CN106002953B - A kind of parallel manipulator for concrete road water absorption device - Google Patents
A kind of parallel manipulator for concrete road water absorption device Download PDFInfo
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- CN106002953B CN106002953B CN201610523568.0A CN201610523568A CN106002953B CN 106002953 B CN106002953 B CN 106002953B CN 201610523568 A CN201610523568 A CN 201610523568A CN 106002953 B CN106002953 B CN 106002953B
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- support plate
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 16
- 238000010521 absorption reaction Methods 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 210000003205 muscle Anatomy 0.000 claims abstract description 7
- 238000003825 pressing Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 230000035807 sensation Effects 0.000 claims description 13
- 239000000203 mixture Substances 0.000 claims 1
- 238000013016 damping Methods 0.000 abstract description 14
- 230000002708 enhancing effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 17
- 238000005086 pumping Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000008093 supporting effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 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
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000003466 welding 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
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- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Road Paving Structures (AREA)
Abstract
The present invention relates to a kind of parallel manipulator for concrete road water absorption device, including shock-absorbing support mechanism, shock-absorbing support mechanism has good damping performance and stability, the lower end of the shock-absorbing support mechanism is welded with adjustable abutting device, adjustable abutting device can enable front end working position of the present invention locking support completely on road surface, also so that the present invention can be suitably used for the road plash work of different complex road conditions, reduce the work difficulty of complex road condition, the scope of application is big, and work efficiency is high；The adjustable abutting device includes the adjusting support plate for being welded on moving platform lower face, adjust and be respectively welded four No.1 muscle blocks between support plate upper surface and four sides of curved post tips, No.1 muscle block plays the role of the curved pillar of enhancing and adjusts support plate bonding strength, and the both sides for adjusting support plate are symmetrically installed with two and are close to mechanism.The present invention can realize the locking support function of stablizing in complicated road.
Description
Technical field
The present invention relates to concrete road technical field, it is specifically a kind of for concrete road water absorption device and
Join manipulator.
Background technology
Existing road is broadly divided into common stone road, cement concrete road, bituminous concrete highway and regeneration asphalt
Four kinds of concrete road, these pavement of road due to often by underground water, rainwater, traction engine roll, the shadow such as extraneous natural cause
Ring and concave road hole often occur, these depression roads are cheated in rainy day easy ponding, and the distance hole that ponding was run when motor vehicle will
There is the situation that The water splash in all directions, can thus influence pedestrian, non-motor vehicle and the motor vehicle normally travel on side, and the road that is recessed
The ponding in hole is handled not in time, can accelerate the damage of pavement of road in the case where traction engine rolls, so as to increase road maintenance
Cost, usual these Roads hole ponding mainly handle equipment cleaning by existing ponding and complete, these existing ponding processing are set
Standby cleaning is usually that mobile equipment is formed plus suction pump or water aspirator combination installation, then again by manually promote operation come
Carry out the processing of road plash ponding, due to road conditions where road plash there may be uneven, continuous hollow
The complicated states such as low-lying area, therefore the working performance of mobile equipment will directly affect the work of suction pump or water aspirator in plash
Efficiency, existing mobile equipment is essentially all to be designed for flat normal road, therefore does not apply to the work on complicated road
Make, existing mobile equipment works on complicated road, and there are following defect：1st, human assistance is needed to operate, labor intensity is big, work
Make inefficiency；2nd, road plash surrounding road condition may be uneven, and this existing mobile front equipment end working position is difficult to
Plash surface effectively is locked at, the difficulty of suction pump or water aspirator work is added, reduces work efficiency；3rd, it is this
Existing mobile equipment damping performance is poor, and stability is poor, causes in the uneven pavement of road row of rugged, height x depth
Walk work to be easily damaged, facility environment adaptability poor performance.
