CN106002953A - Parallel connection manipulator for concrete road water absorption equipment - Google Patents
Parallel connection manipulator for concrete road water absorption equipment Download PDFInfo
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- CN106002953A CN106002953A CN201610523568.0A CN201610523568A CN106002953A CN 106002953 A CN106002953 A CN 106002953A CN 201610523568 A CN201610523568 A CN 201610523568A CN 106002953 A CN106002953 A CN 106002953A
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- road
- side chain
- welded
- support plate
- adjustable
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 15
- 238000010521 absorption reaction Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000001105 regulatory effect Effects 0.000 claims description 42
- 239000011159 matrix material Substances 0.000 claims description 29
- 230000006835 compression Effects 0.000 claims description 25
- 238000007906 compression Methods 0.000 claims description 25
- 238000003825 pressing Methods 0.000 claims description 15
- 230000035807 sensation Effects 0.000 claims description 13
- 210000003205 muscle Anatomy 0.000 claims description 5
- 208000031481 Pathologic Constriction Diseases 0.000 claims 2
- 210000001215 vagina Anatomy 0.000 claims 2
- 239000000203 mixture Substances 0.000 claims 1
- 230000008093 supporting effect Effects 0.000 abstract description 7
- 230000006870 function Effects 0.000 abstract description 5
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 28
- 230000033001 locomotion Effects 0.000 description 28
- 241000521257 Hydrops Species 0.000 description 13
- 206010030113 Oedema Diseases 0.000 description 13
- 230000008901 benefit Effects 0.000 description 13
- 238000013016 damping Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000005086 pumping Methods 0.000 description 8
- 230000007613 environmental effect Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Structures (AREA)
Abstract
The invention relates to a parallel connection manipulator for concrete road water absorption equipment. The parallel connection manipulator comprises a shock-absorbing support mechanism. The shock-absorbing support mechanism has good shock-absorbing performance and stability. An adjustable tightly-attaching device is welded to the lower end of the shock-absorbing support mechanism, and the working portion of the front end of the parallel connection manipulator can be completely locked to and supported onto the road surface through the adjustable tightly-attaching device, so that the parallel connection manipulator is suitable for the road plash work under different complex road conditions, the working difficulty of the complex road conditions is lowered, the application range is wide, and working efficiency is high; and the adjustable tightly-attaching device comprises an adjusting support plate welded to the lower end face of a movable platform, a first rib block is welded to the position between the upper end face of the adjusting support plate and each of the four side faces of the tail end of a bent supporting column and plays a role in enhancing the connecting strength of the bent supporting column and the adjusting support plate, and two tightly-attaching mechanisms are symmetrically arranged on the two sides of the adjusting support plate. By the adoption of the parallel connection manipulator, the stable locking and supporting functions can be achieved for the complex roads.
Description
Technical field
The present invention relates to concrete road technical field, a kind of parallel manipulator for concrete road water absorption device
Hands.
Background technology
Existing road is broadly divided into common stone road, cement concrete road, bituminous concrete highway and Recycled Asphalt Pavement
Four kinds of road, these pavement of road often affect due to often rolled by subsoil water, rainwater, traction engine, extraneous natural cause etc.
