CN105603887B - Water milling removes concrete robot - Google Patents
Water milling removes concrete robot Download PDFInfo
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- CN105603887B CN105603887B CN201510972869.7A CN201510972869A CN105603887B CN 105603887 B CN105603887 B CN 105603887B CN 201510972869 A CN201510972869 A CN 201510972869A CN 105603887 B CN105603887 B CN 105603887B
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- hydraulic motor
- robot
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Manipulator (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The present invention discloses water milling except concrete robot，Including fuselage、Telescopic arm，Fuselage is by protective cover、Chassis、Front drive system、Rear steering system、Distribution box、Dynamical system、Cooling system、Solenoid valve block、Control system、Bracing frame is constituted，Chassis right-hand member arranges bracing frame，Bearing diagonal is set between chassis and bracing frame，Below the right-hand member of chassis, front drive system is set，Chassis upper side left end side arranges dynamical system，Chassis upper side left end opposite side arranges distribution box，Chassis middle upper part side arranges solenoid valve block，Chassis middle upper part opposite side arranges cooling system，Generally，The present invention can carry out wired and Wireless remote control，It is able to carry out facade、Tunnel、Abrupt slope、Column and the concrete less than wheel plane abolish work，It is many with function，Working range is big，Efficiency high，Stability is strong，Applied range，High degree of automation，It is simple to operate，Safe and reliable advantage.
Description
Technical field
The invention belongs to water jet removes concrete field, it is related to a kind of robot, particularly a kind of water milling removes concrete robot.
Background technology
Nowadays, when carrying out repairing with reorganization and expansion to concrete structures such as highway, bridge, tunnel, harbours, adopt more
It is such as artificial dig, pneumatic pick is abolished, the method that sawing, mechanical milling digging and explosion etc. are traditional, the universal efficiency of such method is low, abolishes
It is uneven, dust can be not only produced, environment and health is affected, certain breaking also can be produced to the member-retaining portion of building
It is bad.
In recent years, it is a kind of to be widely used come the method for abolishing concrete with high-pressure water jet, using high-pressure water jet come
The method for removing material is referred to as water milling, and high-pressure water jet abolishes concrete, can be described as water milling except concrete.
Water milling removes the action principle of concrete：The water under high pressure beam projected from spray gun is impacted on concrete, produces water wedge effect,
The explosion at the concrete surface space and blind crack so as to burst apart and peel off.
The state-of-the-art water milling in the world at present removes concrete unit, is made up of high-pressure pump connection robot, and water under high pressure is flow to by the road
Project after being clamped in the spray gun in robot, spray gun work is driven by robot, is completed except concrete operation.
But, domestic water milling removes concrete technology and equipment is also relatively backward, and automaticity is relatively low, can only abolish horizontal plane
Or the concrete in relatively low perpendicular, range of application is narrower.
The content of the invention
It is an object of the invention to provide a kind of water milling removes concrete robot, function is more, and working range is big, and stability is strong, from
Dynamicization degree is high, can carry out wired and Wireless remote control, is able to carry out facade, tunnel, abrupt slope, column and puts down less than wheel
The concrete in face abolishes work, simple to operate, safe and reliable, and it is low effectively to solve existing machinery automaticity, adapts to energy
Power is poor, the narrower problem of range of application.
The object of the present invention is achieved like this：Water milling removes concrete robot, including fuselage, telescopic arm, described fuselage by
Protective cover, chassis, front drive system, rear steering system, distribution box, dynamical system, cooling system, solenoid valve block, control system,
Bracing frame is constituted；
Described chassis right-hand member arranges bracing frame, and bearing diagonal, described chassis are arranged between described chassis and bracing frame
Front drive system is set below right-hand member, and described chassis upper side left end side arranges dynamical system, described chassis upper side
Left end opposite side arranges distribution box, and described chassis middle upper part side arranges solenoid valve block, and described chassis middle upper part is another
Side arranges cooling system, and described chassis left end arranges rear steering system, and described chassis left end arranges control system, described
Protective cover be connected on chassis and bracing frame；
Described bracing frame right upper portion arranges rotating disk, and telescopic arm is fixedly connected with the right side of described rotating disk, described
Bracing frame on the left of the position of corresponding rotation disk center central rotatory sealing is set, below described central rotatory sealing, both sides set
The hydraulic motor being fixedly connected on the left of bracing frame is put, described hydraulic motor is connected with rotating disk；
Described distribution box is powered to dynamical system, cooling system, solenoid valve block, control system and can be operated, institute
The control system stated includes controller, cable control device and wireless operated device, and described controller is connected to chassis by bearing
On, described cable control device is connected with controller by cable, and described wireless operated device passes through wireless signal and controller
It is connected；
Described dynamical system includes motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, and described is interior
Put pump type oil fuel tank to be fixed on chassis, on described built-in pump type oil fuel tank, be fixedly connected with motor, described built-in oil
Pump type fuel tank is provided with liquidometer, and described built-in pump type oil fuel tank is connected by oil pipe with hydraulic motor and hydraulic cylinder, institute
The solenoid valve block stated is arranged on the oil pipe of built-in pump type oil fuel tank；
Described cooling system includes fan, radiator, and described radiator is fixed on chassis, on described radiator
Fan is fixed with, described radiator is arranged on oil return oil pipe；
Described front drive system includes front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, described support beam
