CN105603887A - Water jet milling concrete-removing robot - Google Patents
Water jet milling concrete-removing robot Download PDFInfo
- Publication number
- CN105603887A CN105603887A CN201510972869.7A CN201510972869A CN105603887A CN 105603887 A CN105603887 A CN 105603887A CN 201510972869 A CN201510972869 A CN 201510972869A CN 105603887 A CN105603887 A CN 105603887A
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- chassis
- arranges
- spray gun
- hydraulic motor
- wheel
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
- E01C23/128—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with hydrojets
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/08—Wrecking of buildings
- E04G23/081—Wrecking of buildings using hydrodemolition
Abstract
The invention discloses a water jet milling concrete-removing robot which comprises a robot body and a telescopic arm. The robot body consists of a protective cover, a chassis, a front drive system, a rear steering system, a distribution box, a power system, a cooling system, a magnetic valve group, a control system and a supporting frame, wherein the supporting frame is arranged at the right end of the chassis, a tilted support is arranged between the chassis and the supporting frame, the front drive system is arranged under the right end of the chassis, the power system is arranged on one side of the left end of the upper side face of the chassis, the distribution box is arranged on the other side of the left end of the upper side face of the chassis, the magnetic valve group is arranged on one side above the middle of the chassis, and the cooling system is arranged on the other side above the middle of the chassis. As a whole, the water jet milling concrete-removing robot can perform wired and wireless remote control, can execute concrete removal work of facades, tunnels, abrupt slopes, columns and planes lower than wheels and has the advantages of having multiple functions and being large in working range, high in efficiency, good in stability, wide in application range, high in automation degree, simple in operation, safe and reliable.
Description
Technical field
The invention belongs to water jet except concrete field, relate to a kind of robot, particularly a kind of water milling is except concrete robot.
Background technology
Nowadays,, when the concrete structures such as Dui highway, bridge, tunnel, harbour are repaired with reorganization and expansion, adopt moreAs artificial cutting, pneumatic pick are abolished, sawing, mechanical milling dig and traditional method such as explosion, the general efficiency of these class methods is low, abolishesInhomogeneous, not only can produce dust, affect environment and health, also can produce certain breaking to the reserve part of buildingBad.
In recent years, one is abolished concrete new method with high-pressure water jet and is widely used, and utilizes high-pressure water jetThe method that removes material is known as water milling, and high-pressure water jet is abolished concrete, can be described as water milling except concrete.
The action principle that water milling removes concrete is: the water under high pressure bundle penetrating from spray gun impacts concrete, produces water wedge effect,Expand rapidly in concrete surface space and blind crack place, it is burst apart and peel off.
The state-of-the-art water milling in the world at present, except concrete unit, connects robot by high-pressure pump and forms, and water under high pressure flow to by the roadAfter being clamped in the spray gun in robot, penetrate, drive spray gun to work by robot, complete except concrete operation.
But, domestic water milling except concrete technology and equipment also relatively backward, automaticity is lower, can only abolish horizontal planeOr concrete in lower perpendicular, range of application is narrower.
Summary of the invention
The object of the present invention is to provide a kind of water milling except concrete robot, function is many, and working range is large, and stability is strong, fromMovingization degree is high, can carry out wired and Wireless remote control, can carry out facade, tunnel, abrupt slope, column and flat lower than wheelThe concrete of face is abolished work, simple to operate, safe and reliable, has effectively solved existing machinery automaticity low, adapts to energyPower is poor, the problem that range of application is narrower.
The object of the present invention is achieved like this: water milling except concrete robot, comprises fuselage, telescopic arm, described fuselage byProtective cover, chassis, front drive system, rear steering system, distribution box, dynamical system, cooling system, magnetic valve group, control system,Bracing frame composition;
Described chassis right-hand member arranges bracing frame, between described chassis and bracing frame, bearing diagonal is set, described chassis right-hand memberBelow arranges front drive system, and described chassis upper side left end one side arranges dynamical system, described chassis upper side left endOpposite side arranges distribution box, and described chassis middle upper part one side arranges magnetic valve group, described chassis middle upper part opposite sideCooling system is set, and described chassis left end arranges rear steering system, and described chassis left end arranges control system, and described is anti-Guard shield is connected on chassis and bracing frame;
Described bracing frame right upper portion arranges rotating disc, and described rotating disc right side is fixedly connected with telescopic arm, and described props upThe position of support left side corresponding rotation disk center arranges central rotatory sealing, and described both sides, central rotatory sealing below arrange solidSurely the hydraulic motor that is connected to bracing frame left side, described hydraulic motor is connected with rotating disc;
Described distribution box can turn round to dynamical system, cooling system, magnetic valve group, control system power supply, describedControl system comprises controller, cable control device and wireless operated device, and described controller is connected on chassis by bearing, instituteThe cable control device of stating is connected with controller by cable, and described wireless operated device is connected with controller by wireless signal;
Described dynamical system comprises motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, described built-in oilPump formula fuel tank is fixed on chassis, is fixedly connected with motor, described built-in pump type oil on described built-in pump type oil fuel tankFuel tank is provided with liquid level gauge, and described built-in pump type oil fuel tank is connected by oil pipe with hydraulic motor and hydraulic cylinder, describedMagnetic valve group is arranged on the oil pipe of built-in pump type oil fuel tank;