The content of the invention
To solve the above-mentioned problems, the present invention provides a kind of parallel manipulator for concrete road water absorption device,
Can solve existing mobile equipment is needed manually by suction pump or water aspirator on complicated road present in the course of work
Auxiliary operation, labor intensity is big, work efficiency is low, front equipment end working position is difficult to locking support in road surface, work
Difficulty is big, the scope of application is small, equipment damping performance is poor, stability difference and the defects of facility environment adaptability poor performance, can be with
Realize the locking support function of stablizing in complicated road, without human intervention, front equipment end working position can be complete for whole process
Locking support greatly reduces work difficulty in road surface, and with work efficiency is high, the scope of application is big, equipment damping property
Can be good, stability is good and facility environment adaptability performance is good the advantages that.
To achieve these goals, the present invention is realized using following technical scheme：One kind is used for concrete road and absorbs water
The parallel manipulator of equipment, including shock-absorbing support mechanism, shock-absorbing support mechanism have good damping performance and stability so that
The present invention under the booster action of shock-absorbing support mechanism can with stabilization accumulated in the uneven road of rugged, height x depth
Puddle is walked on road surface, and facility environment adaptability performance is good, and the lower end of the shock-absorbing support mechanism is welded with adjustable abutting device,
Adjustable abutting device can enable front end working position of the present invention locking support completely on road surface, also so that this hair
The bright road plash work that can be suitably used for different complex road conditions, reduces the work difficulty of complex road condition, the scope of application is big, work
Make efficient；The shock-absorbing support mechanism includes fixed platform, and fixed platform lower face is uniformly provided with three parallel connections in the axial direction
Side chain, the top of three side chains in parallel are installed on the upper surface of moving platform；The parallel connection side chain includes being welded on fixed platform
The concave bearing of lower face, is provided with lower limit axis between the middle part of concave bearing, is symmetrically set on the lower end inner wall of concave bearing
It is equipped with two arc-shaped limit grooves；No.1 hydraulic cylinder is arranged with the lower limit axis, the bottom both sides of No.1 hydraulic cylinder are provided with
Two gag lever posts, are connected between the end of two gag lever posts and two arc-shaped limit grooves by sliding matching mode, and two spacing
The slewing area for limiting No.1 hydraulic cylinder bottom is played in movement between bar and two arc-shaped limit grooves, also prevent No.1 hydraulic pressure
The situation that cylinder bottom end moves left and right, since the present invention is often on the uneven road plash road of rugged, height x depth
Walk on face, and can strengthen No.1 hydraulic cylinder bottom by two gag lever posts and two arc-shaped limit grooves and be rotated in lower limit axis
When stability, improve working performance；The top of the No.1 hydraulic cylinder is provided with spherical connector, spherical company by screw thread
The both ends of connector are symmetrically arranged with two upper limit axis, and two upper limit axis pass through bearing phase between the both ends of ear mount respectively
Even, positioning column is welded with the upper surface inner wall of ear mount, the end of positioning column is and the corresponding concave sphere of spherical connector
Structure, is connected between the end of positioning column and spherical connector by sliding matching mode, and the lower face of ear mount is welded on dynamic put down
On platform, by positioning column come the movement that limits and support spherical connector, so that two upper limits on spherical connector
Axis can be stablized to be rotated in ear mount, is enhanced stability when No.1 hydraulic cylinder top rotates, is improved working performance, pass through
R that No.1 hydraulic cylinder is formed when concave bearing rotates is secondary, No.1 hydraulic cylinder works when the P that is formed is secondary, No.1 hydraulic cylinder is in ear
The R pairs that are formed constitute the side chain in parallel of RPR types when seat rotates, and the present invention passes through fixed platform, the side chain in parallel of three RPR types
3-RPR parallel institutions are formd with moving platform, and 3-RPR parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, steady
The advantages that qualitative good and kinematic accuracy is high, causes of the invention on complicated road plash road by the advantages of 3-RPR parallel institutions
It is good with good damping performance and stability, environmental adaptability when walking on face.