The hole, road of depression occur, these holes, depression roads at easy hydrops on rainy day, were run the hole, distance of hydrops when motor vehicles and were arisen that spray
Situation about flashing, thus can affect the pedestrian on side, bicycle and motor vehicles and normally travel, and the hydrops in hole, road of caving in
Process not in time, the damage of pavement of road can be accelerated in the case of traction engine rolls, thus increase road maintenance cost, generally
These Roads hole hydrops mainly processes equipment cleaning by existing hydrops and completes, and these existing hydrops processes equipment cleaning and is usually
Mobile device forms plus suction pump or water aspirator combination installation, promotes operation to carry out road plash by artificial the most again
Hydrops processes, owing to road plash place road conditions there may be complicated states such as being uneven, the most rugged, because of
The service behaviour of this mobile device will directly affect suction pump or the water aspirator work efficiency in plash, and existing movement sets
Standby being essentially all for smooth normal road design, the most inapplicable work on complicated road, existing mobile device is multiple
Working on miscellaneous road and there is following defect: 1, need human assistance to operate, labor intensity is big, and work efficiency is low；2, road
Plash surrounding road condition may be uneven, and working position, this existing mobile device front end is difficult to effectively be locked at plash table
Face, adds suction pump or the difficulty of water aspirator work, reduces work efficiency；3, this existing mobile device damping performance
Difference, stability is poor, causes being easily damaged in rugged, height x depth uneven pavement of road walking work, equipment
Environmental suitability poor performance.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of parallel manipulator for concrete road water absorption device, can solve
Certainly existing mobile device need human assistance to operate present in work process by suction pump or water aspirator on complicated road,
It is big, suitable in road surface, work difficulty that labor intensity is big, work efficiency is low, front equipment end working position is difficult to locking support
Little by scope, equipment damping performance is poor, stability difference and the defect such as facility environment adaptability poor performance, it is possible to achieve in complexity
The locking support function that road is stable, whole process without manual operation, front equipment end working position can locking support completely in road
Road surfaces, greatly reduces work difficulty, and has that work efficiency is high, the scope of application is big, equipment damping performance is good, stability
Can the advantages such as good and facility environment adaptability performance is good.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of for concrete road water absorption device
Parallel manipulator, including shock-absorbing support mechanism, shock-absorbing support mechanism has good damping performance and stability so that the present invention exists
Under the assosting effect of shock-absorbing support mechanism permissible stable on rugged, height x depth uneven road plash road surface
Walking, facility environment adaptability performance is good, and the lower end of described shock-absorbing support mechanism is welded with Tightenable label apparatus, and Tightenable mounts
Put so that working position, front end of the present invention can locking support completely on road surface, also make the present invention can be suitably used for not
Working with the road plash of complex road condition, reduce the work difficulty of complex road condition, the scope of application is big, and work efficiency is high；Institute
State shock-absorbing support mechanism and include that fixed platform, fixed platform lower surface are the most uniformly provided with three side chains in parallel, three parallel connections
The top of side chain is installed on the upper surface of moving platform；Described side chain in parallel includes the matrix bearing being welded on fixed platform lower surface,
Lower limit axle is installed between the middle part of matrix bearing, the lower end inner wall of matrix bearing is symmetrically arranged with two arc-shaped limit grooves；
Being arranged with a hydraulic cylinder on described lower limit axle, the both sides, bottom of a hydraulic cylinder are provided with two gag lever posts, two gag lever posts
End and two arc-shaped limit grooves between by sliding matching mode be connected, between two gag lever posts and two arc-shaped limit grooves
The slewing area limiting a hydraulic cylinder bottom is played in motion, also prevent the situation that a hydraulic cylinder bottom moves left and right, due to
The present invention often walks on rugged, height x depth uneven road plash road surface, and by two gag lever posts with
Two arc-shaped limit grooves can strengthen the hydraulic cylinder bottom stability when lower limit axle rotates, and improves service behaviour；Institute
The top stating a hydraulic cylinder is provided with spherical connector by screw thread, and the two ends of spherical connector are symmetrically arranged with two upper limits
Axle, two upper limit axles respectively and are all connected by bearing between the two ends of ear mount, and the upper surface inwall of ear mount is welded with location
Post, the end of locating dowel is the matrix spherical structure corresponding with spherical connector, between end and the spherical connector of locating dowel
Being connected by sliding matching mode, the lower surface of ear mount is welded on moving platform, is limited by locating dowel and support ball-joint
The motion of head, rotates in ear mount so that two upper limit axles on spherical connector can be stablized, enhances a hydraulic pressure
Stability when cylinder top rotates, improves service behaviour, the R pair that formed when matrix bearing rotates by a hydraulic cylinder,
The R pair that the P formed during a number hydraulic cylinder works is secondary, hydraulic cylinder is formed when ear mount rotates constitutes the parallel connection of RPR type and props up
Chain, and the present invention defines 3-RPR parallel institution, 3-RPR by fixed platform, the side chain in parallel of three RPR types and moving platform
Parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 3-RPR
The advantage of parallel institution makes the present invention have good damping performance and stability during walking on complicated road plash road surface
Can, environmental adaptability is good.