Interior setting hydraulic cylinder, described hydraulic cylinder are connected with front-wheel support, and described front-wheel support is connected with hydraulic motor, described liquid
Pressure motor is connected with front-wheel；
Described rear steering system includes trailing wheel, hydraulic cylinder, steering block, connecting rod, described steering block by bearing with
Chassis is connected, and hydraulic cylinder is also associated between described steering block and chassis, and described steering block bottom is hinged with connecting rod, institute
It is also associated with hydraulic cylinder between the steering block stated and connecting rod, described connecting rod can only be described in a rotation with surface
Connecting rod is fixedly connected with trailing wheel；
Described telescopic arm includes first paragraph, second segment, the 3rd section, operation frame, splash guard, fixed in described rotating disk
First paragraph is connected with, the second segment that can be skidded off is set in described first paragraph, described second segment end is arranged is closed by rotation
The 3rd section for being connected is saved, the 3rd section of described end is arranged the operation frame being connected by rotary joint, set on described operation frame
Tooth bar is put, swing seat is set on described operation frame, described swing seat is stuck on operation frame by pulley thereon, described
The gear driven by hydraulic motor A is set in swing seat, and described gear and tooth bar mesh together, and set in described swing seat
Put oscillating motor, the spray gun bearing swung with which be set on described oscillating motor, on described spray gun bearing arrange and
The fixed support for spray gun that spray gun bearing is hinged and connected, arranges hydraulic motor B, on described hydraulic motor B on described spray gun bearing
Eccentric is set, the swing arm being rotatedly connected with eccentric is set on described eccentric, described swing arm other end and spray gun are solid
Determine frame to be hinged, spray gun is set on described fixed support for spray gun, described operation frame bottom arranges splash guard, described spray gun bottom
In splash guard.
Described spray gun is connected with pumping plant by high-pressure water pipe.
Described chassis bottom arranges forklift 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 comprise that：Water milling removes concrete robot, including fuselage, telescopic arm, and fuselage constitutes robot
Main body, control the motion of robot, telescopic arm by it is flexible and rotate so adjustment operation frame direction and position, fuselage by
Protective cover, chassis, front drive system, rear steering system, distribution box, dynamical system, cooling system, solenoid valve block, control system,
Bracing frame is constituted；
Chassis right-hand member arranges bracing frame, telescopic arm is supported and fix, facilitates the activity adjustment of telescopic arm, chassis and
Bearing diagonal is set between bracing frame, bracing frame is reinforced, it is ensured that stable safety of the bracing frame in operation process, chassis is right
End lower section arranges front drive system, drives front-wheel rotation and then drives robot ambulation, and chassis upper side left end side arranges dynamic
Force system, the operating for robot provide the operating that hydraulic oil with pressure controls each several part, and chassis upper side left end opposite side is arranged
Distribution box, supplies other systems after the industrial electro for accessing distribution box is distributed and uses, and chassis middle upper part side arranges electromagnetic valve
Group, is controlled to the hydraulic oil of dynamical system supply, and chassis middle upper part opposite side arranges cooling system, and hydraulic oil is carried out
Cool, chassis left end arranges rear steering system, the convenient direction of motion to robot is controlled, and chassis left end arranges behaviour
Control system, convenient working personnel's Manipulation of the machine people is carried out except concrete operation, and protective cover is connected on chassis and bracing frame, to robot
Internal unit carries out safeguard protection, and warning lamp is arranged on protective cover, can flash during system malfunctions, and chassis bottom arranges fork truck
Groove, it is allowed to moved to robot using fork truck, is easily loaded and unloaded, convenient to transport.
Bracing frame right upper portion arranges rotating disk, rotating disk is fixed, telescopic arm is fixedly connected with the right side of rotating disk,
Telescopic arm is facilitated to carry out rotation adjustment, the position of corresponding rotation disk center arranges central rotatory sealing on the left of bracing frame, it is to avoid rotation
The phenomenon generation of pipe and oil leak is twisted when rotating disk is rotated, both sides arrange and are fixedly connected on a bracing frame left side below central rotatory sealing
The hydraulic motor of side, hydraulic motor are connected with rotating disk, disk is rotated by hydraulic motor and is rotated, so as to control rotation
The direction for rotating and then adjusting telescopic arm of disk, enables telescopic arm to be accurately positioned job position.
Distribution box is powered to dynamical system, cooling system, solenoid valve block, control system and can be operated, on distribution box
Cable fast interface is set, facilitates the quick connection of cable, save time and improve work efficiency, had using electricity as power
Effect reduces noise, and emission-free, and harmless to operator, control system includes controller, cable control device and wireless operated
Device, controller are connected on chassis by bearing, the job parameter of robot are set by controller, cable control device
It is connected with controller by cable, facilitates operator being controlled to robot more at a distance, wireless operated device passes through nothing
Line signal is connected with controller, allows the operator to be controlled robot in farther distance, it is ensured that operator's
Safety.
Dynamical system includes motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, the operating to robot
Hydraulic oil is provided as direct driving force, built-in pump type oil fuel tank is fixed on chassis, and built-in pump type oil fuel tank is fixed, interior
Put, motor drives oil pump operating, built-in pump type oil fuel tank to be provided with liquidometer,
The oil level conveniently checked in fuel tank, built-in pump type oil fuel tank are connected by oil pipe with hydraulic motor and hydraulic cylinder, solenoid valve block
It is arranged on the oil pipe of built-in pump type oil fuel tank, it is disconnected to the confession of hydraulic oil to be controlled, protection spring and protection are set on oil pipe
Plastics, protect to oil pipe circuit, it is to avoid fracture or rub leakage.