Described cooling system comprises fan, radiator, and described radiator is fixed on chassis, fixing on described radiatorHave fan, described radiator is arranged on oil return oil pipe;
Described front drive system comprises front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, in described brace summer, establishesPut hydraulic cylinder, described hydraulic cylinder is connected with front-wheel support, and described front-wheel support is connected with hydraulic motor, described hydraulic pressure horseReach with front-wheel and be connected;
Described rear steering system comprises trailing wheel, hydraulic cylinder, steering block, connecting rod, and described steering block is by bearing and chassisBe connected, be also connected with hydraulic cylinder between described steering block and chassis, described steering block bottom-hinged has connecting rod, describedBetween steering block and connecting rod, be also connected with hydraulic cylinder, described connecting rod can only be in a rotation with in surface, described connectionBar is fixedly connected with trailing wheel;
Described telescopic arm comprises and first paragraph, second segment, the 3rd section, operation frame, splash guard is fixedly connected with on described rotating discThere is first paragraph, the second segment that in described first paragraph, setting can skid off, described second segment end arranges by rotary joint phaseEven the 3rd section, the 3rd section of described end setting, by the connected operation frame of rotary joint, arranges tooth on described operation frameBar, arranges swing seat on described operation frame, and described swing seat is stuck on operation frame by the pulley on it, described swingThe gear being driven by hydraulic motor A is set on seat, and described gear and tooth bar mesh together, and in described swing seat, pendulum are setHydrodynamic cylinder pressure, arranges the spray gun bearing with its swing on described oscillating motor, on described spray gun bearing, arrange and spray gunThe fixed support for spray gun that bearing is hinged and connected, arranges hydraulic motor B on described spray gun bearing, and described hydraulic motor B is upper to be arrangedEccentric wheel, the swing arm that on described eccentric wheel, setting and eccentric wheel are rotatedly connected, described the swing arm other end and fixed support for spray gunHinged, on described fixed support for spray gun, spray gun is set, described operation frame bottom arranges splash guard, described spray gun bottom inIn splash guard.
Described spray gun is connected with pumping plant by high-pressure water pipe.
Described bottom, chassis arranges fork truck groove.
Cable fast interface is set on described distribution box.
Described rotary joint is by hydraulic motor control.
Protection spring and protective plastic are set on described oil pipe.
Described splash guard bottom arranges rubber slab.
On described protective cover, warning lamp is set.
The beneficial effect that the present invention produces is: water milling, except concrete robot, comprises fuselage, telescopic arm, and fuselage forms robotMain body, the motion of control, telescopic arm is by flexible and rotation and then adjust direction and the position of operation frame, fuselage byProtective cover, chassis, front drive system, rear steering system, distribution box, dynamical system, cooling system, magnetic valve group, control system,Bracing frame composition;
Chassis right-hand member arranges bracing frame, and telescopic arm is supported and fixed, and facilitates activity adjustment, chassis and the support of telescopic armBearing diagonal is set between frame, bracing frame is reinforced, ensure the stability and safety of bracing frame in operation process, under the right-hand member of chassisSide arranges front drive system, drives front-wheel rotation and then drives robot ambulation, and chassis upper side left end one side arranges dynamical systemSystem, for the running of robot provides the running of hydraulic oil control each several part with pressure, chassis upper side left end opposite side arranges distributionCase, supplies with other system after the industrial electro of access distribution box is distributed and uses, and middle upper part one side in chassis arranges magnetic valve group, rightThe hydraulic oil that dynamical system is supplied with is controlled, and chassis middle upper part opposite side arranges cooling system, carries out cooling to hydraulic oilCooling, chassis left end arranges rear steering system, conveniently the direction of motion of robot is controlled, and chassis left end arranges manipulation systemSystem, convenient working personnel manipulate robot and remove concrete operation, and protective cover is connected on chassis and bracing frame, to robot interiorEquipment carries out safeguard protection, and warning lamp is set on protective cover, when system breaks down, can glimmer, and bottom, chassis arranges fork truck groove,Allow to use fork truck to move robot, easily handling, convenient transhipment.
Bracing frame right upper portion arranges rotating disc, and rotating disc is fixed, and rotating disc right side is fixedly connected with telescopic arm,Facilitate telescopic arm to be rotated adjustment, the position of bracing frame left side corresponding rotation disk center arranges central rotatory sealing, avoids revolvingWhen dial rotation, twist pipe and the phenomenon generation of leakage of oil, both sides, central rotatory sealing below arrange and are fixedly connected on a bracing frame left sideThe hydraulic motor of side, hydraulic motor is connected with rotating disc, rotates, thereby control rotation by hydraulic motor driven rotary dishThe direction of the rotation of dish and then adjustment telescopic arm, makes accurately positioning operation position of telescopic arm.
Distribution box can turn round to dynamical system, cooling system, magnetic valve group, control system power supply, on distribution boxCable fast interface is set, facilitates the quick connection of cable, save time and increase work efficiency, electricity consumption is had as powerEffect has reduced noise, and emission-free, and harmless to operator, control system comprises controller, cable control device and wireless operatedDevice, controller is connected on chassis by bearing, by controller, the job parameter of robot is set cable control deviceBe connected with controller by cable, handled easily personnel are controlling robot more at a distance, and wireless operated device passes through nothingLine signal is connected with controller, and operating personnel can be controlled robot in farther distance, ensures operating personnel'sSafety.