As a preferred technical solution of the present invention, described Tightenable label apparatus includes that the regulation being welded on moving platform lower surface is propped up
Plate, is respectively welded four muscle blocks between regulation support plate upper surface and four sides of curved post tips, and a muscle block rises
To the effect strengthening curved pillar with regulate support plate bonding strength, the lateral symmetry of regulation support plate is provided with two and is close to mechanism, is close to
Mechanism can locking support completely on plash road surface so that the present invention can be suitably used for the road hydrops of different complex road condition
Hole work, reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high, is close to mechanism and includes uniformly being arranged on
The three adjustable side chains of row of regulation support plate lower surface, are mounted between the adjacent two adjustable side chains of row compressing side chain, often arrange adjustable side chain
All being made up of three evenly spaced three adjustable side chains, each adjustable side chain is the most telescopically adjustable, when plash pavement of road table
When face is rugged, uneven, nine adjustable side chains on the three adjustable side chains of row carry out telescopic adjustment respectively, until nine can
Adjusting side chain all to lock to be attached to mutually on plash pavement of road, two the compression side chains being then between the three adjustable side chains of row start work
Making, two compress side chain and nine adjustable side chains compressions are locked on plash pavement of road so that the present invention can be suitably used for difference
The road plash work of complex road condition, reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high, and phase
All uniformly connect between adjacent two adjustable side chains and have No. four limit spring, No. four limit spring play connection and limit adjacent two can
Adjusting the effect of side chain, the upper end compressing side chain is arranged on matrix locating rack, and it is adjustable that the middle part of matrix locating rack is uniformly fixed with three rows
Side chain, the upper end lateral symmetry of matrix locating rack is welded on regulation support plate, and matrix locating rack plays fixing support three row's adjustable supportings
The effect of nine adjustable side chains on chain；Described adjustable side chain includes being arranged on No. two hydraulic cylinders on regulation support plate lower surface, and two
The top of number hydraulic cylinder is provided with connecting cylinder by screw thread, and connecting cylinder lower end is provided with spherical hinge by screw thread, and spherical hinge lower end leads to
Cross screw thread and connection post is installed, connect post and be welded on regulating block, drive connecting cylinder to make stretching motion by No. two hydraulic cylinders, even
Connecing cylinder drives spherical hinge to be synchronized with the movement, and spherical hinge moves regulating block by connection cornice and also makees stretching motion, due to the effect of spherical hinge
Make regulating block according to plash pavement of road angle of inclination activity adjustment support angle, thus each adjustable side chain can be ensure that
On regulating block all can locking support on plash pavement of road, and between two regulating blocks on adjacent two adjustable side chains all
Uniformly connect and have No. four limit spring；Described compression side chain includes two No. three liquid being symmetrically mounted on matrix locating rack lower surface
Cylinder pressure, the top of two No. three hydraulic cylinders is separately installed with two flanges by screw thread, and spiral shell is passed through in two flange lower ends
Nail is provided with pressing plate, and the lower surface of pressing plate is evenly arranged with six roots of sensation compression leg, and the lower surface of six roots of sensation compression leg bears against adjacent two rows
On adjustable side chain on six regulating blocks of six adjustable side chains, two No. three hydraulic cylinders are stretched by two No. one flange band dynamic pressure plate
Contracting motion, the six roots of sensation compression leg below pressing plate drive is pressed on six regulating blocks of corresponding six adjustable side chains；Described regulation support plate
Lower surface in the middle part of existing suction pump or pumping device are installed, by existing suction pump or pumping device to the hydrops in road plash
Quickly process.During work, nine adjustable side chains on the three adjustable side chains of row start simultaneously at work, on nine adjustable side chains
No. two hydraulic cylinders drive corresponding connecting cylinder to make stretching motion, and connecting cylinder drives spherical hinge to be synchronized with the movement, and spherical hinge is by connecting cornice
Dynamic regulating block also makees stretching motion, due to the effect of spherical hinge makes regulating block can root under the effect of No. two cylinder hydraulic power
According to plash pavement of road angle of inclination activity adjustment support angle, thus ensure that the regulating block on each adjustable side chain all can be locked
Compact schemes is on plash pavement of road, and so latter two No. three hydraulic cylinders compressed on side chain are started working, on each compression side chain
Two No. three hydraulic cylinders drive corresponding pressing plates to make stretching motion by two flanges, pressing plate drive below six roots of sensation compression leg pressure
Tightly on six regulating blocks of corresponding six adjustable side chains, thus nine regulating blocks on nine adjustable side chains are all compressed and is locked in
On plash pavement of road so that the present invention can be suitably used for the road plash work of different complex road condition, reduces complex road condition
Work difficulty, the scope of application is big, and work efficiency is high.