Cooling system includes fan, radiator, and hydraulic oil is cooled down, and radiator is fixed on chassis, to dissipating
Hot device is fixed, and fan is fixed with radiator, and wind cooling temperature lowering is carried out to radiator, and radiator is arranged on oil return oil pipe,
Hydraulic oil is lowered the temperature.
Front drive system includes front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, robot is supported and is carried
Allow the robot to stable movement for driving force, hydraulic cylinder be set in support beam, it is convenient to change front-wheel spacing, hydraulic cylinder with it is front
Wheel 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 move
Dynamic, hydraulic motor is connected with front-wheel, can make front-drive.
Rear steering system includes trailing wheel, hydraulic cylinder, steering block, connecting rod, controls the direction of motion of robot, makes robot
With steering capability, steering block is connected with chassis by bearing, is conveniently steered the rotation of block, is also connected between steering block and chassis
There is hydraulic cylinder, control the rotation of steering block, steering block bottom is hinged with connecting rod, and connecting rod is supported to steering block, turn to
Hydraulic cylinder is also associated between block and connecting rod, the flexible of hydraulic cylinder is adjusted and then is adjusted the height at robot rear portion, to adapt to
Rugged road surface, connecting rod can only be defined to the slewing area of connecting rod in a rotation with surface, connecting rod with
Trailing wheel is fixedly connected, and trailing wheel is supported and is fixed.
Telescopic arm includes first paragraph, second segment, the 3rd section, operation frame, splash guard, the length of convenient adjustment telescopic arm and side
To first paragraph being fixedly connected with rotating disk, is allow whole telescopic arm as rotating disk is rotated, is enhanced robot
The second segment that can be skidded off is set in adjustment capability, first paragraph, and space is saved in the setting for hiding second segment, keeps the structure of telescopic arm
Stable, second segment end arranges the 3rd section be connected by rotary joint, makes the 3rd section can be adjusted at any angle, expands
The job area of robot, by hydraulic motor control, so as to control the rotation of rotary joint, the 3rd section of end is arranged rotary joint
The operation frame being connected by rotary joint, is adjusted by the direction to operation frame, various concrete surfaces can be made
Industry, arranges tooth bar on operation frame, facilitate the movement of swing seat, and swing seat is arranged on operation frame, and swing seat is by pulley thereon
It is stuck on operation frame, makes swing seat and operation frame be movably connected, the tooth driven by hydraulic motor A is set in swing seat
Wheel, gear and tooth bar mesh together, and hydraulic motor A drives pinion rotation so as to drive swing seat to move along tooth bar, put
Oscillating motor is set on dynamic seat, oscillating motor is fixed, the spray gun bearing swung with which is set on oscillating motor,
Spray gun bearing can be swung under the control of oscillating motor, arrange and its spray gun being hinged and connected is fixed on spray gun bearing
Frame, arranges hydraulic motor B, eccentric is arranged on hydraulic motor B on spray gun bearing, eccentric is rotated with hydraulic motor B, partially
The swing arm being rotatedly connected with eccentric is set on heart wheel, and swing arm other end and fixed support for spray gun are hinged, and the swing of swing arm being capable of band
Dynamic fixed support for spray gun swings, and spray gun is arranged on fixed support for spray gun, and spray gun is swung with fixed support for spray gun, effectively improves machine
Except the efficiency of concrete operation, operation frame bottom arranges splash guard to people, and splash guard bottom arranges rubber slab, it is to avoid the water impact of injection
Splash after concrete, in splash guard, spray gun is connected with pumping plant by high-pressure water pipe, is provided for spray gun by pumping plant for spray gun bottom
High-Pressure Water is carried out except concrete operation.
Generally, the present invention can carry out wired and Wireless remote control, be able to carry out facade, tunnel, abrupt slope, column and
Work is abolished less than the concrete of wheel plane, many with function, working range is big, efficiency high, and stability is strong, range of application
Extensively, high degree of automation, advantage simple to operate, safe and reliable.
Description of the drawings
Fig. 1 is the main structure diagram of the present invention.
Fig. 2 is the backsight structural representation of the present invention.
Fig. 3 is the contour structures schematic diagram of the present invention.
Fig. 4 is the rear steering system main structure diagram of the present invention.
Fig. 5 is the rear steering system overlooking the structure diagram of the present invention.
Fig. 6 is the front drive system overlooking the structure diagram of the present invention.
Fig. 7 is the spray gun mounting structure front view of the present invention.
Fig. 8 is the spray gun mounting structure left view of the present invention.
Fig. 9 is the spray gun mounting structure right view of the present invention.
Figure 10 is that the present invention removes the structural representation less than wheel plane following table surface concrete.
Figure 11 is that the present invention removes the structural representation less than wheel plane side concrete.
Figure 12 is the structural representation that the present invention removes wheel plane concrete.
Figure 13 is that the present invention removes at a distance the vertically structural representation of surface concrete.
Figure 14 is the structural representation that the present invention removes the vertical surface concrete of eminence.
Figure 15 is the structural representation that the present invention removes body upper concrete.
