CN105926702B - A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine - Google Patents
A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine Download PDFInfo
- Publication number
- CN105926702B CN105926702B CN201610471028.2A CN201610471028A CN105926702B CN 105926702 B CN105926702 B CN 105926702B CN 201610471028 A CN201610471028 A CN 201610471028A CN 105926702 B CN105926702 B CN 105926702B
- Authority
- CN
- China
- Prior art keywords
- walking
- fixed
- sweep
- branch
- scratch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2303/00—Specific treatment goals
- C02F2303/14—Maintenance of water treatment installations
Abstract
The present invention relates to a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machines, including crawler unit, running gear system, electrical turntable, redundancy parallel mechanism and scrape sweeping device, running gear system is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and electrical turntable is connected with crawler unit, redundancy parallel mechanism is located at electrical turntable and scrapes between sweeping device, and redundancy parallel mechanism lower end is connected with electrical turntable, redundancy parallel mechanism upper end is connected with sweeping device is scraped.The present invention integrates the multiple functions such as walking is mobile, orientation is adjusted, furrow bank scratches and furrow bank rotation is swept, irrigation canals and ditches furrow bank progress movable type can be handled the chemical engineering sewage in hydraulic engineering and sweep prune job, and sweep fast cleaning speed, position flexible adjustment, intelligence degree height, sweep cleaning efficiency height, it solves and manually sweeps the problems such as cleaning amount of labour is big, efficiency is low and of high cost now.
Description
Technical field
The present invention relates to hydraulic engineering furrow banks to clear up machinery field, specifically a kind of full-automatic chemical industry sewage disposal ditch
Trench wall scale removal all-in-one machine.
Background technology
With the development of the social economy, the people's livelihood engineering such as urban construction, transport development, agricultural construction and water conservancy construction is more next
It is more paid close attention to by various circles of society, government is also increasing to the input in terms of these, and engineering construction in this respect is also everywhere
It blooms, is seen everywhere, but can all be related in the people's livelihood engineering such as urban construction, transport development, agricultural construction and water conservancy construction
One piece, that is, the arrangement of water supply and sewerage system is reserved and builds, such as agricultural irrigation, hydraulic and hydroelectric engineering, municipal works,
Garden Engineering, house Water and Waste Water Engineering, sewage treatment project, chemical enterprise emission engineering, urban traffic road construction project,
Water delivery drainage ditch can be all related in urbanite water consumption engineering etc. engineering, the effect of water delivery drainage ditch is mainly used for rainwater day
Gas and the usually discharge of Living Industry water and the various long-distance conveyings with water；But due to domestic water, agricultural water and
There are minerals in industrial water, therefore large area is formed by prolonged accumulation on two madial wall of water delivery drainage ditch
Incrustation scale, in addition to this, due to the effect of certain aquatic organisms or algae in water so that also easy shape on water delivery drainage ditch madial wall
Adhere to aquatic organism at moss etc., the formation of incrustation scale and attachment aquatic organism is easy to cause water delivery drainage ditch overall width and narrows, holds
Easily cause the blocking of water delivery drainage ditch；Therefore, the regular daily dimension for carrying out cleaning dredging is needed for these water delivery drainage ditches
Shield still mostly uses and manually carries out scratching loose flushing operation using shovel spade or perching knife at present, since chemical engineering sewage handles ditch
Canal madial wall is on vertical plane, and manual cleaning is inconvenient, occupies a large amount of labour, and the loose quantities of scratch is big, at
This height, efficiency is low, in addition to this, due to bending over to carry out prune job often, is easy to cause the arthrosis diseases such as worker's lumbar vertebrae cervical vertebra
Disease.In consideration of it, the present invention provides a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machines.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal
All-in-one machine.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine, including crawler unit, running on wheels dress
It sets, electrical turntable, redundancy parallel mechanism and scrape sweeping device；The running gear system quantity is four, and running gear system
It being symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and
Electrical turntable is connected with crawler unit, between redundancy parallel mechanism is located at electrical turntable and scrapes sweeping device, and redundant parallel
Mechanism lower end is connected with electrical turntable, and redundancy parallel mechanism upper end is connected with sweeping device is scraped.
As a further improvement on the present invention, the crawler unit includes chassis, driving motor, drive shaft, row
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking
Belt wheel quantity is four；The chassis is in rectangular configuration, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively
It is scheduled in the mounting groove of chassis front and rear sides, and driving motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being sleeved on walking belt wheel
Item.
As a further improvement on the present invention, the running gear system includes walking fixed plate, walking sliding rail, walking
Sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, walking supporting rod, moving block, movable motor, movable motor
Frame, walking axle and walking runner；The walking sliding rail is fixed on walking fixed plate lower face, and walking sliding block is mounted on walking
On sliding rail, and upper end of slide block of walking is concave structure, and walking sliding block lower end is the U-shaped structure to stand upside down, and walking ear mount is located at walking
At sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, and mobile holder upper end passes through No.1 shaft and walking ear mount
It is connected, walking connecting rod is provided at mobile holder medium position, walking supporting rod one end is slided by No. two shafts and walking
Block lower end is connected, and the walking supporting rod other end is connected by moving block with the walking connecting rod in the middle part of mobile holder, and row
It is pneumatic telescopic structure to walk supporting rod, and movable motor is fixed on by movable motor frame on mobile holder lateral wall, and row
It walks electric machine main shaft with walking axle to be connected, walking axle both ends are separately fixed on the left and right madial wall of mobile holder lower end, walking
Runner is mounted at walking axle medium position.