During use, first the present invention is arranged in existing mobile device, regulates in the present invention and be provided with in the middle part of the lower surface of support plate
Existing suction pump or pumping device, then the present invention automatically runs to the road plash road surface of required cleaning by existing mobile device,
When the present invention moves to road plash road surface, nine the adjustable side chains on the three adjustable side chains of row on Tightenable label apparatus start
Work, No. two hydraulic cylinders on nine adjustable side chains drive corresponding connecting cylinder to make stretching motion, and connecting cylinder drives spherical hinge to synchronize fortune
Dynamic, spherical hinge moves regulating block by connection cornice and also makees stretching motion, owing to the effect of spherical hinge makes regulating block at No. two hydraulic pressure
Under the effect of cylinder hydraulic coupling can according to plash pavement of road angle of inclination activity adjustment support angle, thus ensure that each can
Adjust the regulating block on side chain all can locking support on plash pavement of road, so latter two No. three hydraulic cylinders compressed on side chain are opened
Beginning work, two No. three hydraulic cylinders on each compression side chain drive corresponding pressing plate to make stretching motion by two flanges, pressure
The six roots of sensation compression leg of the dynamic lower section of strip is pressed on six regulating blocks of corresponding six adjustable side chains, thus by nine adjustable side chains
Nine regulating blocks all compress and are locked on plash pavement of road so that the present invention can be suitably used for the road hydrops of different complex road condition
Hole work, reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high；Finally it is arranged on regulation support plate lower end
Hydrops in road plash is quickly processed by existing suction pump or the pumping device of Middle face, and the present invention by fixed platform,
The side chain in parallel of three RPR types and moving platform define 3-RPR parallel institution, 3-RPR parallel institution have dynamic response good,
Rigidity is high, bearing capacity big, good stability and kinematic accuracy advantages of higher, and the advantage by 3-RPR parallel institution makes this
Bright have good damping performance and stability during walking on complicated road plash road surface, and environmental adaptability is good, finally
Achieve the present invention in the stable locking support function of complicated road.
The invention has the beneficial effects as follows:
1, the present invention defines 3-RPR parallel institution, 3-RPR by fixed platform, the side chain in parallel of three RPR types and moving platform
Parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 3-RPR
The advantage of parallel institution makes the present invention have good damping performance and stability during walking on complicated road plash road surface
Can, environmental adaptability is good；
2, the present invention drives regulating block also to make stretching motion, owing to the effect of spherical hinge makes by No. two hydraulic cylinders on adjustable side chain
Obtaining regulating block can be according to plash pavement of road angle of inclination activity adjustment strut angle under the effect of No. two cylinder hydraulic power
Degree, thus ensure that the regulating block on each adjustable side chain all can locking support on plash pavement of road, then compress side chain
On No. three hydraulic cylinders drive the six roots of sensation compression leg below corresponding pressing plates to be pressed on six regulating blocks of corresponding six adjustable side chains, two
Nine regulating blocks on nine adjustable side chains are all compressed and are locked on plash pavement of road by individual compression side chain so that energy of the present invention
Being applicable to the road plash work of different complex road condition, reduce the work difficulty of complex road condition, the scope of application is big, work effect
Rate is high；
3, the present invention solves existing mobile device is needed present in work process on complicated road by suction pump or water aspirator
Want artificial auxiliary operation, labor intensity is big, work efficiency is low, front equipment end working position be difficult to locking support road surface,
Work difficulty is big, the scope of application is little, equipment damping performance is poor, stability difference and the difficult problem such as facility environment adaptability poor performance,
Achieving the present invention in the stable locking support function of complicated road, whole process is without manual operation, front equipment end working position
Can locking support completely at road surface, greatly reduce work difficulty, and have that work efficiency is high, the scope of application is big, equipment