Burners Positions schematic diagram when Figure 16 is the concrete of removing to the right of the invention.
High-pressure water jet track schematic diagram when Figure 17 removes to the right concrete for the present invention.
Burners Positions schematic diagram when Figure 18 is present invention commutation removing concrete.
High-pressure water jet track schematic diagram when Figure 19 removes concrete for present invention commutation.
Figure 20 be the present invention start to the left remove concrete when Burners Positions schematic diagram.
High-pressure water jet track schematic diagram when Figure 21 starts to remove concrete to the left for the present invention.
Burners Positions schematic diagram when Figure 22 is the concrete of removing to the left of the invention.
High-pressure water jet track schematic diagram when Figure 23 removes concrete to the left for the present invention.
In figure：1st, fuselage 2, telescopic arm 3, protective cover 4, chassis 5, front drive system 6, rear steering system 7, distribution
Case 8, dynamical system 9, cooling system 10, solenoid valve block 11, control system 12, bracing frame 13, bearing diagonal 14, rotation
It is disk 15, central rotatory sealing 16, hydraulic motor 17, controller 18, cable control device 19, wireless operated device 20, electronic
Machine 21, built-in pump type oil fuel tank 22, oil pipe 23, hydraulic cylinder 24, liquidometer 25, fan 26, radiator 27, front-wheel
28th, support beams 29, front-wheel support 30, trailing wheel 31, steering block 32, connecting rod 33, first paragraph 34, second segment the 35, the 3rd
Section 36, operation frame 37, splash guard 38, rotary joint 39, tooth bar 40, swing seat 41, pulley 42, hydraulic motor A 43,
Gear 44, oscillating motor 45, spray gun bearing 46, fixed support for spray gun 47, hydraulic motor B 48, eccentric 49, swing arm
50th, spray gun 51, forklift groove 52, cable fast interface 53, warning lamp 54, concrete 55, reinforcing bar.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are further detailed.
Embodiment 1
As shown in accompanying drawing 1-23, water milling removes concrete robot, including fuselage 1, telescopic arm 2, described fuselage 1 by protective cover 3,
Chassis 4, front drive system 5, rear steering system 6, distribution box 7, dynamical system 8, cooling system 9, solenoid valve block 10, control system
11st, bracing frame 12 is constituted；
Described 4 right-hand member of chassis arranges bracing frame 12, and bearing diagonal 13, institute are arranged between described chassis 4 and bracing frame 12
Front drive system 5 is set below 4 right-hand member of chassis stated, and described 4 upper side left end side of chassis arranges dynamical system 8, described
Chassis 4 upper side left end opposite side distribution box 7 is set, described 4 middle upper part side of chassis arranges solenoid valve block 10, described
Chassis 4 middle upper part opposite side cooling system 9 is set, described 4 left end of chassis arranges rear steering system 6, described chassis 4
Left end arranges control system 11, and described protective cover 3 is connected on chassis 4 and bracing frame 12；
Described 12 right upper portion of bracing frame arranges rotating disk 14, is fixedly connected with telescopic arm on the right side of described rotating disk 14
2, the position at 12 left side corresponding rotation disk of described bracing frame, 14 center arranges central rotatory sealing 15, and described central authorities' rotation is close
Seal 15 lower section both sides and the hydraulic motor 16 being fixedly connected on the left of bracing frame 12, described hydraulic motor 16 and rotating disk 14 are set
It is connected；
Described distribution box 7 to dynamical system 8, cooling system 9, solenoid valve block 10, control system 11 power supply can
Operating, described control system 11 include controller 17, cable control device 18 and wireless operated device 19, and described controller 17 leads to
Cross bearing to be connected on chassis 4, described cable control device 18 is connected with controller 17 by cable, described wireless operated device
19 are connected with controller 17 by wireless signal；
Described dynamical system 8 includes 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 4, is fixedly connected with electronic on described built-in pump type oil fuel tank 21
Machine 20, described built-in pump type oil fuel tank 21 are provided with liquidometer 24, described built-in pump type oil fuel tank 21 and hydraulic motor 16
And hydraulic cylinder 23 is connected by oil pipe 22, described solenoid valve block 10 is arranged on the oil pipe 22 of built-in pump type oil fuel tank 21；
Described cooling system 9 includes fan 25, radiator 26, and described radiator 26 is fixed on chassis 4, described
Fan 25 is fixed with radiator 26, described radiator 26 is arranged on oil return oil pipe 22；
Described front drive system 5 includes front-wheel 27, hydraulic motor 16, hydraulic cylinder 23, support beams 28, front-wheel support 29,
Hydraulic cylinder 23 is set in described support beam 28, described hydraulic cylinder 23 is connected with front-wheel support 29, described front-wheel support 29
It is connected with hydraulic motor 16, described hydraulic motor 16 is connected with front-wheel 27；
Described rear steering system 6 includes trailing wheel 30, hydraulic cylinder 23, steering block 31, connecting rod 32, described steering block 31
It is connected with chassis 4 by bearing, between described steering block 31 and chassis 4, is also associated with hydraulic cylinder 23, described steering block 31
Bottom is hinged with connecting rod 32, and hydraulic cylinder 23, described connecting rod are also associated between described steering block 31 and connecting rod 32
32 can only be fixedly connected with trailing wheel 30 in a rotation with surface, described connecting rod 32；
Described telescopic arm 2 include first paragraph 33, second segment 34, the 3rd section 35, operation frame 36, splash guard 37, it is described
It is fixedly connected with first paragraph 33 in rotating disk 14, the second segment 34 that can be skidded off is set in described first paragraph 33, described second
34 ends of section arrange the 3rd section 35 be connected by rotary joint 38, and the 3rd section of described 35 ends are arranged by rotary joint 38
Connected operation frame 36, arranges tooth bar 39 on described operation frame 36, swing seat 40 is arranged on described operation frame 36, described
Swing seat 40 is stuck on operation frame 36 by pulley 41 thereon, arranges and driven by hydraulic motor A42 in described swing seat 40
Gear 43, described gear 43 and tooth bar 39 mesh together, and oscillating motor 44 is arranged in described swing seat 40, described
Oscillating motor 44 on the spray gun bearing 45 swung with which is set, on described spray gun bearing 45 arrange and spray gun bearing 45 cut with scissors
Connected fixed support for spray gun 46 is connect, hydraulic motor B47 is set on described spray gun bearing 45, is set on described hydraulic motor B47
Eccentric 48 is put, the swing arm 49 being rotatedly connected with eccentric 48, described 49 other end of swing arm are set on described eccentric 48
It is hinged with fixed support for spray gun 46, spray gun 50 is set on described fixed support for spray gun 46, described 36 bottom of operation frame arranges splashproof
Cover 37, described 50 bottom of spray gun is in splash guard 37.