Dynamical system comprises motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, to the running of robotProvide hydraulic oil as direct driving force, built-in pump type oil fuel tank is fixed on chassis, built-in pump type oil fuel tank is fixed, inPut on pump type oil fuel tank and be fixedly connected with motor, motor drives oil pump running, and built-in pump type oil fuel tank is provided with liquid level gauge,Conveniently check the oil level in fuel tank, built-in pump type oil fuel tank is connected by oil pipe with hydraulic motor and hydraulic cylinder, magnetic valve groupBe arranged on the oil pipe of built-in pump type oil fuel tank, control the confession of hydraulic oil is disconnected, protection spring and protection are set on oil pipePlastics, protect oil pipe circuit, avoid fractureing or rub leakage.
Cooling system comprises fan, radiator, and hydraulic oil is cooled, and radiator is fixed on chassis, to looseHot device is fixed, and is fixed with fan on radiator, and radiator is carried out to wind cooling temperature lowering, and radiator is arranged on oil return oil pipe,Hydraulic oil is lowered the temperature.
Front drive system comprises front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, and robot is supported and carriedFor driving force, robot can be moved stably, hydraulic cylinder is set in brace summer, convenient front-wheel spacing, the hydraulic cylinder and front of changingWheel support is connected, and drives front-wheel support to carry out telescopic moving, and front-wheel support is connected with hydraulic motor, and then drives hydraulic motor to moveMoving, hydraulic motor is connected with front-wheel, can make front-wheel rotate.
Rear steering system comprises trailing wheel, hydraulic cylinder, steering block, connecting rod, and the direction of motion of control, makes robotHave steering capability, steering block is connected with chassis by bearing, facilitates the rotation of steering block, between steering block and chassis, is also connectedHave hydraulic cylinder, control the rotation of steering block, steering block bottom-hinged has connecting rod, and connecting rod supports steering block, turns toBetween piece and connecting rod, be also connected with hydraulic cylinder, the height at the flexible and then adjustment robot rear portion of regulator solution cylinder pressure, to adapt toRugged road surface, connecting rod can only, at a rotation with in surface, limit the slewing area of connecting rod, connecting rod withTrailing wheel is fixedly connected with, and trailing wheel is supported and fixed.
Telescopic arm comprises first paragraph, second segment, the 3rd section, operation frame, splash guard, convenient length and the side that adjusts telescopic armTo, on rotating disc, be fixedly connected with first paragraph, whole telescopic arm can be rotated along with rotating disc, strengthen robotAdjustment capability, the second segment that in first paragraph, setting can skid off, hides arranging of second segment and saves space, keeps the structure of telescopic armStable, second segment end arranges the 3rd section that is connected by rotary joint, makes the 3rd section can regulate at any angle, expandsThe job area of robot, rotary joint is by hydraulic motor control, thus the rotation of control rotary joint, the 3rd section of end settingBy the connected operation frame of rotary joint, by operation frame towards adjusting, can do various concrete surfacesIndustry, arranges tooth bar on operation frame, facilitate the movement of swing seat, and swing seat is set on operation frame, and swing seat is by the pulley on itBe stuck on operation frame, swing seat and operation frame are movably connected, the tooth being driven by hydraulic motor A is set in swing seatWheel, gear and tooth bar mesh together, thereby hydraulic motor A driven gear rotates drive, swing seat moves along tooth bar, pendulumOn moving seat, oscillating motor is set, oscillating motor is fixed, the spray gun bearing with its swing is set on oscillating motor,Spray gun bearing can swing under the control of oscillating motor, on spray gun bearing, arranges with its spray gun being hinged and connected and fixesFrame, arranges hydraulic motor B on spray gun bearing, on hydraulic motor B, eccentric wheel is set, and eccentric wheel rotates with hydraulic motor B, partiallyThe swing arm that the upper setting of heart wheel and eccentric wheel are rotatedly connected, the swing arm other end and fixed support for spray gun are hinged, and the swing of swing arm can be withMoving fixed support for spray gun swings, and spray gun is set on fixed support for spray gun, and spray gun, along with fixed support for spray gun swings, effectively improves machinePeople is except the efficiency of concrete operation, and operation frame bottom arranges splash guard, and splash guard bottom arranges rubber slab, avoids the water impact of sprayingAfter concrete, splash, spray gun bottom is in splash guard, and spray gun is connected with pumping plant by high-pressure water pipe, is provided for spray gun by pumping plantHigh-Pressure Water removes concrete operation.
Generally, the present invention can carry out wired and Wireless remote control, can carry out facade, tunnel, abrupt slope, column andConcrete lower than wheel plane is abolished work, has function many, and working range is large, and efficiency is high, and stability is strong, range of applicationExtensively, automaticity is high, simple to operate, safe and reliable advantage.
Brief description of the drawings
Fig. 1 is main TV structure schematic diagram of the present invention.
Fig. 2 is backsight structural representation of the present invention.
Fig. 3 is contour structures schematic diagram of the present invention.
Fig. 4 is the main TV structure schematic diagram of rear steering system of the present invention.
Fig. 5 is rear steering system plan structure schematic diagram of the present invention.
Fig. 6 is front drive system plan structure schematic diagram of the present invention.
Fig. 7 is spray gun mounting structure front view of the present invention.
Fig. 8 is spray gun mounting structure left view of the present invention.
Fig. 9 is spray gun mounting structure right view of the present invention.
Figure 10 is that the present invention removes lower than the concrete structural representation of wheel plane lower surface.