The advantage such as damping performance is good, stability is good and facility environment adaptability performance is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the structural representation of parallel connection side chain of the present invention；
Fig. 3 is the sectional view of parallel connection side chain of the present invention；
Fig. 4 is the first structural representation of Tightenable label apparatus of the present invention；
Fig. 5 is the second structural representation of Tightenable label apparatus of the present invention；
Fig. 6 is the structural representation that the present invention is close to after mechanism's removal matrix locating rack；
Fig. 7 is the structural representation that the present invention compresses side chain.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 7, a kind of parallel manipulator for concrete road water absorption device, including shock-absorbing support mechanism 132,
Shock-absorbing support mechanism 132 has good damping performance and stability so that the present invention makees in the auxiliary of shock-absorbing support mechanism 132
Permissible stable walk on rugged, height x depth uneven road plash road surface with lower, facility environment adaptability
Performance is good, and the lower end of described shock-absorbing support mechanism 132 is welded with Tightenable label apparatus 4, Tightenable label apparatus 4 so that this
Invention working position, front end can locking support completely on road surface, also make the present invention can be suitably used for difference complex road condition
Road plash works, and reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high；Described shock-absorbing support machine
Structure 132 includes that fixed platform 136, fixed platform 136 lower surface are the most uniformly provided with three side chains 137 in parallel, and three also
The top of connection side chain 137 is installed on the upper surface of moving platform 138；Described side chain 137 in parallel includes being welded on fixed platform 136
The matrix bearing 1371 of lower surface, is provided with lower limit axle 1372 between the middle part of matrix bearing 1371, matrix bearing 1371
Two arc-shaped limit groove 1371a it are symmetrically arranged with on lower end inner wall；On described lower limit axle, 1372 are arranged with a hydraulic cylinder 1373,
The both sides, bottom of a number hydraulic cylinder 1373 are provided with two gag lever posts 1374, the end of two gag lever posts 1374 and two arc limits
It is connected by sliding matching mode between the groove 1371a of position, the fortune between two gag lever posts 1374 and two arc-shaped limit groove 1371a
The dynamic slewing area playing number hydraulic cylinder 1373 bottom of restriction, also prevent the shape that hydraulic cylinder 1373 bottom moves left and right
Condition, owing to the present invention often walks on rugged, height x depth uneven road plash road surface, and by two
Gag lever post 1374 and two arc-shaped limit groove 1371a can strengthen hydraulic cylinder 1373 bottom when lower limit axle 1372 rotates
Stability, improve service behaviour；The top of a described hydraulic cylinder 1373 is provided with spherical connector 1375 by screw thread,
The two ends of spherical connector 1375 are symmetrically arranged with two upper limit axles 1376, two upper limit axles 1376 respectively with ear mount 1377
Two ends between all by bearing be connected, the upper surface inwall of ear mount 1377 is welded with locating dowel 1378, locating dowel 1378
End is the matrix spherical structure corresponding with spherical connector 1375, the end of locating dowel 1378 and spherical connector 1375 it
Between by sliding matching mode be connected, the lower surface of ear mount 1377 is welded on moving platform 138, is limited by locating dowel 1378
Determine and support the motion of spherical connector 1375, so that two upper limit axles 1376 on spherical connector 1375 can be steady
It is scheduled in ear mount 1377 rotation, enhances stability when hydraulic cylinder 1373 top rotates, improve service behaviour, logical
Cross the P that the R that a hydraulic cylinder 1373 formed when matrix bearing 1371 rotates is secondary, a hydraulic cylinder 1373 is formed when working secondary,
The R pair that number hydraulic cylinder 1373 is formed when ear mount 1377 rotates constitutes the side chain in parallel 137 of RPR type, and the present invention is led to
Side chain in parallel 137 and the moving platform 138 of crossing 136, three RPR types of fixed platform define 3-RPR parallel institution, and 3-RPR is in parallel
Mechanism has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by 3-RPR also
The advantage of online structure makes the present invention have good damping performance and stability during walking on complicated road plash road surface,
Environmental adaptability is good.