As a preferred technical solution of the present invention, the adjustable abutting device includes being welded on moving platform lower face
Support plate is adjusted, adjusts and four No.1 muscle blocks is respectively welded between support plate upper surface and four sides of curved post tips, one
Number muscle block plays the role of the curved pillar of enhancing and adjusts support plate bonding strength, adjust support plate both sides be symmetrically installed with two it is tight
Attaching mechanism, be close to mechanism can locking support completely on plash road surface so that the present invention can be suitably used for different complexity
The road plash work of road conditions, reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high, is close to mechanism
The adjustable side chain of three rows of support plate lower face is adjusted including being uniformly installed on, is mounted on compressing branch between the adjacent adjustable side chain of two rows
Chain, often arranges adjustable side chain and is made of three evenly spaced three adjustable supporting chains, and each adjustable side chain is telescopically adjustable, when
When plash pavement of road surface is rugged, uneven, nine adjustable side chains on three rows are adjustable side chain are stretched respectively
Contracting is adjusted, and is locked and is mutually attached on plash pavement of road until nine adjustable side chains, is then between the adjustable side chain of three rows
Two compress side chains and start to work, two compress side chains and compress nine adjustable side chains and are locked on plash pavement of road,
So that the present invention can be suitably used for the road plash work of different complex road conditions, the work difficulty of complex road condition is reduced, is applicable in
Scope is big, and work efficiency is high, and No. four limit springs are all uniformly connected between two neighboring adjustable side chain, No. four limit springs
Play the role of connection and limit two neighboring adjustable side chain, the upper end for compressing side chain is installed on concave locating rack, concave positioning
The middle part of frame is uniformly fixed with the adjustable side chain of three rows, and the upper end both sides of concave locating rack, which are symmetrically welded at, to be adjusted on support plate, concave
Locating rack plays the role of nine adjustable side chains on the fixed support adjustable side chain of three rows；The adjustable side chain, which includes being installed on, to be adjusted
No. two hydraulic cylinders on support plate lower face are saved, the top of No. two hydraulic cylinders is provided with connecting cylinder by screw thread, and connecting cylinder lower end leads to
Cross screw thread and spherical hinge is installed, spherical hinge lower end is provided with connecting pole by screw thread, and connecting pole is welded on adjusting block, passes through two
Number hydraulic cylinder drives connecting cylinder to make stretching motion, and connecting cylinder drives spherical hinge to be synchronized with the movement, and spherical hinge, which passes through connecting pole and drives, to be adjusted
Locking nub also makees stretching motion, since the effect of spherical hinge allows adjusting block according to the activity of plash pavement of road angle of inclination
Adjust support angle, thus ensure that adjusting block on each adjustable side chain can locking support on plash pavement of road,
And all uniformly it is connected with No. four limit springs between two adjusting blocks on two neighboring adjustable side chain；The compression side chain includes
Two No. three hydraulic cylinders being symmetrically mounted on concave locating rack lower face, the top of two No. three hydraulic cylinders is distinguished by screw thread
Two No.1 flanges are installed, two No.1 flange lower ends are provided with pressing plate by screw, and the lower face of pressing plate is evenly arranged with
Six roots of sensation compression leg, the lower face of six roots of sensation compression leg bear against six adjusting blocks of six adjustable side chains on the adjacent adjustable side chain of two rows
On, two No. three hydraulic cylinders make stretching motion by two No.1 flange band dynamic pressure plates, and pressing plate drives the six roots of sensation compression leg pressure of lower section
Tightly on six adjusting blocks of corresponding six adjustable side chains；It is described adjust support plate lower face in the middle part of be provided with existing suction pump or
Pumping device, is quickly handled the ponding in road plash by existing suction pump or pumping device.During work, three rows are adjustable
Nine adjustable side chains on side chain start simultaneously at work, and No. two hydraulic cylinders on nine adjustable side chains drive corresponding connecting cylinder to stretch
Contracting movement, connecting cylinder drive spherical hinge to be synchronized with the movement, and spherical hinge drives adjusting block also to make stretching motion by connecting pole, due to ball
The effect of hinge causes adjusting block can be according to plash pavement of road angle of inclination under the action of No. two cylinder hydraulic power
Activity adjustment support angle, thus ensure that adjusting block on each adjustable side chain can locking support in plash pavement of road
On, so latter two No. three hydraulic cylinder compressed on side chain is started to work, and each two No. three hydraulic cylinders compressed on side chain pass through
Two No.1 flanges drive corresponding pressing plate to make stretching motion, and pressing plate drives the six roots of sensation compression leg of lower section to be pressed on corresponding six adjustable supportings
On six adjusting blocks of chain, plash pavement of road is locked in so that nine adjusting blocks on nine adjustable side chains all be compressed
On so that the present invention can be suitably used for the road plash work of different complex road conditions, reduces the work difficulty of complex road condition, fits
Big with scope, work efficiency is high.