Figure 11 is that the present invention removes lower than the concrete structural representation in wheel plane side.
Figure 12 is that the present invention removes the concrete structural representation of wheel plane.
Figure 13 is that the present invention removes the concrete structural representation of vertical plane at a distance.
Figure 14 is that the present invention removes the concrete structural representation of eminence vertical plane.
Figure 15 is that the present invention removes the concrete structural representation of body upper.
Figure 16 is the Burners Positions schematic diagram of the present invention while removing concrete to the right.
Figure 17 is the present invention's high-pressure water jet track schematic diagram while removing concrete to the right.
Figure 18 is the Burners Positions schematic diagram that the present invention commutates while removing concrete.
Figure 19 is that the present invention commutates and removes high-pressure water jet track schematic diagram when concrete.
Figure 20 is the Burners Positions schematic diagram of the present invention while starting to remove concrete left.
Figure 21 is the present invention's high-pressure water jet track schematic diagram while starting to remove concrete left.
Figure 22 is the Burners Positions schematic diagram of the present invention while removing concrete left.
Figure 23 is the present invention's high-pressure water jet track schematic diagram while removing concrete left.
In figure: 1, fuselage 2, telescopic arm 3, protective cover 4, chassis 5, front drive system 6, rear steering system7, distribution box 8, dynamical system 9, cooling system 10, magnetic valve group 11, control system 12, bracing frame 13, obliqueSupport 14, rotating disc 15, central rotatory sealing 16, hydraulic motor 17, controller 18, cable control device 19,Wireless operated device 20, motor 21, built-in pump type oil fuel tank 22, oil pipe 23, hydraulic cylinder 24, liquid level gauge 25,Fan 26, radiator 27, front-wheel 28, support beams 29, front-wheel support 30, trailing wheel 31, steering block 32, connectionBar 33, first paragraph 34, second segment 35, the 3rd section 36, operation frame 37, splash guard 38, rotary joint 39, toothBar 40, swing seat 41, pulley 42, hydraulic motor A43, gear 44, oscillating motor 45, spray gun bearing46, fixed support for spray gun 47, hydraulic motor B48, eccentric wheel 49, swing arm 50, spray gun 51, fork truck groove 52, cableFast interface 53, warning lamp 54, concrete 55, reinforcing bar.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are further detailed.
Embodiment 1
As shown in accompanying drawing 1-23, water milling, except concrete robot, comprises fuselage 1, telescopic arm 2, and described fuselage 1 is by protective cover 3, chassis4, front drive system 5, rear steering system 6, distribution box 7, dynamical system 8, cooling system 9, magnetic valve group 10, control system 11,Bracing frame 12 forms;
Described chassis 1 right-hand member arranges bracing frame 12, between described chassis 1 and bracing frame 12, bearing diagonal 13 is set, described1 right-hand member below, chassis arranges front drive system 5, and described chassis 1 upper side left end one side arranges dynamical system 8, the described endCoil 1 upper side left end opposite side distribution box 7 is set, described chassis 1 middle upper part one side arranges magnetic valve group 10, the described endCoil 1 middle upper part opposite side cooling system 9 is set, described chassis 1 left end arranges rear steering system 6, described chassis 1 left endControl system 11 is set, and described protective cover 3 is connected on chassis 1 and bracing frame 12;
Described bracing frame 12 right upper portion arrange rotating disc 14, and described rotating disc 14 right sides are fixedly connected with telescopic arm 2, instituteThe position at the bracing frame 12 corresponding rotation Pan14 centers, left side of stating arranges central rotatory sealing 15, described central rotatory sealing 15Both sides, below arrange the hydraulic motor 16 that is fixedly connected on bracing frame 12 left sides, described hydraulic motor 16 and rotating disc 14 phasesConnect;
Described distribution box 7 can turn round to dynamical system 8, cooling system 9, magnetic valve group 10, control system 11 power supplies,Described control system 11 comprises controller 17, cable control device 18 and wireless operated device 19, and described controller 17 passes through axleHold and be connected on chassis 1, described cable control device 18 is connected with controller 17 by cable, and described wireless operated device 19 is logicalCrossing wireless signal is connected with controller 17;
Described dynamical system 8 comprises motor 20, built-in pump type oil fuel tank 21, hydraulic motor 16, hydraulic cylinder 23, oil pipe 22,Described built-in pump type oil fuel tank 21 is fixed on chassis 1, on described built-in pump type oil fuel tank 21, is fixedly connected with motor20, described built-in pump type oil fuel tank 21 is provided with liquid level gauge 24, described built-in pump type oil fuel tank 21 and hydraulic motor 16 withAnd hydraulic cylinder 23 is connected by oil pipe 22, described magnetic valve group 10 is arranged on the oil pipe 22 of built-in pump type oil fuel tank 21;
Described cooling system 9 comprises fan 25, radiator 26, and described radiator 26 is fixed on chassis 1, described heat radiationOn device 26, be fixed with fan 25, described radiator 26 is arranged on oil return oil pipe 22;
Described front drive system 5 comprises front-wheel 27, hydraulic motor 16, hydraulic cylinder 23, support beams 28, front-wheel support 29, described inThe interior hydraulic cylinder 23 that arranges of brace summer 28, described hydraulic cylinder 23 is connected with front-wheel support 29, described front-wheel support 29 and liquidPressure motor 16 is connected, and described hydraulic motor 16 is connected with front-wheel 27;