When the present invention advances, when flat road surface is walked, pass through outward movement of the sliding block on walking sliding rail of walking
Walking supporting rod stretching routine outward counterclockwise is driven, and supporting rod of walking links with mobile holder, to drive walking branch
Frame carries out rotary motion outward counterclockwise by rotation center of No.1 shaft, on walking rotatable wheel contacts ground, entire crawler belt
Running gear is detached with ground, is in by lift dummy status, while passing through the rotation that movable motor drives walking runner, is realized
The walking movement of running gear system, and the speed of travel is fast, overcome the slow problem of the crawler unit speed of travel；Work as chance
When to hogwallow, by walking, inwardly movement of the sliding block on walking sliding rail drives walking supporting rod to receive inwardly clockwise
It contracts and moves, and supporting rod of walking links with mobile holder, to drive mobile holder suitable as rotation center progress using No.1 shaft
Hour hands rotary motion inwardly, realizes the contraction of running gear system, when runner of walking is detached from ground, entire crawler travel
Device is contacted with ground, and the rotation of walking belt wheel is driven by the rotation of driving motor, to drive the movement of traveling crawler, is carried out
With running gear be mainly used for the present invention walk, move and turn to, and crawler unit by using track structure more
Add the walking of convenient for hollow topography condition so that applicability of the invention is stronger；It is filled by crawler unit and running on wheels
The cooperation conversion set, improves the locomotor activity of the present invention.
As a further improvement on the present invention, the redundancy parallel mechanism include fixed platform, moving platform, the first branch and
Second branch；The fixed platform and moving platform is disc-shaped structure, and moving platform is located at right over fixed platform；Described
The quantity of one branch and the second branch is two, and the first branch and the second branch are respectively positioned between fixed platform and moving platform, and first
The both ends of branch and the second branch are respectively connected with fixed platform and moving platform, and the horizontal peace of the first branch and the second branch
It is 90 degree to fill angle；First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect column and the first damping spring；First ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
It is attached using Hooke's hinge between lower end, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connecting pole is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；Pass through Hooke's hinge
The rotation that can carry out both direction can carry out the rotation in three directions by the first spherical hinge, can be by the first electric pushrod
Row moves up and down, and the first branch uses the form of 2-UPS parallel institutions, and increases the first branch fortune by the first damping spring
Stationarity when dynamic improves the movenent performance of the present invention；Second branch includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connecting pole and the second damping spring；Second ear mount is fixed on fixed platform upper surface
On, it is attached using rotational pin between the second ear mount and the second electric pushrod lower end, the second electric pushrod upper end and the second ball
Hinge is connected, and the second spherical hinge is fixed on by the second connecting pole on the lower face of moving platform, and the second damping spring is around being sleeved on
On second electric pushrod；The rotation that a direction can be carried out by rotational pin can carry out three directions by the second spherical hinge
Rotation, can be moved up and down by the second electric pushrod, and the second branch uses the form of 2-RPS parallel institutions, and passes through the
Two damping springs increase stationarity when second chain movement, improve the movenent performance of the present invention；Redundancy parallel mechanism is logical
It crosses fixed platform, moving platform, the first branch and the second branch and constitutes four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2-
The parallel institution form of RPS can be realized and be moved along X-axis and Z axis and the totally four degree of freedom sides of the rotation around X-axis and around Y-axis
To movement, and four degree of freedom are independent, by four degree of freedom can also co-ordination, the moving platform track made is along predetermined
The curvilinear motion in space, stable movement, movement is flexible, and redundancy parallel mechanism is applied in the present invention, on the one hand plays pair
The integrally-regulated of tool face azimuth angle is swept, chemical engineering sewage processing irrigation canals and ditches furrow bank is swept convenient for the various postures of the present invention are comprehensive
The progress of prune job, realizes the function of flexible prune job, and the effect of damping is on the other hand played to scraping sweeping device, is made
Sweeping device must be scraped and be in horizontal plateau always in the case where the present invention walks jounce condition, prevent jitter excessive to scraping sweeping device
Operation is swept to have an impact.
