neatly district on the sweep in proper order, arm and controller, the arm includes the stand, be equipped with the crossbeam that can adjust from top to bottom on the stand, connect the slidable support arm on the crossbeam, the tip of support arm is equipped with highly adjustable arm, the bottom of arm is equipped with rotatable clamping jaw, the clamping jaw is used for carrying the curb. Preferably, the running gear includes the carriage, the middle part of carriage is connected with the frame through the pivot, the both ends of carriage are equipped with the fixed plate, the below of fixed plate is equipped with the wheel, the wheel seat of wheel is connected with the fixed plate through the shaft, the outside cover of shaft has the second gear of being connected with the fixed plate, be equipped with the first motor of drive wheel on the lateral wall of wheel seat, the bottom of wheel seat is equipped with the second motor, be connected with on the output shaft of second motor with second gear engagement's first gear, be equipped with the limiting p