Described rear steering system 6 comprises trailing wheel 30, hydraulic cylinder 23, steering block 31, connecting rod 32, and described steering block 31 passes throughBearing is connected with chassis 1, between described steering block 31 and chassis 1, is also connected with hydraulic cylinder 23, described steering block 31 bottomsBe hinged with connecting rod 32, between described steering block 31 and connecting rod 32, be also connected with hydraulic cylinder 23,32 of described connecting rodsCan be at a rotation with in surface, described connecting rod 32 is fixedly connected with trailing wheel 30;
Described telescopic arm 2 comprises first paragraph 33, second segment 34, the 3rd section 35, operation frame 36, splash guard 37, described rotationOn dish 14, be fixedly connected with first paragraph 33, the second segment 34 that the described interior setting of first paragraph 33 can skid off, described second segment 34End arranges the 3rd section 35 that is connected by rotary joint 38, and the 3rd section of 35 described end setting is connected by rotary joint 38Operation frame 36, on described operation frame 36, tooth bar 39 is set, on described operation frame 36, swing seat 40 is set, described swingSeat 40 is stuck on operation frame 36 by the pulley 41 on it, and the tooth being driven by hydraulic motor A42 is set in described swing seat 40Wheel 43, described gear 43 and tooth bar 39 mesh together, and in described swing seat 40, oscillating motor 44 are set, described pendulumSpray gun bearing 45 with its swing is set on hydrodynamic cylinder pressure 44, on described spray gun bearing 45, arranges and the hinged phase of spray gun bearing 45The fixed support for spray gun 46 connecting, arranges hydraulic motor B47 on described spray gun bearing 45, arranges partially on described hydraulic motor B47Heart wheel 48, the swing arm 49 that on described eccentric wheel 48, setting and eccentric wheel 48 are rotatedly connected, described swing arm 49 other ends and sprayRifle fixed mount 46 is hinged, on described fixed support for spray gun 46, spray gun 50 is set, and described operation frame 36 bottoms arrange splash guard 37,Described spray gun 50 bottoms are in splash guard 37.
Described spray gun 50 is connected with pumping plant by high-pressure water pipe.
Described 1 bottom, chassis arranges fork truck groove 51.
On described distribution box 7, cable fast interface 52 is set.
Described rotary joint 38 is controlled by hydraulic motor 16.
Protection spring and protective plastic are set on described oil pipe 22.
Described splash guard 37 bottoms arrange rubber slab.
On described protective cover 3, warning lamp 53 is set.
The present invention is in use: water milling, except concrete robot, comprises fuselage, telescopic arm, and fuselage forms the main body of robot, controlThe motion of robot processed, telescopic arm is by direction and position flexible and rotation and then adjustment operation frame, and fuselage is by protective cover, the endDish, front drive system, rear steering system, distribution box, dynamical system, cooling system, magnetic valve group, control system, supporting frame groupBecome;
Chassis right-hand member arranges bracing frame, and telescopic arm is supported and fixed, and facilitates activity adjustment, chassis and the support of telescopic armBearing diagonal is set between frame, bracing frame is reinforced, ensure the stability and safety of bracing frame in operation process, under the right-hand member of chassisSide arranges front drive system, drives front-wheel rotation and then drives robot ambulation, and chassis upper side left end one side arranges dynamical systemSystem, for the running of robot provides hydraulic oil, controls the running of each several part, and chassis upper side left end opposite side arranges distribution box,After the industrial electro of access distribution box is distributed, supply with other system and use, middle upper part one side in chassis arranges magnetic valve group, to movingThe hydraulic oil that power system is supplied with is controlled, and chassis middle upper part opposite side arranges cooling system, and hydraulic oil is carried out to cooling fallingTemperature, chassis left end arranges rear steering system, conveniently the direction of motion of robot is controlled, and chassis left end arranges manipulation systemSystem, convenient working personnel manipulate robot and remove concrete operation, and protective cover is connected on chassis and bracing frame, while avoiding operation, fliesThe current that spatter and concrete block damage parts, and robot interior equipment is carried out to safeguard protection, and warning lamp is set on protective cover,Warning lamp flicker while meeting the system failure, bottom, chassis arranges fork truck groove, allows to use fork truck to move robot, easily dressUnload convenient transhipment.
Bracing frame right upper portion arranges rotating disc, and rotating disc is fixed, and rotating disc right side is fixedly connected with telescopic arm,Facilitate telescopic arm to be rotated adjustment, the position of bracing frame left side corresponding rotation disk center arranges central rotatory sealing, avoids revolvingWhen dial rotation, twist pipe and the phenomenon generation of leakage of oil, both sides, central rotatory sealing below arrange and are fixedly connected on a bracing frame left sideThe hydraulic motor of side, hydraulic motor is connected with rotating disc, rotates, thereby control rotation by hydraulic motor driven rotary dishThe direction of the rotation of dish and then adjustment telescopic arm, makes accurately positioning operation position of telescopic arm.
Distribution box can turn round to dynamical system, cooling system, magnetic valve group, control system power supply, on distribution boxCable fast interface is set, facilitates the quick connection of cable, save time and increase work efficiency, electricity consumption is had as powerEffect has reduced noise, and emission-free, and harmless to operator, control system comprises controller, cable control device and wireless operatedDevice, controller is connected on chassis by bearing, by controller, the job parameter of robot is set cable control deviceBe connected with controller by cable, handled easily personnel are controlling robot more at a distance, and wireless operated device passes through nothingLine signal is connected with controller, and operating personnel can be controlled robot in farther distance, ensures operating personnel'sSafety.