As a further improvement on the present invention, the sweeping device of scraping includes sweeping turntable, sweeping bearing, sweep hydraulic pressure
Cylinder, mobile scraper sweep guide cylinder, sweep telescopic rod, sweep lock pillar, extension spring, scratch device and rotation sweeping device；Described
It sweeps bearing and is located at and sweep right over turntable, and sweep bearing and sweep turntable and be connected, sweep bearing in the T-type structure to stand upside down,
It sweeps and is provided with reinforcing rib at bearing medium position, sweep hydraulic cylinder and be located at and sweep at left and right sides of bearing, and sweep hydraulic pressure
Cylinder is linearly equally spaced along the longitudinal center axis for sweeping bearing, is swept hydraulic cylinder rear end and is connected with bearing is swept, scrapes
It sweeps hydraulic cylinder front end and mobile scraper is installed, sweep hydraulic cylinder and use two level telescopic hydraulic cylinder, sweep and be fixed in the middle part of guide cylinder
It sweeps on hydraulic cylinder, sweeps telescopic rod one end and be fixed on and sweep hydraulic cylinder front end, sweep the telescopic rod other end and be fixed on movement and scrape
On plate rear end face, extension spring, which is located at, to be swept between bearing and mobile scraper, and extension spring one end is by sweeping lock pillar and scraping
It sweeps bearing to be connected, be connected by sweeping lock pillar between the extension spring other end and mobile scraper rear end face, scratch device position
At mobile scraper outside front ends position, rotation sweeping device, which is located at, scratches device dead astern；When operation, reason is cleared away according to be doctored first
Chemical engineering sewage processing irrigation canals and ditches furrow width come adjust the present invention sweep diameter, particular by the stretching motion for sweeping hydraulic cylinder
It drives mobile scraper to shrink and uphold outward inwardly, sweeps diameter to change the present invention, be applicable in convenient for the present invention
The operation that sweeps of irrigation canals and ditches is handled in the chemical engineering sewage of different in width, and by sweeping guide cylinder and sweeping being used cooperatively for telescopic rod
Certain supporting role is played to sweeping hydraulic cylinder extension movement, extension spring plays the stretching motion for sweeping hydraulic cylinder
The effect of support and limit.
As a further improvement on the present invention, the scratch device includes scratching sliding rail, scratch sliding block and scratching cutter claw；
The scratch sliding rail quantity is two, and scratch sliding rail is symmetrically arranged to move and scrape along the longitudinal center axis of mobile scraper
Upper and lower ends on the outside of plate scratch sliding rail rear and front end and are respectively arranged with scratch block, scratch the cross section transverse of sliding block in I-shaped
Structure scratches sliding block and is mounted on scratch sliding rail, scratch cutter claw quantity and be no less than five, scratches cutter claw along the longitudinal direction side for scratching sliding block
To being evenly arranged, scratches cutter claw bottom end and be fixed on scratch sliding block, and scratch cutter claw rear end and be provided with scratch tool apron, scratch tool apron
Trapezoidal structure scratches cutter claw front end and is provided with scraper, and scraper is serrated structure, and scraper material is stainless steel material；It is logical
The reciprocating movement back and forth for moving back and forth drive and scratching cutter claw for scratching sliding block on scratching sliding rail is crossed, cutter claw and chemical industry are scratched
Mobile friction is generated between sewage disposal irrigation canals and ditches furrow bank, is scraped to which chemical engineering sewage is handled the sundries dirt on irrigation canals and ditches furrow bank
Draw it is loose and broken, and using it is jagged scratch cutter claw improve scratch device scratch cleaning furrow bank work capacity.
As a further improvement on the present invention, the rotation sweeping device includes that turntable and rotation brush are swept in rotation；The rotation is swept
Turntable rear end is fixed in mobile scraper end face outside, and rotation sweeps turntable front end and is equipped with rotation brush, and rotation brush rear end is provided with rotation
Brush seat, rotation brush front end is provided with brush head, and brush head is equidistantly evenly arranged along rotation brush seat, and brush head top end is provided with point
Head, brush head material are stainless steel material；The rotation that turntable is swept by rotation drives the rotation of rotation brush, revolves the brush head of brush using point
Made of the stainless steel material of head, the chemical engineering sewage after there is good sharpness, rotation sweeping device can be scratched to scratching device
Prune job is swept in the secondary rotation of processing irrigation canals and ditches furrow bank progress so that chemical engineering sewage handles the more clean thorough of irrigation canals and ditches furrow bank cleaning.
Compared with prior art, the present invention has the following advantages：
(1) present invention integrates the multiple functions such as walking is mobile, orientation is adjusted, furrow bank scratches and furrow bank rotation is swept, can be right
Chemical engineering sewage processing irrigation canals and ditches furrow bank in hydraulic engineering carries out movable type and sweeps prune job, and sweeps that cleaning speed is fast, position
Flexible adjustment, intelligence degree are high, sweep cleaning efficiency height, solve manually sweep that the cleaning amount of labour is big, efficiency is low now and
The problems such as of high cost.
(2) crawler unit of the invention and running gear system cooperation conversion use, and conversion is convenient and efficient, can fit
The walking of Ying Yu differently conditions, crawler unit are mainly used for the walking of hogwallow, and running gear system is mainly used for putting down
The walking on smooth ground, the speed of travel are fast.