Described Tightenable label apparatus 4 includes the regulation support plate 41 being welded on moving platform 138 lower surface, regulates support plate 41 upper surface
And being respectively welded four No. one muscle block 3a between four sides of curved pillar 3 end, it is curved that muscle block 3a plays enhancing
Pillar 3 and the effect regulating support plate 41 bonding strength, the lateral symmetry of regulation support plate 41 is provided with two and is close to mechanism 42, tightly
Attaching mechanism 42 can locking support completely on plash road surface so that the present invention can be suitably used for the road of different complex road condition
Plash works, and reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high, is close to mechanism's bag 42 and includes uniformly
It is arranged on the three adjustable side chains of row of regulation support plate 41 lower surface, is mounted between the adjacent two adjustable side chains of row compressing side chain 421,
Often arranging adjustable side chain to be all made up of three evenly spaced three adjustable side chains 422, each adjustable side chain 422 is the most telescopically adjustable,
When plash pavement of road surface is rugged, uneven, nine adjustable side chains 422 on the three adjustable side chains of row enter respectively
Row telescopic adjustment, until nine adjustable side chains 422 are all locked and are attached to mutually on plash pavement of road, is then within three row's adjustable supportings
Two compression side chains 421 between chain are started working, and two compress side chain 421 and are locked in long-pending by nine adjustable side chains 422 compressions
On the pavement of road of puddle so that the present invention can be suitably used for the road plash work of different complex road condition, reduces complex road condition
Work difficulty, the scope of application is big, and work efficiency is high, and all uniformly connect between adjacent two adjustable side chains 422 have No. four spacing
Spring 423, No. four limit spring 423 play the effect connecting and limiting adjacent two adjustable side chains 422, compress side chain 421
Upper end be arranged on matrix locating rack 424, the middle part of matrix locating rack 424 is uniformly fixed with the three adjustable side chains of row, and matrix positions
The upper end lateral symmetry of frame 424 is welded on regulation support plate 41, and matrix locating rack 424 plays fixing support on the three adjustable side chains of row
The effect of nine adjustable side chains 422；Described adjustable side chain 422 includes No. two hydraulic pressure being arranged on regulation support plate 41 lower surface
Cylinder 4221, the top of No. two hydraulic cylinders 4221 is provided with connecting cylinder 4222 by screw thread, and connecting cylinder 4222 lower end is pacified by screw thread
Equipped with spherical hinge 4223, spherical hinge 4223 lower end is provided with connection post 4224 by screw thread, connects post 4224 and is welded on regulating block
On 4225, driving connecting cylinder 4222 to make stretching motion by No. two hydraulic cylinders 4221, connecting cylinder 4222 drives spherical hinge 4223
Being synchronized with the movement, spherical hinge 4223 drives regulating block 4225 also to make stretching motion, due to spherical hinge 4223 by connecting post 4224
Effect make regulating block 4225 according to plash pavement of road angle of inclination activity adjustment support angle, thus ensure that every
Regulating block 4225 on individual adjustable side chain 422 all can locking support on plash pavement of road, and adjacent two adjustable side chains
All uniformly connect between two regulating blocks 4225 on 422 and have No. four limit spring 423；Described compression side chain 421 includes symmetry
Two No. three hydraulic cylinders 4211 being arranged on matrix locating rack 424 lower surface, the top of two No. three hydraulic cylinders 4211 is passed through
Screw thread is separately installed with two flanges 4212, and two No. one flange 4212 lower end is provided with pressing plate 4213 by screw, pressure
The lower surface of plate 4213 is evenly arranged with six roots of sensation compression leg 4214, and the lower surface of six roots of sensation compression leg 4214 bears against can adjacent two rows
Adjusting on side chain on six regulating blocks 4225 of six adjustable side chains 422, two No. three hydraulic cylinders 4211 are by two flanges
4212 band dynamic pressure plates 4213 make stretching motion, and it is adjustable that the six roots of sensation compression leg 4214 below pressing plate 4213 drive is pressed on correspondence six
On six regulating blocks 4225 of side chain 422；In the middle part of the lower surface of described regulation support plate 41, existing suction pump or pumping device are installed,
By existing suction pump or pumping device, the hydrops in road plash is quickly processed.During work, on the three adjustable side chains of row
Nine adjustable side chains 422 start simultaneously at work, and No. two hydraulic cylinders 4221 on nine adjustable side chains 422 drive corresponding connecting cylinder
4222 make stretching motion, and connecting cylinder 4222 drives spherical hinge 4223 to be synchronized with the movement, and spherical hinge 4223 carries by connecting post 4224
Dynamic regulating block 4225 also makees stretching motion, owing to the effect of spherical hinge 4223 makes regulating block 4225 at No. two hydraulic cylinders 4221
Can according to plash pavement of road angle of inclination activity adjustment support angle, thus ensure that each adjustable under the effect of hydraulic coupling
Regulating block 4225 on side chain 422 all can locking support on plash pavement of road, so latter two compresses three on side chain 421
Number hydraulic cylinder 4211 is started working, and two No. three hydraulic cylinders 4211 on each compression side chain 421 are by two flanges 4212
Driving corresponding pressing plate 4213 to make stretching motion, the six roots of sensation compression leg 4214 below pressing plate 4213 drive is pressed on corresponding six adjustable supportings
On six regulating blocks 4225 of chain 422, thus nine regulating blocks 4225 on nine adjustable side chains 422 are all compressed and is locked in
On plash pavement of road so that the present invention can be suitably used for the road plash work of different complex road condition, reduces complex road condition
Work difficulty, the scope of application is big, and work efficiency is high.