Dynamical system comprises motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, to the running of robotProvide hydraulic oil as direct driving force, built-in pump type oil fuel tank is fixed on chassis, built-in pump type oil fuel tank is fixed, inPut on pump type oil fuel tank and be fixedly connected with motor, motor drives oil pump running, and built-in pump type oil fuel tank is provided with liquid level gauge,Conveniently check the oil level in fuel tank, built-in pump type oil fuel tank is connected by oil pipe with hydraulic motor and hydraulic cylinder, magnetic valve groupBe arranged on the oil pipe of built-in pump type oil fuel tank, control the confession of hydraulic oil is disconnected, protection spring and protection are set on oil pipePlastics, protect oil pipe circuit, and the leakage of avoiding fractureing or rub ensures the normal operation of robot.
Cooling system comprises fan, radiator, and hydraulic oil is cooled, and radiator is fixed on chassis, to looseHot device is fixed, and is fixed with fan on radiator, and radiator is carried out to wind cooling temperature lowering, and radiator is arranged on oil return oil pipe,Hydraulic oil is lowered the temperature, control oil temperature and ensure that robot runs well.
Front drive system comprises front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, and robot is supported and carriedFor driving force, robot can be moved stably, hydraulic cylinder is set in brace summer, convenient front-wheel spacing, the hydraulic cylinder and front of changingWheel support is connected, and drives front-wheel support to carry out telescopic moving, and front-wheel support is connected with hydraulic motor, and then drives hydraulic motor to moveMoving, hydraulic motor is connected with front-wheel, can make front-wheel rotate.
Rear steering system comprises trailing wheel, hydraulic cylinder, steering block, connecting rod, and the direction of motion of control, makes robotHave steering capability, steering block is connected with chassis by bearing, facilitates the rotation of steering block, between steering block and chassis, is also connectedHave hydraulic cylinder, control the rotation of steering block, steering block bottom-hinged has connecting rod, and connecting rod supports steering block, turns toBetween piece and connecting rod, be also connected with hydraulic cylinder, the height at the flexible and then adjustment robot rear portion of regulator solution cylinder pressure, to adapt toRugged road surface, connecting rod can only, at a rotation with in surface, limit the slewing area of connecting rod, connecting rod withTrailing wheel is fixedly connected with, and trailing wheel is supported and fixed.
Telescopic arm comprises first paragraph, second segment, the 3rd section, operation frame, splash guard, convenient length and the side that adjusts telescopic armTo, on rotating disc, be fixedly connected with first paragraph, whole telescopic arm can be rotated along with rotating disc, strengthen robotAdjustment capability, the second segment that in first paragraph, setting can skid off, hides arranging of second segment and saves space, keeps the structure of telescopic armStable, second segment end arranges the 3rd section that is connected by rotary joint, makes the 3rd section can regulate at any angle, expandsThe job area of robot, rotary joint is by hydraulic motor control, thus the rotation of control rotary joint, the 3rd section of end settingBy the connected operation frame of rotary joint, by operation frame towards adjusting, can do various concrete surfacesIndustry, arranges tooth bar on operation frame, facilitate the movement of swing seat, and swing seat is set on operation frame, and swing seat is by the pulley on itBe stuck on operation frame, swing seat and operation frame are movably connected, the tooth being driven by hydraulic motor A is set in swing seatWheel, gear and tooth bar mesh together, thereby hydraulic motor A driven gear rotates drive, swing seat moves along tooth bar, pendulumOn moving seat, oscillating motor is set, oscillating motor is fixed, the spray gun bearing with its swing is set on oscillating motor,Spray gun bearing can swing under the control of oscillating motor, on spray gun bearing, arranges with its spray gun being hinged and connected and fixesFrame, arranges hydraulic motor B on spray gun bearing, on hydraulic motor B, eccentric wheel is set, and eccentric wheel rotates with hydraulic motor B, partiallyThe swing arm that the upper setting of heart wheel and eccentric wheel are rotatedly connected, the swing arm other end and fixed support for spray gun are hinged, and the swing of swing arm can be withMoving fixed support for spray gun swings, and spray gun is set on fixed support for spray gun, and spray gun, along with fixed support for spray gun swings, effectively improves machinePeople is except the efficiency of concrete operation, and operation frame bottom arranges splash guard, and splash guard bottom arranges rubber slab, avoids the water impact of sprayingAfter concrete, splash, spray gun bottom is in splash guard, and spray gun is connected with pumping plant by high-pressure water pipe, is provided for spray gun by pumping plantHigh-Pressure Water removes concrete operation.
Generally, the present invention can carry out wired and Wireless remote control, can carry out facade, tunnel, abrupt slope, column andConcrete lower than wheel plane is abolished work, has function many, and working range is large, and efficiency is high, and stability is strong, range of applicationExtensively, automaticity is high, simple to operate, safe and reliable advantage.
Embodiment 2
As shown in Figure 10, the present invention can adjust telescopic arm the concrete lower surface below wheel plane is carried out to water milling workIndustry, its maximum operation degree of depth can reach following 0.65 meter of of wheel plane, for example, robot is placed in to the upper surface of bridgeThe lower surface of bridge is carried out to water milling, avoid scaffolding erecting and carrying out operation from bridge bottom, greatly save time, manpower, thingPower, cost-saving, enhance production progress.