(3) redundancy parallel mechanism of the invention constitutes four selfs by fixed platform, moving platform, the first branch and the second branch
By degree symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, can realize moved along X-axis and Z axis and
The movement for rotating totally four freedom degree directions around X-axis and around Y-axis, and four degree of freedom are independent, pass through four degree of freedom
Can be with co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, and stable movement, movement is flexible, by redundant parallel
Mechanism is applied in the present invention, is on the one hand played to sweeping the integrally-regulated of tool face azimuth angle, convenient for the various appearances of the present invention
The comprehensive progress that prune job is swept to chemical engineering sewage processing irrigation canals and ditches furrow bank of state, realizes the function of flexible prune job, separately
On the one hand the effect of damping is played to scraping sweeping device so that scrape sweeping device and be in water always in the case where the present invention walks jounce condition
Flat plateau prevents from jitter excessive sweeping operation to scraping sweeping device to have an impact.
(4) of the invention sweeping device of scraping can carry out the movement of a translation one rotation totally two freedom degree directions in space,
And sweep that overall operation diameter is adjustable, what the chemical engineering sewage for being suitable for different in width convenient for the present invention handled irrigation canals and ditches sweeps operation,
Applicable object is wide, and work capacity is strong；Its by scratch device the sundries dirt on furrow bank can once be scratched it is loose and
It is broken, prune job can be swept to the secondary rotation of furrow bank progress after scratch device scratch so that furrow bank cleaning by revolving sweeping device
It is more clean thorough.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Dimensional structure diagram when Fig. 2 is crawler unit and running gear system cooperation of the present invention；
Fig. 3 is the dimensional structure diagram of running gear system of the present invention；
Dimensional structure diagram when Fig. 4 is redundancy parallel mechanism and cleaning plant cooperation of the present invention；
Fig. 5 is the dimensional structure diagram of redundancy parallel mechanism of the present invention；
Fig. 6 is the dimensional structure diagram that the present invention scrapes sweeping device；
Fig. 7 is the dimensional structure diagram when present invention scratches device, rotation sweeping device and mobile scraper cooperation.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 7, a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine, including crawler travel
Device, running gear system, electrical turntable, redundancy parallel mechanism and scrape sweeping device；The running gear system quantity is four,
And running gear system is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end
Center position, and electrical turntable and crawler unit are connected, redundancy parallel mechanism be located at electrical turntable with scrape sweeping device it
Between, and redundancy parallel mechanism lower end is connected with electrical turntable, redundancy parallel mechanism upper end is connected with sweeping device is scraped.
As shown in Fig. 2, the crawler unit 1 includes chassis 11, driving motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, drive shaft
13 and walking 14 quantity of belt wheel be four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers mounting groove respectively,
Driving motor 12 is separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is using Biaxial synchronous output electricity
Machine, 13 one end of drive shaft are connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14, and drives
Moving axis 13 and walking belt wheel 14 between be fixed by tight locking button 15,16 both ends of traveling crawler rotating around be sleeved on walking belt wheel 14
On, and 16 outside of traveling crawler is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, the running gear system 2 includes walking fixed plate 21, walking sliding rail 22, walking cunning
Block 23, walking ear mount 24, No.1 shaft 25,26, No. two shafts 27 of mobile holder, walking supporting rod 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；The walking sliding rail 22 is fixed on walking fixed plate 21
On lower face, walking sliding block 23 is mounted on walking sliding rail 22, and 23 upper end of sliding block of walking is concave structure, is walked under sliding block 23
End is the U-shaped structure to stand upside down, and walking ear mount 24 is located at walking 22 back-end location of sliding rail, and walk ear mount 24 and walking fixed plate
21 are connected, and 26 upper end of mobile holder is connected by No.1 shaft 25 with walking ear mount 24, is set at 26 medium position of mobile holder
It is equipped with walking connecting rod, walking 28 one end of supporting rod is connected by No. two shafts 27 with 23 lower end of walking sliding block, walking support
28 other end of bar is connected by moving block 29 with the walking connecting rod at 26 middle part of mobile holder, and supporting rod 28 of walking is pneumatic
Telescopic structure, movable motor 210 is fixed on by movable motor frame 211 on 26 lateral wall of mobile holder, and movable motor
210 main shafts are connected with walking axle 212, and 212 both ends of walking axle are separately fixed on the left and right madial wall of 26 lower end of mobile holder,
Runner 213 of walking is mounted at 212 medium position of walking axle.