During use, first the present invention is arranged in existing mobile device, regulates in the present invention and install in the middle part of the lower surface of support plate 41
Having existing suction pump or pumping device, then the present invention automatically runs to the road plash road of required cleaning by existing mobile device
Face, nine adjustable supportings on the three adjustable side chains of row when the present invention moves to road plash road surface, on Tightenable label apparatus 4
Chain 422 is started working, and No. two hydraulic cylinders 4221 on nine adjustable side chains 422 drive corresponding connecting cylinder 4222 to make stretching motion,
Connecting cylinder 4222 drives spherical hinge 4223 to be synchronized with the movement, and spherical hinge 4223 drives regulating block 4225 also to make by connecting post 4224
Stretching motion, due to the effect of spherical hinge 4223 make regulating block 4225 under the effect of No. two hydraulic cylinder 4221 hydraulic couplings permissible
According to plash pavement of road angle of inclination activity adjustment support angle, thus ensure that the regulating block on each adjustable side chain 422
4225 all can locking support on plash pavement of road, so latter two No. three hydraulic cylinders 4211 compressed on side chain 421 start
Work, two No. three hydraulic cylinders 4211 on each compression side chain 421 drive corresponding pressing plate 4213 by two flanges 4212
Making stretching motion, the six roots of sensation compression leg 4214 below pressing plate 4213 drive is pressed on six regulations of corresponding six adjustable side chains 422
On block 4225, thus nine regulating blocks 4225 on nine adjustable side chains 422 are all compressed and are locked on plash pavement of road,
Make the present invention can be suitably used for the road plash work of different complex road condition, reduce the work difficulty of complex road condition, be suitable for model
Enclosing big, work efficiency is high；Finally it is arranged on the existing suction pump in the middle part of regulation support plate 41 lower surface or pumping device to road plash
Interior hydrops quickly processes, and the present invention defines 3-RPR by fixed platform, the side chain in parallel of three RPR types and moving platform
Parallel institution, 3-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy high
Etc. advantage, by the advantage of 3-RPR parallel institution, the present invention is had on complicated road plash road surface during walking good
Damping performance and stability, environmental adaptability is good, finally achieves the present invention in the stable locking support function of complicated road,
Solving existing mobile device needs human assistance to grasp present in work process by suction pump or water aspirator on complicated road
Make, labor intensity is big, work efficiency is low, front equipment end working position be difficult to locking support in road surface, work difficulty greatly,
The scope of application is little, equipment damping performance is poor, stability difference and the difficult problem such as facility environment adaptability poor performance, has reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (1)
1. the parallel manipulator for concrete road water absorption device, it is characterised in that: include shock-absorbing support mechanism (132),
The lower end of described shock-absorbing support mechanism (132) is welded with Tightenable label apparatus (4)；Described shock-absorbing support mechanism (132) includes fixed platform
(136), fixed platform (136) lower surface is the most uniformly provided with three side chains in parallel (137), three side chains in parallel (137)
Top be installed on the upper surface of moving platform (138)；Described side chain (137) in parallel includes being welded on fixed platform (136) lower surface
Matrix bearing (1371), lower limit axle (1372) is installed between the middle part of matrix bearing (1371), matrix bearing (1371)
Two arc-shaped limit grooves (1371a) it are symmetrically arranged with on lower end inner wall；On described lower limit axle, (1372) are arranged with a hydraulic cylinder
(1373), the both sides, bottom of a hydraulic cylinder (1373) are provided with two gag lever posts (1374), the end of two gag lever posts (1374)
It is connected by sliding matching mode with between two arc-shaped limit grooves (1371a)；Spiral shell is passed through on the top of a described hydraulic cylinder (1373)