Embodiment 3
As shown in Figure 11, the present invention can carry out water milling except concrete operation, its maximum operation to the vertical plane below wheel planeThe degree of depth can reach following 3.3 meters of of wheel plane, for example, robot is placed in to dam top water milling is carried out in dam body sideExcept concrete operation, convenient and swift.
Embodiment 4
As shown in Figure 12, the present invention can carry out water milling except concrete operation to both sides horizontal plane at a distance, and it can reach farthestTo apart from 4.5 meters of of robot center, for example, robot is placed in to just mixing track both sides simultaneously of track one sideSolidifying soil is removed, and directly lifts telescopic arm and give way in the time that railcar arrives simultaneously, does not affect the current of railcar completely, in-orbitRoad car by after just can carry out immediately operation, do not affect production and can complete fast again water milling except concrete work.
Embodiment 5
As shown in Figure 13, the present invention can carry out water milling except concrete operation to both sides vertical plane at a distance, and it can reach farthestTo apart from 5.4 meters of of robot center, for example, robot is placed in to safety zone in the region that is not suitable for entering at a distanceCarry out water milling except concrete operation, ensure operating personnel's safety.
Embodiment 6
As shown in Figure 14, the present invention can carry out water milling except concrete operation, its highest can reaching to the vertical plane of both sides higher positionTo apart from 6.6 meters of of wheel plane, for example robot is laid to the concrete to eminence on the ground and removed operation, needn'tScaffold erecting and carry out work high above the ground, save time, safer faster.
Embodiment 7
As shown in Figure 15, the present invention can carry out water milling except concrete operation to the horizontal plane of robot top higher position, and it is the highestCan reach apart from 6.0 meters of of wheel plane, for example, robot is placed in tunnel and directly tunnel top be carried out on groundCarry out water milling except concrete operation, save time, operating efficiency is high, saves production cost.
Embodiment 8
As shown in accompanying drawing 16,17, spray gun is to the right when the concrete, the bottom of spray gun deflection slightly to the right, and spray gun is followed swing seat to the rightMotion simultaneously spray gun lower end swings back and forth in the direction of vertical oscillation seat motion, and concrete is removed, and does not damage it simultaneouslyInner bar construction, the right side that makes concrete be eliminated part is essentially vertical plane, swings back and forth and has greatly expanded workIndustry scope, accelerate operating speed, improved operating efficiency.
Embodiment 9
As shown in accompanying drawing 18,19, in the time that spray gun runs to right-hand member, spray gun swings back to vertical state, swing seat stop motion, spray gunThe bottom operation that swings back and forth, removes concrete operation to end.
Embodiment 10
As shown in accompanying drawing 20,21, robot is when transferring to left except concrete operation to the right, and spray gun becomes bottom left from vertical stateDeflection, swing seat starts to move left, and spray gun bottom swings operation in the direction of vertical fixed support motion simultaneously.
Embodiment 11
As shown in accompanying drawing 22,23, when spray gun removes concrete left, spray gun bottom deflection left, spray gun is followed swing seat to left movement, sprayRifle bottom swings back and forth, and in the process moving, concrete is removed, and do not change the steel of inside concrete at spray gunMuscle structure, runs to after left end at spray gun, is similar to the operation that right-hand member turns to and turns to, again to the right except concrete.
Generally, the present invention can carry out wired and Wireless remote control, can carry out facade, tunnel, abrupt slope, column andConcrete lower than wheel plane is abolished work, has function many, and working range is large, and efficiency is high, and stability is strong, range of applicationExtensively, automaticity is high, simple to operate, safe and reliable advantage.
Claims (8)
1. water milling, except concrete robot, comprises fuselage, telescopic arm, it is characterized in that: described fuselage is by protective cover, chassis, forerunnerMoving system, rear steering system, distribution box, dynamical system, cooling system, magnetic valve group, control system, bracing frame composition;
Described chassis right-hand member arranges bracing frame, between described chassis and bracing frame, bearing diagonal is set, described chassis right-hand memberBelow arranges front drive system, and described chassis upper side left end one side arranges dynamical system, described chassis upper side left endOpposite side arranges distribution box, and described chassis middle upper part one side arranges magnetic valve group, described chassis middle upper part opposite sideCooling system is set, and described chassis left end arranges rear steering system, and described chassis left end arranges control system, and described is anti-Guard shield is connected on chassis and bracing frame;
Described bracing frame right upper portion arranges rotating disc, and described rotating disc right side is fixedly connected with telescopic arm, and described props upThe position of support left side corresponding rotation disk center arranges central rotatory sealing, and described both sides, central rotatory sealing below arrange solidSurely the hydraulic motor that is connected to bracing frame left side, described hydraulic motor is connected with rotating disc;
Described distribution box can turn round to dynamical system, cooling system, magnetic valve group, control system power supply, describedControl system comprises controller, cable control device and wireless operated device, and described controller is connected on chassis by bearing, instituteThe cable control device of stating is connected with controller by cable, and described wireless operated device is connected with controller by wireless signal;