As shown in Figure 1 to Figure 3, when the present invention advances, when flat road surface is walked, by walking, sliding block 23 is slided in walking
Movement outward on rail 22 drives walking supporting rod 28 stretching routine outward counterclockwise, and walk supporting rod 28 and walking branch
Frame 26 links, to drive mobile holder 26 to carry out rotary motion outward counterclockwise with No.1 shaft 25 for rotation center, when
Runner 213 of walking contacts on ground, and entire crawler unit 1 is detached with ground, in by lift dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, realizes the walking movement of running gear system 2, and the speed of travel is fast,
Overcome the slow problem of 1 speed of travel of crawler unit；When encountering hogwallow, by sliding block 23 of walking in walking sliding rail
Movement inwardly on 22 drives walking supporting rod 28 contractile motion inwardly clockwise, and walk supporting rod 28 and mobile holder
26 linkages are realized to drive mobile holder 26 to carry out rotary motion inwardly clockwise with No.1 shaft 25 for rotation center
The contraction of running gear system 2, when runner 213 of walking is detached from ground, entire crawler unit 1 is contacted with ground, logical
Overdrive motor 12 rotation drive walking belt wheel 14 rotation, to drive the movement of traveling crawler 16, crawler unit 1
It is mainly used for walking, move and turning to for the present invention, and crawler unit 1 easily facilitates hollow by using track structure
Topography condition walking so that applicability of the invention is stronger；Pass through the cooperation of crawler unit 1 and running gear system 2
Conversion improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, the redundancy parallel mechanism 4 includes fixed platform 41, moving platform 42,43 and of the first branch
Second branch 44；The fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 be located at fixed platform 41 just on
Side；The quantity of first branch 43 and the second branch 44 is two, and the first branch 43 and the second branch 44 are respectively positioned on and allocate
Between platform 41 and moving platform 42, the both ends of the first branch 43 and the second branch 44 are respectively connected with fixed platform 41 and moving platform 42
It connects, and the horizontal installation angle of the first branch 43 and the second branch 44 is 90 degree；First branch 43 includes the first ear mount
431, Hooke's hinge 432, the first electric pushrod 433, the first spherical hinge 434, the first connecting pole 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on 41 upper surface of fixed platform, and the first ear mount 431 and the first electric pushrod are adopted between 433 lower end
It is attached with Hooke's hinge 432,433 upper end of the first electric pushrod is connected with the first spherical hinge 434, and the first spherical hinge 434 is logical
It crosses the first connecting pole 435 to be fixed on the lower face of moving platform 42, the first damping spring 436 is around being sleeved on the first electric pushrod 433
On；The rotation that both direction can be carried out by Hooke's hinge 432 can carry out the rotation in three directions by the first spherical hinge 434, lead to
Crossing the first electric pushrod 433 can move up and down, and the first branch 43 uses the form of 2-UPS parallel institutions, and passes through first
Damping spring 436 increases the stationarity when movement of the first branch 43, improves the movenent performance of the present invention；Described second
Chain 44 includes the second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting pole 445 and the
Two damping springs 446；Second ear mount 441 is fixed on 41 upper surface of fixed platform, and the second ear mount 441 electronic is pushed away with second
It being attached using rotational pin 442 between 443 lower end of bar, 443 upper end of the second electric pushrod is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on by the second connecting pole 445 on the lower face of moving platform 42, and the second damping spring 446 is around being sleeved on
On second electric pushrod 443；The rotation that a direction can be carried out by rotational pin 442 can carry out three by the second spherical hinge 444
The rotation in a direction can be moved up and down by the second electric pushrod 443, and the second branch 44 is using 2-RPS parallel institutions
Form, and stationarity when the second branch 44 moves is increased by the second damping spring 446, improve the motility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform 42, the first branch 43 and the second branch 44
Claim parallel institution, and it uses the parallel institution form of 2-UPS-2-RPS, can realize and be moved along X-axis and Z axis and around X-axis
With the movement of rotation totally four freedom degree directions around Y-axis, and four degree of freedom are independent, can also be assisted by four degree of freedom
Work is adjusted, the moving platform track made is along the curvilinear motion of predetermined space, and stable movement, movement is flexible, and redundancy parallel mechanism 4 is answered
It uses in the present invention, on the one hand plays to scraping the integrally-regulated of 5 orientation angles of sweeping device, it is entirely square convenient for the various postures of the present invention
Position sweeps chemical engineering sewage processing irrigation canals and ditches furrow bank the progress of prune job, realizes the function of flexible prune job, on the other hand
The effect of damping is played to scraping sweeping device 5 so that scrape sweeping device 5 and be in horizontal flat always in the case where the present invention walks jounce condition
Steady state prevents from jitter excessive sweeping operation to scraping sweeping device 5 to have an impact.