Described spray gun 50 is connected with pumping plant by high-pressure water pipe.
Described 4 bottom of chassis arranges forklift groove 51.
Cable fast interface 52 is set on described distribution box 7.
Described rotary joint 38 is controlled by hydraulic motor 16.
Protection spring and protective plastic are set on described oil pipe 22.
Described 37 bottom of splash guard arranges rubber slab.
Warning lamp 53 is set on described protective cover 3.
The present invention is when in use：Water milling removes concrete robot, including fuselage, telescopic arm, and fuselage constitutes the main body of robot, control
The motion of robot processed, by direction and position flexible and that rotate and then adjust operation frame, fuselage is by protective cover, bottom for telescopic arm
Disk, front drive system, rear steering system, distribution box, dynamical system, cooling system, solenoid valve block, control system, bracing frame group
Into；
Chassis right-hand member arranges bracing frame, telescopic arm is supported and fix, facilitates the activity adjustment of telescopic arm, chassis and
Bearing diagonal is set between bracing frame, bracing frame is reinforced, it is ensured that stable safety of the bracing frame in operation process, chassis is right
End lower section arranges front drive system, drives front-wheel rotation and then drives robot ambulation, and chassis upper side left end side arranges dynamic
Force system, the operating for robot provide hydraulic oil, control the operating of each several part, and chassis upper side left end opposite side arranges distribution
Case, supplies other systems after the industrial electro for accessing distribution box is distributed and uses, and chassis middle upper part side arranges solenoid valve block, right
The hydraulic oil of dynamical system supply is controlled, and chassis middle upper part opposite side arranges cooling system, and hydraulic oil is cooled down
Cooling, chassis left end arrange rear steering system, and the convenient direction of motion to robot is controlled, and chassis left end arranges manipulation system
System, convenient working personnel's Manipulation of the machine people is carried out except concrete operation, and protective cover is connected on chassis and bracing frame, it is to avoid flown during operation
The current for splashing and concrete block damage parts, carry out safeguard protection to robot interior equipment, warning lamp is arranged on protective cover,
Warning lamp flicker when meeting the system failure, chassis bottom arrange forklift groove, it is allowed to robot is moved using fork truck, easily fill
Unload, it is convenient to transport.
Bracing frame right upper portion arranges rotating disk, rotating disk is fixed, telescopic arm is fixedly connected with the right side of rotating disk,
Telescopic arm is facilitated to carry out rotation adjustment, the position of corresponding rotation disk center arranges central rotatory sealing on the left of bracing frame, it is to avoid rotation
The phenomenon generation of pipe and oil leak is twisted when rotating disk is rotated, both sides arrange and are fixedly connected on a bracing frame left side below central rotatory sealing
The hydraulic motor of side, hydraulic motor are connected with rotating disk, disk is rotated by hydraulic motor and is rotated, so as to control rotation
The direction for rotating and then adjusting telescopic arm of disk, enables telescopic arm to be accurately positioned job position.
Distribution box is powered to dynamical system, cooling system, solenoid valve block, control system and can be operated, on distribution box
Cable fast interface is set, facilitates the quick connection of cable, save time and improve work efficiency, had using electricity as power
Effect reduces noise, and emission-free, and harmless to operator, control system includes controller, cable control device and wireless operated
Device, controller are connected on chassis by bearing, the job parameter of robot are set by controller, cable control device
It is connected with controller by cable, facilitates operator being controlled to robot more at a distance, wireless operated device passes through nothing
Line signal is connected with controller, allows the operator to be controlled robot in farther distance, it is ensured that operator's
Safety.