Described dynamical system comprises motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, described built-in oilPump formula fuel tank is fixed on chassis, is fixedly connected with motor, described built-in pump type oil on described built-in pump type oil fuel tankFuel tank is provided with liquid level gauge, and described built-in pump type oil fuel tank is connected by oil pipe with hydraulic motor and hydraulic cylinder, describedMagnetic valve group is arranged on the oil pipe of built-in pump type oil fuel tank;
Described cooling system comprises fan, radiator, and described radiator is fixed on chassis, fixing on described radiatorHave fan, described radiator is arranged on oil return oil pipe;
Described front drive system comprises front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, in described brace summer, establishesPut hydraulic cylinder, described hydraulic cylinder is connected with front-wheel support, and described front-wheel support is connected with hydraulic motor, described hydraulic pressure horseReach with front-wheel and be connected;
Described rear steering system comprises trailing wheel, hydraulic cylinder, steering block, connecting rod, and described steering block is by bearing and chassisBe connected, be also connected with hydraulic cylinder between described steering block and chassis, described steering block bottom-hinged has connecting rod, describedBetween steering block and connecting rod, be also connected with hydraulic cylinder, described connecting rod can only be in a rotation with in surface, described connectionBar is fixedly connected with trailing wheel;
Described telescopic arm comprises and first paragraph, second segment, the 3rd section, operation frame, splash guard is fixedly connected with on described rotating discThere is first paragraph, the second segment that in described first paragraph, setting can skid off, described second segment end arranges by rotary joint phaseEven the 3rd section, the 3rd section of described end setting, by the connected operation frame of rotary joint, arranges tooth on described operation frameBar, arranges swing seat on described operation frame, and described swing seat is stuck on operation frame by the pulley on it, described swingThe gear being driven by hydraulic motor A is set on seat, and described gear and tooth bar mesh together, and in described swing seat, pendulum are setHydrodynamic cylinder pressure, arranges the spray gun bearing with its swing on described oscillating motor, on described spray gun bearing, arrange and spray gunThe fixed support for spray gun that bearing is hinged and connected, arranges hydraulic motor B on described spray gun bearing, and described hydraulic motor B is upper to be arrangedEccentric wheel, the swing arm that on described eccentric wheel, setting and eccentric wheel are rotatedly connected, described the swing arm other end and fixed support for spray gunHinged, on described fixed support for spray gun, spray gun is set, described operation frame bottom arranges splash guard, described spray gun bottom inIn splash guard.
2. water milling according to claim 1, except concrete robot, is characterized in that: described spray gun is by high-pressure water pipe and pumpStand and be connected.
3. water milling according to claim 1, except concrete robot, is characterized in that: described bottom, chassis arranges fork truck groove.
4. water milling according to claim 1, except concrete robot, is characterized in that: on described distribution box, cable is set quickInterface.
5. water milling according to claim 1, except concrete robot, is characterized in that: described rotary joint is by hydraulic motor controlSystem.
6. water milling according to claim 1 except concrete robot, is characterized in that: on described oil pipe, arrange protection spring andProtective plastic.
7. water milling according to claim 1, except concrete robot, is characterized in that: described splash guard bottom arranges rubberPlate.
8. water milling according to claim 1, except concrete robot, is characterized in that: on described protective cover, warning lamp is set.
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| CN201510972869.7A CN105603887B (en) | 2015-12-23 | 2015-12-23 | Water milling removes concrete robot |
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| CN201510972869.7A CN105603887B (en) | 2015-12-23 | 2015-12-23 | Water milling removes concrete robot |
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| CN106758719A (en) * | 2016-12-30 | 2017-05-31 | 成都圭目机器人有限公司 | A kind of Two-wheeled road face repair robot system and road surface repair method |
| CN106988196A (en) * | 2017-05-08 | 2017-07-28 | 河南伯淼水处理有限公司 | Road and bridge pave-load layer Shui Xi robot |
| CN107186721A (en) * | 2017-07-21 | 2017-09-22 | 江苏集萃智能制造技术研究所有限公司 | A kind of water jet intelligent robot |
| CN107489124A (en) * | 2016-08-24 | 2017-12-19 | 葛洲坝集团项目管理有限公司 | A kind of dike, the quick method for dismounting of the asphaltic concrete core wall on dam |
| CN108411755A (en) * | 2018-05-09 | 2018-08-17 | 河南伯淼水处理有限公司 | A kind of waterpower abolishes road surface equipment |
| CN108426728A (en) * | 2018-02-28 | 2018-08-21 | 浙江工业职业技术学院 | A kind of end pulling test system for the temperature control of robot leg joint |
| CN108890641A (en) * | 2018-05-24 | 2018-11-27 | 中信重工机械股份有限公司 | A kind of water jet robot control system and control method |
| CN109837830A (en) * | 2019-02-22 | 2019-06-04 | 长安大学 | A kind of water jet pavement breaking device |
| CN110158426A (en) * | 2019-07-04 | 2019-08-23 | 胡予磊 | A kind of highway bridge maintenance of equipment |
| US20220205192A1 (en) * | 2020-12-29 | 2022-06-30 | Waterblasting, Llc | Hydro demolition unit |
| CN114737491A (en) * | 2022-03-21 | 2022-07-12 | 中电建路桥集团有限公司 | Prestressed concrete bridge body maintenance equipment and method |
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| CN110158426A (en) * | 2019-07-04 | 2019-08-23 | 胡予磊 | A kind of highway bridge maintenance of equipment |
| US20220205192A1 (en) * | 2020-12-29 | 2022-06-30 | Waterblasting, Llc | Hydro demolition unit |
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| CN114737491A (en) * | 2022-03-21 | 2022-07-12 | 中电建路桥集团有限公司 | Prestressed concrete bridge body maintenance equipment and method |
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