In use, the present invention is installed in existing mobile equipment first, in the middle part of the lower face that the present invention adjusts support plate
Existing suction pump or pumping device are installed, then the present invention is accumulated by the road of existing mobile equipment automatically walk to required cleaning
Puddle road surface, when the present invention moves to road plash road surface, nine on the adjustable side chain of three rows on adjustable abutting device
Adjustable side chain is started to work, and No. two hydraulic cylinders on nine adjustable side chains drive corresponding connecting cylinder to make stretching motion, connecting cylinder band
Dynamic spherical hinge is synchronized with the movement, and spherical hinge drives adjusting block also to make stretching motion by connecting pole, since the effect of spherical hinge causes
Adjusting block can be according to plash pavement of road angle of inclination activity adjustment strut angle under the action of No. two cylinder hydraulic power
Degree, thus ensure that adjusting block on each adjustable side chain can locking support on plash pavement of road, right latter two pressure
No. three hydraulic cylinders on tight side chain are started to work, and each two No. three hydraulic cylinders compressed on side chain pass through two No.1 flange bands
Dynamic corresponding pressing plate makees stretching motion, and pressing plate drives the six roots of sensation compression leg of lower section to be pressed on six adjusting blocks for corresponding to six adjustable side chains
On, it is locked in so that nine adjusting blocks on nine adjustable side chains all be compressed on plash pavement of road so that energy of the present invention
Work suitable for the road plash of different complex road conditions, reduce the work difficulty of complex road condition, the scope of application is big, work effect
Rate is high；The existing suction pump or pumping device adjusted in the middle part of support plate lower face is finally installed on to carry out the ponding in road plash
Quick processing, and the present invention forms 3-RPR parallel institutions, 3- by the side chain and moving platform in parallel of fixed platform, three RPR types
RPR parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by 3-
The advantages of RPR parallel institutions, causes the present invention when walking on complicated road plash road surface with good damping performance and steady
Qualitative energy, environmental adaptability is good, finally realizes the locking support function that the present invention stablizes in complicated road.
The beneficial effects of the invention are as follows：
1st, the present invention forms 3-RPR parallel institutions, 3- by the side chain and moving platform in parallel of fixed platform, three RPR types
RPR parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, by 3-
The advantages of RPR parallel institutions, causes the present invention when walking on complicated road plash road surface with good damping performance and steady
Qualitative energy, environmental adaptability are good；
2nd, the present invention drives adjusting block also to make stretching motion by No. two hydraulic cylinders on adjustable side chain, due to spherical hinge
Effect is so that adjusting block can be adjusted under the action of No. two cylinder hydraulic power according to the activity of plash pavement of road angle of inclination
Save support angle, thus ensure that adjusting block on each adjustable side chain can locking support on plash pavement of road, so
Compressing No. three hydraulic cylinders on side chain afterwards drives the six roots of sensation compression leg below corresponding pressing plate to be pressed on the six of corresponding six adjustable side chains
On a adjusting block, nine adjusting blocks on nine adjustable side chains are all compressed and are locked in plash pavement of road by two compression side chains
On so that the present invention can be suitably used for the road plash work of different complex road conditions, reduces the work difficulty of complex road condition, fits
Big with scope, work efficiency is high；
3rd, the present invention solves existing mobile equipment by suction pump or water aspirator on complicated road in the course of work
It is existing need human assistance operation, labor intensity is big, work efficiency is low, front equipment end working position is difficult to locking support and exists
Road surface, work difficulty are big, the scope of application is small, equipment damping performance is poor, stability is poor and facility environment adaptability performance
The problems such as difference, realize the present invention complicated road stablize locking support function, whole process without human intervention, before equipment
Hold working position can locking support completely in road surface, greatly reduce work difficulty, and with work efficiency is high, applicable model