Dynamical system includes motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, the operating to robot
Hydraulic oil is provided as direct driving force, built-in pump type oil fuel tank is fixed on chassis, and built-in pump type oil fuel tank is fixed, interior
Put, motor drives oil pump operating, built-in pump type oil fuel tank to be provided with liquidometer,
The oil level conveniently checked in fuel tank, built-in pump type oil fuel tank are connected by oil pipe with hydraulic motor and hydraulic cylinder, solenoid valve block
It is arranged on the oil pipe of built-in pump type oil fuel tank, it is disconnected to the confession of hydraulic oil to be controlled, protection spring and protection are set on oil pipe
Plastics, protect to oil pipe circuit, it is to avoid fracture or rub leakage, it is ensured that the normal operation of robot.
Cooling system includes fan, radiator, and hydraulic oil is cooled down, and radiator is fixed on chassis, to dissipating
Hot device is fixed, and fan is fixed with radiator, and wind cooling temperature lowering is carried out to radiator, and radiator is arranged on oil return oil pipe,
Hydraulic oil is lowered the temperature, control oil temperature ensures that robot runs well.
Front drive system includes front-wheel, hydraulic motor, hydraulic cylinder, support beams, front-wheel support, robot is supported and is carried
Allow the robot to stable movement for driving force, hydraulic cylinder be set in support beam, it is convenient to change front-wheel spacing, hydraulic cylinder with it is front
Wheel 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 move
Dynamic, hydraulic motor is connected with front-wheel, can make front-drive.
Rear steering system includes trailing wheel, hydraulic cylinder, steering block, connecting rod, controls the direction of motion of robot, makes robot
With steering capability, steering block is connected with chassis by bearing, is conveniently steered the rotation of block, is also connected between steering block and chassis
There is hydraulic cylinder, control the rotation of steering block, steering block bottom is hinged with connecting rod, and connecting rod is supported to steering block, turn to
Hydraulic cylinder is also associated between block and connecting rod, the flexible of hydraulic cylinder is adjusted and then is adjusted the height at robot rear portion, to adapt to
Rugged road surface, connecting rod can only be defined to the slewing area of connecting rod in a rotation with surface, connecting rod with
Trailing wheel is fixedly connected, and trailing wheel is supported and is fixed.
Telescopic arm includes first paragraph, second segment, the 3rd section, operation frame, splash guard, the length of convenient adjustment telescopic arm and side
To first paragraph being fixedly connected with rotating disk, is allow whole telescopic arm as rotating disk is rotated, is enhanced robot
The second segment that can be skidded off is set in adjustment capability, first paragraph, and space is saved in the setting for hiding second segment, keeps the structure of telescopic arm
Stable, second segment end arranges the 3rd section be connected by rotary joint, makes the 3rd section can be adjusted at any angle, expands
The job area of robot, by hydraulic motor control, so as to control the rotation of rotary joint, the 3rd section of end is arranged rotary joint
The operation frame being connected by rotary joint, is adjusted by the direction to operation frame, various concrete surfaces can be made
Industry, arranges tooth bar on operation frame, facilitate the movement of swing seat, and swing seat is arranged on operation frame, and swing seat is by pulley thereon
It is stuck on operation frame, makes swing seat and operation frame be movably connected, the tooth driven by hydraulic motor A is set in swing seat
Wheel, gear and tooth bar mesh together, and hydraulic motor A drives pinion rotation so as to drive swing seat to move along tooth bar, put
Oscillating motor is set on dynamic seat, oscillating motor is fixed, the spray gun bearing swung with which is set on oscillating motor,
Spray gun bearing can be swung under the control of oscillating motor, arrange and its spray gun being hinged and connected is fixed on spray gun bearing
Frame, arranges hydraulic motor B, eccentric is arranged on hydraulic motor B on spray gun bearing, eccentric is rotated with hydraulic motor B, partially
The swing arm being rotatedly connected with eccentric is set on heart wheel, and swing arm other end and fixed support for spray gun are hinged, and the swing of swing arm being capable of band
Dynamic fixed support for spray gun swings, and spray gun is arranged on fixed support for spray gun, and spray gun is swung with fixed support for spray gun, effectively improves machine
Except the efficiency of concrete operation, operation frame bottom arranges splash guard to people, and splash guard bottom arranges rubber slab, it is to avoid the water impact of injection
Splash after concrete, in splash guard, spray gun is connected with pumping plant by high-pressure water pipe, is provided for spray gun by pumping plant for spray gun bottom
High-Pressure Water is carried out except concrete operation.
Generally, the present invention can carry out wired and Wireless remote control, be able to carry out facade, tunnel, abrupt slope, column and
Work is abolished less than the concrete of wheel plane, many with function, working range is big, efficiency high, and stability is strong, range of application
Extensively, high degree of automation, advantage simple to operate, safe and reliable.
Embodiment 2
As shown in Figure 10, the present invention can adjust telescopic arm and enter water-filling milling to the concrete lower surface below wheel plane
Operation, its maximum operation depth can be reached at 0.65 meter of below wheel plane, for example, robot is placed in the upper table of bridge
Enter water-filling milling in the face of the lower surface of bridge, it is to avoid building scaffold from bridge bottom carries out operation, greatly save the time, manpower,
Material resources, it is cost-effective, accelerate manufacturing schedule.
Embodiment 3
As shown in Figure 11, the present invention can enter water-filling milling except concrete operation to the vertical plane below wheel plane, and which is maximum
Depth of implements can be reached at 3.3 meters of below wheel plane, and robot is placed in dam top for example is carried out to dam body side
Water milling removes concrete operation, convenient and swift.