As shown in Figure 6 and Figure 7, it is described scrape sweeping device 5 include sweep turntable 51, sweep bearing 52, sweep hydraulic cylinder 53,
Mobile scraper 54 sweeps guide cylinder 55, sweeps telescopic rod 56, sweeps lock pillar 57, extension spring 58, scratching device 59 and rotation and sweep dress
Set 510；It is described sweep bearing 52 and be located at sweep right over turntable 51, and sweep bearing 52 and sweep turntable 51 and be connected, sweep
Bearing 52 sweeps in the T-type structure to stand upside down and is provided with reinforcing rib at 52 medium position of bearing, sweeps hydraulic cylinder 53 and is located at and scrapes
52 left and right sides of bearing is swept, and sweeps hydraulic cylinder 53 and is linearly equally spaced along the longitudinal center axis for sweeping bearing 52, is scraped
It sweeps 53 rear end of hydraulic cylinder with bearing 52 is swept to be connected, sweeps 53 front end of hydraulic cylinder and mobile scraper 54 is installed, sweep hydraulic cylinder
53 use two level telescopic hydraulic cylinders, sweep the middle part of guide cylinder 55 and are fixed on and sweep on hydraulic cylinder 53, and it is solid to sweep 56 one end of telescopic rod
It is scheduled on and sweeps 53 front end of hydraulic cylinder, sweep 56 other end of telescopic rod and be fixed on 54 rear end face of mobile scraper, extension spring 58
In sweeping between bearing 52 and mobile scraper 54, and 58 one end of extension spring is connected by sweeping lock pillar 57 with bearing 52 is swept
It connects, is connected by sweeping lock pillar 57 between 58 other end of extension spring and 54 rear end face of mobile scraper, scratch device 59 and be located at
At 54 outside front ends position of mobile scraper, rotation sweeping device 510, which is located at, scratches 59 dead astern of device；When operation, first according to be doctored
That clears away the furrow width of the chemical engineering sewage processing irrigation canals and ditches of reason to adjust the present invention sweeps diameter, particular by sweeping hydraulic cylinder 53
Stretching motion drives mobile scraper 54 to shrink and uphold outward inwardly, sweeps diameter to change the present invention, is convenient for
The present invention is suitable for the operation that sweeps of the chemical engineering sewage processing irrigation canals and ditches of different in width, and by sweeping guide cylinder 55 and sweeping flexible
Being used cooperatively for bar 56 plays certain supporting role to sweeping 53 stretching motion of hydraulic cylinder, and extension spring 58 is to sweeping hydraulic pressure
The stretching motion of cylinder 53 plays the role of support and limit.
As shown in Figure 6 and Figure 7, the scratch device 59 includes scratching sliding rail 591, scratch sliding block 592 and scratching cutter claw
593；591 quantity of scratch sliding rail be two, and scratch sliding rail 501 along mobile scraper 54 longitudinal center axis respectively symmetrically
54 outside upper and lower ends of mobile scraper are arranged in, 591 rear and front end of sliding rail is scratched and is respectively arranged with scratch block, scratch sliding block
592 cross section transverse is in I-shaped structure, scratches sliding block 592 and is mounted on scratch sliding rail 591, it is many to scratch 593 quantity of cutter claw
It in five, scratches cutter claw 593 and is evenly arranged along the longitudinal direction for scratching sliding block 592, scratch 593 bottom end of cutter claw and be fixed on scratch sliding block
It on 592, and scratches 593 rear end of cutter claw and is provided with scratch tool apron, scratch the trapezoidal structure of tool apron, scratch the setting of 593 front end of cutter claw
There is a scraper, scraper is serrated structure, and scraper material is stainless steel material；By scratching sliding block 592 on scratching sliding rail 591
Move back and forth the reciprocating movement back and forth for driving and scratching cutter claw 593, scratch cutter claw 593 and chemical engineering sewage and handle irrigation canals and ditches furrow bank
Between generate mobile friction, to the sundries dirt handled chemical engineering sewage on irrigation canals and ditches furrow bank scratch it is loose and broken,
And the work capacity for scratching device 59 and scratching cleaning furrow bank is improved using jagged scratch cutter claw 593.
As shown in Figure 6 and Figure 7, the rotation sweeping device 510 includes that turntable 5101 and rotation brush 5102 are swept in rotation；The rotation
It sweeps 5101 rear end of turntable to be fixed in 52 end face outside of mobile scraper, rotation sweeps 5101 front end of turntable and is equipped with rotation brush 5102, rotation
5102 rear end of brush is provided with rotation brush seat, and 5102 front end of rotation brush is provided with brush head, and brush head is equidistantly equal along rotation brush seat
Even arrangement, brush head top end are provided with tip, and brush head material is stainless steel material；The rotation that turntable 5101 is swept by rotation drives rotation
The brush head of the rotation of brush 5102, rotation brush 5102 uses made of the stainless steel material of cusp-shaped, has good sharpness,
Prune job is swept in the secondary rotation of chemical engineering sewage processing irrigation canals and ditches furrow bank progress after rotation sweeping device 510 can be scratched to scratching device 59, is made
Obtain the more clean thorough of chemical engineering sewage processing irrigation canals and ditches furrow bank cleaning.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (3)
1. a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine, it is characterised in that：Including crawler unit, wheel
Formula running gear, electrical turntable, redundancy parallel mechanism and scrape sweeping device；The running gear system quantity is four, and wheeled
Running gear is symmetrically arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center position
Place is set, and electrical turntable is connected with crawler unit, between redundancy parallel mechanism is located at electrical turntable and scrapes sweeping device, and it is superfluous
Remaining parallel institution lower end is connected with electrical turntable, and redundancy parallel mechanism upper end is connected with sweeping device is scraped；Wherein：