Stricture of vagina is provided with spherical connector (1375), and the two ends of spherical connector (1375) are symmetrically arranged with two upper limit axles (1376), and two
Root upper limit axle (1376) respectively and is all connected by bearing between the two ends of ear mount (1377), the upper surface inwall of ear mount (1377)
On be welded with locating dowel (1378), the end of locating dowel (1378) is the matrix spherical structure corresponding with spherical connector (1375),
It is connected by sliding matching mode between the end of locating dowel (1378) with spherical connector (1375), the lower surface of ear mount (1377)
It is welded on moving platform (138)；
Described Tightenable label apparatus (4) includes the regulation support plate (41) being welded on moving platform (138) lower surface, in regulation support plate (41)
Four No. one muscle block (3a), the both sides of regulation support plate (41) it are respectively welded between end face and four sides of curved pillar (3) end
Be symmetrically installed with two and be close to mechanism (42), be close to mechanism bag (42) include uniformly be arranged on regulation support plate (41) lower surface three rows can
Adjust side chain, be mounted between the adjacent two adjustable side chains of row compress side chain (421), often arrange adjustable side chain all have three evenly spaced
Three adjustable side chain (422) compositions, and between adjacent two adjustable side chains (422), all uniformly connection has No. four limit spring (423),
The upper end compressing side chain (421) is arranged on matrix locating rack (424), and it is adjustable that the middle part of matrix locating rack (424) is uniformly fixed with three rows
Side chain, the upper end lateral symmetry of matrix locating rack (424) is welded in regulation support plate (41)；Described adjustable side chain (422) includes peace
Being contained in No. two hydraulic cylinders (4221) on regulation support plate (41) lower surface, the top of No. two hydraulic cylinders (4221) is provided with by screw thread
Connecting cylinder (4222), connecting cylinder (4222) lower end is provided with spherical hinge (4223) by screw thread, and spiral shell is passed through in spherical hinge (4223) lower end
Stricture of vagina is provided with connection post (4224), connects post (4224) and is welded on regulating block (4225), and adjacent two adjustable side chains (422)
On two regulating blocks (4225) between all uniformly connect and have No. four limit spring (423)；Described compression side chain (421) includes symmetry
Two No. three hydraulic cylinders (4211) being arranged on matrix locating rack (424) lower surface, the top of two No. three hydraulic cylinders (4211) leads to
Crossing screw thread and be separately installed with two No. one flange (4212), two No. one flange (4212) lower end is provided with pressing plate by screw
(4213), the lower surface of pressing plate (4213) is evenly arranged with six roots of sensation compression leg (4214), and the lower surface of six roots of sensation compression leg (4214) is supported respectively
Lean against on the adjacent two adjustable side chains of row on six regulating blocks (4225) of six adjustable side chains (422).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610523568.0A CN106002953B (en) | 2016-07-06 | 2016-07-06 | A kind of parallel manipulator for concrete road water absorption device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610523568.0A CN106002953B (en) | 2016-07-06 | 2016-07-06 | A kind of parallel manipulator for concrete road water absorption device |
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| CN106002953A true CN106002953A (en) | 2016-10-12 |
| CN106002953B CN106002953B (en) | 2018-05-15 |
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Cited By (2)
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| CN107598902A (en) * | 2017-10-30 | 2018-01-19 | 天津工业大学 | A kind of six-degree-of-freedom parallel connection mechanism |
| CN110014418A (en) * | 2019-04-29 | 2019-07-16 | 天津大学 | A kind of parallel flexible mechanism for precision assembly |
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| EP0109201A2 (en) * | 1982-10-19 | 1984-05-23 | Calspan Corporation | A self-propelled robot platform and system and method of moving a tool over a support surface |
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| CN110014418A (en) * | 2019-04-29 | 2019-07-16 | 天津大学 | A kind of parallel flexible mechanism for precision assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002953B (en) | 2018-05-15 |
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