Embodiment 4
As shown in Figure 12, the present invention can enter water-filling milling except concrete operation, its farthest energy to both sides horizontal plane remotely
Enough reach at 4.5 meters of robot center, robot is placed in track side for example just can be while to track both sides
Concrete be purged, while telescopic arm is directly lifted when railcar arrives give way, do not affect the current of railcar completely,
Operation can just be carried out after railcar passes through immediately, production is not affected and water milling can be rapidly completed except concrete works.
Embodiment 5
As shown in Figure 13, the present invention can enter water-filling milling except concrete operation, its farthest energy to both sides vertical plane remotely
Enough reach at 5.4 meters of robot center, for example, robot is placed in into safety zone and the area for entering is not suitable for distant place
Enter water-filling milling in domain except concrete operation, it is ensured that the safety of operating personnel.
Embodiment 6
As shown in Figure 14, the present invention can enter water-filling milling except concrete operation to the vertical plane of both sides higher position, and which can
Enough reach at 6.6 meters of wheel plane, for example, robot laid and operation is purged to the concrete of eminence on the ground,
Scaffold need not be carried out building carries out work high above the ground, saves the time, safer faster.
Embodiment 7
As shown in Figure 15, the present invention can enter water-filling milling except concrete operation to the horizontal plane of higher position above robot, its
Highest can be reached at 6.0 meters of wheel plane, for example, robot is placed in tunnel on ground directly to tunnel top
Carry out into water-filling milling except concrete operation, save the time, working performance is high, save production cost.
Embodiment 8
As shown in accompanying drawing 16,17, when concrete is removed to the right, the bottom of spray gun slightly deflection to the right, spray gun follow swing seat to spray gun
Move right while spray gun lower end swings back and forth in the direction that vertical oscillation seat is moved, concrete is purged, while not damaging
Bad its internal bar construction, makes the right side that concrete is eliminated part be substantially vertical plane, swings back and forth
Job area, accelerate operating speed, improve working performance.
Embodiment 9
As shown in accompanying drawing 18,19, when spray gun runs to right-hand member, spray gun is swung back to vertical state, swing seat stop motion,
Spray gun bottom carries out the operation that swings back and forth, and end is carried out except concrete operation.
Embodiment 10
As shown in accompanying drawing 20,21, when robot is by switching to the right remove concrete operation to the left, spray gun is changed into bottom from vertical state
Deflection to the left, swing seat starts to run to the left, while spray gun bottom carries out swing operation in the direction that vertical fixed support is moved.
Embodiment 11
As shown in accompanying drawing 22,23, when spray gun removes concrete to the left, spray gun bottom deflection to the left, spray gun follow swing seat to transport to the left
Dynamic, spray gun bottom is swung back and forth, and concrete is purged during spray gun is moved, and is not changed inside concrete
Bar construction, after spray gun runs to left end, carry out similar to right-hand member turn to operation turned to, again to the right remove concrete.
Generally, the present invention can carry out wired and Wireless remote control, be able to carry out facade, tunnel, abrupt slope, column and
Work is abolished less than the concrete of wheel plane, many with function, working range is big, efficiency high, and stability is strong, range of application
Extensively, high degree of automation, advantage simple to operate, safe and reliable.
Claims (8)
1. water milling removes concrete robot, including fuselage, telescopic arm, it is characterised in that：Described fuselage is by protective cover, chassis, forerunner
Dynamic system, rear steering system, distribution box, dynamical system, cooling system, solenoid valve block, control system, bracing frame composition；
Described chassis right-hand member arranges bracing frame, and bearing diagonal, described chassis right-hand member are arranged between described chassis and bracing frame
Lower section arranges front drive system, and described chassis upper side left end side arranges dynamical system, described chassis upper side left end
Opposite side arranges distribution box, and described chassis middle upper part side arranges solenoid valve block, described chassis middle upper part opposite side
Cooling system is set, and described chassis left end arranges rear steering system, and described chassis left end arranges control system, and described is anti-
Shield is connected on chassis and bracing frame；
Described bracing frame right upper portion arranges rotating disk, and telescopic arm is fixedly connected with the right side of described rotating disk, and described props up
On the left of support, the position of corresponding rotation disk center arranges central rotatory sealing, and below described central rotatory sealing, both sides arrange solid
Surely the hydraulic motor being connected on the left of bracing frame, the hydraulic motor on the left of described bracing frame are connected with rotating disk；
Described distribution box is powered to dynamical system, cooling system, solenoid valve block, control system and can be operated, described
Control system includes controller, cable control device and wireless operated device, and described controller is connected on chassis by bearing, institute
The cable control device stated is connected with controller by cable, and described wireless operated device is connected with controller by wireless signal；
Described dynamical system includes motor, built-in pump type oil fuel tank, hydraulic motor, hydraulic cylinder, oil pipe, described built-in oil
Pump type fuel tank is fixed on chassis, and motor, described built-in pump type oil are fixedly connected with described built-in pump type oil fuel tank