Enclose the advantages that big, equipment damping performance is good, stability is good and facility environment adaptability performance is good.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the structure diagram of side chain in parallel of the invention；
Fig. 3 is the sectional view of side chain in parallel of the invention；
Fig. 4 is the first structure schematic diagram of the adjustable abutting device of the present invention；
Fig. 5 is the second structure diagram of the adjustable abutting device of the present invention；
Fig. 6 is the structure diagram that the present invention is close to after mechanism removal concave locating rack；
Fig. 7 is the structure diagram that the present invention compresses side chain.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention 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 parallel manipulator for concrete road water absorption device, including shock-absorbing support machine
Structure 132, shock-absorbing support mechanism 132 have good damping performance and stability so that the present invention is in shock-absorbing support mechanism 132
Under booster action can with stabilization walk on the uneven road plash road surface of rugged, height x depth, equipment ring
Border adaptability performance is good, and the lower end of the shock-absorbing support mechanism 132 is welded with adjustable abutting device 4, and adjustable abutting device 4 can be with
Front end working position of the present invention locking support completely enable on road surface, also so that the present invention can be suitably used for difference again
The road plash work of miscellaneous road conditions, reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high；It is described to subtract
Shake supporting mechanism 132 includes fixed platform 136, and 136 lower face of fixed platform is uniformly provided with three side chains in parallel in the axial direction
137, the top of three side chains 137 in parallel is installed on the upper surface of moving platform 138；The parallel connection side chain 137 includes welding
Concave bearing 1371 in 136 lower face of fixed platform, is provided with lower limit axis 1372, concave between the middle part of concave bearing 1371
Two arc-shaped limit groove 1371a are symmetrically arranged with the lower end inner wall of bearing 1371；One is arranged with the lower limit axis 1372
Number hydraulic cylinder 1373, the bottom both sides of No.1 hydraulic cylinder 1373 are provided with two gag lever posts 1374, the end of two gag lever posts 1374
End is connected between two arc-shaped limit groove 1371a by sliding matching mode, two gag lever posts 1374 and two arc-shaped limits
The slewing area for limiting 1373 bottom of No.1 hydraulic cylinder is played in movement between groove 1371a, also prevent No.1 hydraulic cylinder 1373
The situation that bottom moves left and right, since the present invention is often on the uneven road plash road surface of rugged, height x depth
Upper walking, and can strengthen 1373 bottom of No.1 hydraulic cylinder by two gag lever posts 1374 and two arc-shaped limit groove 1371a and exist
Stability when lower limit axis 1372 rotates, improves working performance；Pacified by screw thread on the top of the No.1 hydraulic cylinder 1373
Equipped with spherical connector 1375, the both ends of spherical connector 1375 are symmetrically arranged with two upper limit axis 1376, two upper limits
Axis 1376 is connected between the both ends of ear mount 1377 by bearing respectively, and positioning is welded with the upper surface inner wall of ear mount 1377
Column 1378, the end of positioning column 1378 are and the corresponding concave spherical structure of spherical connector 1375, the end of positioning column 1378
End is connected between spherical connector 1375 by sliding matching mode, and the lower face of ear mount 1377 is welded on moving platform 138,
The movement of spherical connector 1375 is limited and supported by positioning column 1378, so that two on spherical connector 1375 piece
Upper limit axis 1376 can be stablized to be rotated in ear mount 1377, enhances stability when 1373 top of No.1 hydraulic cylinder rotates,
Working performance is improved, the R formed by No.1 hydraulic cylinder 1373 when concave bearing 1371 rotates is secondary, No.1 hydraulic cylinder 1373
The R pairs that the P that is formed during work is secondary, No.1 hydraulic cylinder 1373 is formed when ear mount 1377 rotates constitute the side chain in parallel of RPR types
137, and the present invention forms 3-RPR parallel machines by the side chain in parallel 137 and moving platform 138 of 136, three RPR types of fixed platform
Structure, 3-RPR parallel institutions have the advantages that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high,
Cause the present invention when walking on complicated road plash road surface with good damping property by the advantages of 3-RPR parallel institutions
Energy and stability, environmental adaptability are good.