The running gear system includes walking fixed plate, walking sliding rail, walking sliding block, walking ear mount, No.1 shaft, walking
Holder, No. two shafts, walking supporting rod, moving block, movable motor, movable motor frame, walking axle and walking runner；The row
It walks sliding rail to be fixed on walking fixed plate lower face, walking sliding block is mounted on walking sliding rail, and upper end of slide block of walking is concave
Structure, walking sliding block lower end be the U-shaped structure to stand upside down, and walking ear mount is located at walking sliding rail rear end position, and walk ear mount and
Fixed plate of walking is connected, and mobile holder upper end is connected by No.1 shaft with walking ear mount, is set at mobile holder medium position
It is equipped with walking connecting rod, walking supporting rod one end is connected by No. two shafts with walking sliding block lower end, and walking supporting rod is another
End is connected by moving block with the walking connecting rod in the middle part of mobile holder, and supporting rod of walking is pneumatic telescopic structure,
Movable motor is fixed on by movable motor frame on mobile holder lateral wall, and movable motor main shaft is connected with walking axle, row
It walks axis both ends to be separately fixed on the left and right madial wall of mobile holder lower end, walking runner is mounted at walking axle medium position；
The redundancy parallel mechanism includes fixed platform, moving platform, the first branch and the second branch；The fixed platform is put down with dynamic
Platform is disc-shaped structure, and moving platform is located at right over fixed platform；The quantity of first branch and the second branch is
Two, the first branch and the second branch are respectively positioned between fixed platform and moving platform, and the both ends of the first branch and the second branch are respectively
It is connected with fixed platform and moving platform, and the horizontal installation angle of the first branch and the second branch is 90 degree；
First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the
One damping spring；First ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
It is attached using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the first connection
Column is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；
Second branch includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting pole and the
Two damping springs；Second ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
It is attached using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge passes through the second connection
Column is fixed on the lower face of moving platform, and the second damping spring is around being sleeved on the second electric pushrod；
The sweeping device of scraping includes sweeping turntable, sweeping bearing, sweep hydraulic cylinder, mobile scraper, sweep guide cylinder, sweeping and stretch
Contracting bar sweeps lock pillar, extension spring, scratches device and rotation sweeping device；It is described sweep bearing and be located at sweep right over turntable, and
It sweeps bearing and sweeps turntable and be connected, sweep bearing in the T-type structure to stand upside down, sweep and be provided with reinforcement at bearing medium position
Muscle, sweeps hydraulic cylinder and is located at and sweep at left and right sides of bearing, and sweeps hydraulic cylinder and be in along the longitudinal center axis for sweeping bearing
Straight line is equally spaced, and is swept hydraulic cylinder rear end and is connected with bearing is swept, and is swept hydraulic cylinder front end and is equipped with mobile scraper, scrapes
It sweeps hydraulic cylinder and uses two level telescopic hydraulic cylinder, sweep to be fixed in the middle part of guide cylinder and sweep on hydraulic cylinder, it is solid to sweep telescopic rod one end
It is scheduled on and sweeps hydraulic cylinder front end, sweep the telescopic rod other end and be fixed on mobile scraper rear end face, extension spring, which is located at, sweeps branch
Between seat and mobile scraper, and extension spring one end is connected by sweeping lock pillar with bearing is swept, the extension spring other end and
It is connected by sweeping lock pillar between mobile scraper rear end face, scratches device and be located at mobile scraper outside front ends position, rotation is swept
Device, which is located at, scratches device dead astern；
The scratch device includes scratching sliding rail, scratch sliding block and scratching cutter claw；The scratch sliding rail quantity is two, and is scraped
It draws sliding rail and is symmetrically arranged at upper and lower ends on the outside of mobile scraper along the longitudinal center axis of mobile scraper, before and after scratching sliding rail
Both ends are respectively arranged with scratch block, and the cross section transverse for scratching sliding block is in I-shaped structure, scratch sliding block and are mounted on scratch sliding rail
On, it scratches cutter claw quantity and is no less than five, scratch cutter claw and be evenly arranged along the longitudinal direction for scratching sliding block, scratch cutter claw bottom end and fix
It on scratching sliding block, and scratches cutter claw rear end and is provided with scratch tool apron, scratch the trapezoidal structure of tool apron, scratch the setting of cutter claw front end
There is a scraper, scraper is serrated structure, and scraper material is stainless steel material.
2. a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine according to claim 1, it is characterised in that：
The crawler unit includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives electricity
The quantity of machine, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The rectangular knot in the chassis
Structure, chassis rear and front end offer mounting groove respectively, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and drive
Dynamic motor uses Biaxial synchronous output motor, drive shaft one end to be connected with driving motor output shaft, the drive shaft other end and row
It walks belt wheel to be connected, and is fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler both ends are rotating around being sleeved on
It walks on belt wheel, and semicircle tread plate is evenly arranged on the outside of traveling crawler.