Fuel tank is provided with liquidometer, the hydraulic motor and the liquid in dynamical system in described built-in pump type oil fuel tank and dynamical system
Cylinder pressure is connected by oil pipe, and described solenoid valve block is arranged on the oil pipe of built-in pump type oil fuel tank；
Described cooling system includes fan, radiator, and described radiator is fixed on chassis, fixed on described radiator
There is fan, described radiator is arranged on oil return oil pipe；
Described front drive system includes front-wheel, hydraulic motor, hydraulic cylinder, support beam, front-wheel support, sets in described support beam
Hydraulic cylinder is put, the hydraulic cylinder in described front drive system is connected with front-wheel support, described front-wheel support and front drive system
In hydraulic motor be connected, the hydraulic motor in described front drive system is connected with front-wheel；
Described rear steering system includes trailing wheel, hydraulic cylinder, steering block, connecting rod, and described steering block passes through bearing and chassis
It is connected, between described steering block and chassis, is also associated with hydraulic cylinder, described steering block bottom is hinged with connecting rod, described
Hydraulic cylinder is also associated between steering block and connecting rod, described connecting rod can only be in a rotation with surface, described connection
Bar is fixedly connected with trailing wheel；
Described telescopic arm includes first paragraph, second segment, the 3rd section, operation frame, splash guard, is fixedly connected in described rotating disk
There is first paragraph, the second segment that can be skidded off is set in described first paragraph, described second segment end is arranged by rotary joint phase
The 3rd section even, the 3rd section of described end arrange the operation frame being connected by rotary joint, arrange tooth on described operation frame
Bar, arranges swing seat on described operation frame, described swing seat is stuck on operation frame by pulley thereon, described swing
The gear driven by hydraulic motor A is set on seat, and described gear and tooth bar mesh together, pendulum is set in described swing seat
Hydrodynamic cylinder pressure, arranges the spray gun bearing swung with which on described oscillating motor, arrange and spray gun on described spray gun bearing
The fixed support for spray gun that bearing is hinged and connected, arranges hydraulic motor B, arranges on described hydraulic motor B on described spray gun bearing
Eccentric, arranges the swing arm being rotatedly connected with eccentric, described swing arm other end and fixed support for spray gun on described eccentric
It is hinged, spray gun is set on described fixed support for spray gun, described operation frame bottom arranges splash guard, and described spray gun bottom is in
In splash guard.
2. water milling according to claim 1 removes concrete robot, it is characterised in that：Described spray gun passes through high-pressure water pipe and pump
Stand and be connected.
3. water milling according to claim 1 removes concrete robot, it is characterised in that：Described chassis bottom arranges forklift groove.
4. water milling according to claim 1 removes concrete robot, it is characterised in that：It is quick that cable is set on described distribution box
Interface.
5. water milling according to claim 1 removes concrete robot, it is characterised in that：Described rotary joint is by hydraulic motor control
System.
6. water milling according to claim 1 removes concrete robot, it is characterised in that：On described oil pipe arrange protection spring and
Protective plastic.
7. water milling according to claim 1 removes concrete robot, it is characterised in that：Described splash guard bottom arranges rubber
Plate.
8. water milling according to claim 1 removes concrete robot, it is characterised in that：On described protective cover, warning lamp is set.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510972869.7A CN105603887B (en) | 2015-12-23 | 2015-12-23 | Water milling removes concrete robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510972869.7A CN105603887B (en) | 2015-12-23 | 2015-12-23 | Water milling removes concrete robot |
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| Publication Number | Publication Date |
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| CN105603887A CN105603887A (en) | 2016-05-25 |
| CN105603887B true CN105603887B (en) | 2017-03-29 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106120638B (en) * | 2016-08-24 | 2017-12-15 | 葛洲坝集团项目管理有限公司 | A kind of dike, the asphaltic concrete core wall on dam quickly remove apparatus and method |
| CN106437198A (en) * | 2016-11-08 | 2017-02-22 | 苏州曾智沃德智能科技有限公司 | Wall disassembling robot |
| 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 |
| CN106988196B (en) * | 2017-05-08 | 2022-11-01 | 河南伯淼水处理有限公司 | Road and bridge pavement layer water milling 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 |
| CN108426728B (en) * | 2018-02-28 | 2019-12-27 | 浙江工业职业技术学院 | Tail end traction test system for robot leg joint temperature control |
| CN108411755B (en) * | 2018-05-09 | 2023-12-22 | 河南伯淼水处理有限公司 | Pavement breaking equipment by hydraulic power |
| 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 |
| CN109837830B (en) * | 2019-02-22 | 2020-10-30 | 长安大学 | Water jet pavement crushing device |
| CN110158426B (en) * | 2019-07-04 | 2021-05-11 | 胡予磊 | Highway bridge maintenance equipment |
| US11725352B2 (en) * | 2020-12-29 | 2023-08-15 | 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002242123A (en) * | 2001-02-19 | 2002-08-28 | Kotobuki Giken Kogyo Kk | Device for chipping concrete |
| KR100489664B1 (en) * | 2004-08-31 | 2005-05-17 | (주)건우기술 | Attachment for water jet system |
| JP2011058280A (en) * | 2009-09-11 | 2011-03-24 | Takashi Hashimoto | Concrete structure working apparatus |
| CN204448664U (en) * | 2014-12-29 | 2015-07-08 | 河南伯淼水处理有限公司 | Water milling is except concrete executing agency |
| CN105013636A (en) * | 2015-08-05 | 2015-11-04 | 河南伯淼水处理有限公司 | High-pressure water jet rotating body |
| CN105603886A (en) * | 2015-12-23 | 2016-05-25 | 河南伯淼水处理有限公司 | Construction method for widening bridge on basis of water-milling concrete removal robot |
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