3. a kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine according to claim 1, it is characterised in that：
The rotation sweeping device includes that turntable and rotation brush are swept in rotation；The rotation sweeps turntable rear end and is fixed on mobile scraper end face outside
On, rotation sweeps turntable front end and is equipped with rotation brush, and rotation brush rear end is provided with rotation brush seat, and rotation brush front end is provided with brush head, and
Brush head is equidistantly evenly arranged along rotation brush seat, and brush head top end is provided with tip, and brush head material is stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471028.2A CN105926702B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471028.2A CN105926702B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105926702A CN105926702A (en) | 2016-09-07 |
| CN105926702B true CN105926702B (en) | 2018-07-17 |
Family
ID=56828592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471028.2A Active CN105926702B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105926702B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106988549B (en) * | 2017-06-08 | 2019-05-24 | 成都煜明装饰工程有限公司 | A kind of architecture indoor finishing metope sweeps processor automatically |
| CN107878583B (en) * | 2017-11-24 | 2023-06-30 | 开封大学 | Novel carry thing car |
| CN108714065A (en) * | 2018-04-04 | 2018-10-30 | 邢志平 | A kind of bionical artificial limb machinery foot in parallel connection joint |
| CN113415834A (en) * | 2021-06-02 | 2021-09-21 | 唐友慧 | Chemical wastewater treatment ditch wall descaling system |
| CN115573416B (en) * | 2022-09-19 | 2023-10-20 | 江苏四通路桥工程有限公司 | Automatic cleaning equipment for highway drainage side ditch |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354171C (en) * | 2004-06-30 | 2007-12-12 | 中国科学院沈阳自动化研究所 | Dangerous operation robot with wheel-leg-caterpillar track composite moving mechanism |
| CN102114876B (en) * | 2009-12-30 | 2012-08-01 | 中国科学院沈阳自动化研究所 | Wheel-tracked obstacle crossing mechanism |
| CN202108065U (en) * | 2011-06-10 | 2012-01-11 | 厦门正鸿昌机械科技有限公司 | Buoyancy box crawler excavator |
| CN203020431U (en) * | 2012-12-14 | 2013-06-26 | 大连华锐重工集团股份有限公司 | Four-degree of freedom supporting device |
| CN104175318A (en) * | 2014-09-12 | 2014-12-03 | 江苏南方雄狮建设工程有限公司 | Parallel-connection platform moving mechanism of construction robot for curtain wall installation |
-
2016
- 2016-06-23 CN CN201610471028.2A patent/CN105926702B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105926702A (en) | 2016-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105926702B (en) | A kind of full-automatic chemical industry sewage disposal irrigation canals and ditches furrow bank scale removal all-in-one machine | |
| CN106013300B (en) | A kind of high speed roadside ditch cleaning dredging intelligence equipment | |
| CN106065640B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot | |
| CN106088196B (en) | A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one | |
| CN106120934B (en) | A kind of highway ditch clears up intelligent robot manipulator | |
| CN106149860B (en) | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot | |
| CN106121024B (en) | A kind of Construction of Urban Garden Landscape engineering irrigation canals and ditches operation is intelligently equipped | |
| CN206706525U (en) | A kind of cleaning of pressure roller of road roller and scrape wheel-plate mechanism | |
| CN106088307B (en) | A kind of chemical engineering sewage handles irrigation canals and ditches furrow bank apparatus for eliminating sludge | |
| CN105926517B (en) | A kind of ecological agriculture irrigation ditch furrow bank scale removal intelligent robot | |
| CN106088197B (en) | A kind of highway ditch clears up intelligent robot | |
| CN105951914B (en) | A kind of road side Bilge automated processing equipment | |
| CN106121025B (en) | A kind of highway ditch cleaning intelligent robot cleaning plant | |
| CN106120935B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot actuator | |
| CN105926518B (en) | A kind of house house water supply and drainage irrigation canals and ditches furrow bank clears up automation equipment | |
| CN106120617B (en) | A kind of garden landscape engineering irrigation canals and ditches operation intelligence equipment flexible manipulator | |
| CN106013299B (en) | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot manipulator | |
| CN106013298B (en) | A kind of house house water supply and drainage irrigation canals and ditches furrow bank clears up automation equipment descaling machine | |
| CN106076897B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot with sweeping machine | |
| CN206226939U (en) | River Sediment repairs caterpillar chain typec movement second ploughing device | |
| CN106002945B (en) | A kind of ecological agriculture irrigation ditch furrow bank scale removal intelligent robot manipulator | |
| CN106489321B (en) | River Sediment repairs the mobile second ploughing device of caterpillar chain typec | |
| CN106120936B (en) | A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator | |
| CN212086872U (en) | Chinese-medicinal material is planted with device that loosens soil | |
| CN106012946B (en) | A kind of hydraulic engineering water delivery ditch furrow bank sweeps robot with scraping sweeping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180608 Address after: 311815 No. 913, Yiyuan village, Zhuji Town, Zhuji City, Zhejiang Applicant after: Zhou Shiyi Address before: 246001 C seven block, Xinglida building, 1 Jixian Road, Anqing, Anhui. Applicant before: Anqing dandelion hydropower installation engineering Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201021 Address after: Jinqiao Road, group 2, Chenglou, Dawu street, Jiawang District, Xuzhou City, Jiangsu Province, 221000 Patentee after: XUZHOU JINCHENG PLANET TRANSMISSION Co.,Ltd. Address before: 311815 Yiyuan Village 913, Ciwu Town, Zhuji City, Shaoxing City, Zhejiang Province Patentee before: Zhou Shiyi |
|
| TR01 | Transfer of patent right |