The adjustable abutting device 4 includes the adjusting support plate 41 for being welded on 138 lower face of moving platform, adjusts 41 upper end of support plate
Four No.1 muscle block 3a are respectively welded between four sides of 3 end of face and curved pillar, it is curved that No.1 muscle block 3a plays enhancing
T shore 3 and the effect for adjusting 41 bonding strength of support plate, the both sides of adjusting support plate 41 are symmetrically installed with two and are 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 roads of different complex road conditions
Road plash work, reduces the work difficulty of complex road condition, and the scope of application is big, and work efficiency is high, and being close to mechanism 42 is included
It is even to be installed on the adjustable side chain of three rows for adjusting 41 lower face of support plate, it is mounted on compressing side chain between the adjacent adjustable side chain of two rows
421, often arrange adjustable side chain and be made of three evenly spaced three adjustable side chains 422, each adjustable side chain 422 is scalable
Adjust, when plash pavement of road surface is rugged, uneven, nine adjustable side chains 422 on three rows are adjustable side chain
Telescopic adjustment is carried out respectively, is locked and is mutually attached on plash pavement of road until nine adjustable side chains 422, is then within three rows
Two between adjustable side chain compress side chain 421 and start to work, and two compress side chain 421 and nine adjustable side chains 422 are compressed lock
It is scheduled on plash pavement of road so that the present invention can be suitably used for the road plash work of different complex road conditions, reduce multiple
The work difficulty of miscellaneous road conditions, the scope of application is big, and work efficiency is high, and is all uniformly connected between two neighboring adjustable side chain 422
No. four limit springs 423, No. four limit springs 423 play the role of connection and limit two neighboring adjustable side chain 422, compress branch
The upper end of chain 421 is installed on concave locating rack 424, and the middle part of concave locating rack 424 is uniformly fixed with the adjustable side chain of three rows, concave
The upper end both sides of locating rack 424, which are symmetrically welded at, to be adjusted on support plate 41, and concave locating rack 424 plays three row's adjustable supportings of fixed support
The effect of nine adjustable side chains 422 on chain；The adjustable side chain 422 includes being installed on No. two adjusted on 41 lower face of support plate
Hydraulic cylinder 4221, the top of No. two hydraulic cylinders 4221 are provided with connecting cylinder 4222 by screw thread, and 4222 lower end of connecting cylinder passes through spiral shell
Line is provided with spherical hinge 4223, and 4223 lower end of spherical hinge is provided with connecting pole 4224 by screw thread, and connecting pole 4224 is welded on tune
In locking nub 4225, connecting cylinder 4222 is driven to make stretching motion by No. two hydraulic cylinders 4221, connecting cylinder 4222 drives spherical hinge
4223 are synchronized with the movement, and spherical hinge 4223 drives adjusting block 4225 also to make stretching motion by connecting pole 4224, due to spherical hinge
4223 effect allows adjusting block 4225 according to plash pavement of road angle of inclination activity adjustment support angle, so as to protect
Demonstrate,proved adjusting block 4225 on each adjustable side chain 422 can locking support on plash pavement of road, and it is two neighboring can
No. four limit springs 423 are all uniformly connected between two adjusting blocks 4225 on tune side chain 422；The compression side chain 421 wraps
Include two No. three hydraulic cylinders 4211 being symmetrically mounted on 424 lower face of concave locating rack, the top of two No. three hydraulic cylinders 4211
End is separately installed with two No.1 flanges 4212 by screw thread, and two 4212 lower ends of No.1 flange are provided with pressing plate by screw
4213, the lower face of pressing plate 4213 is evenly arranged with six roots of sensation compression leg 4214, and the lower face of six roots of sensation compression leg 4214 is born against in phase
On adjacent two rows of adjustable side chains on six adjusting blocks 4225 of six adjustable side chains 422, two No. three hydraulic cylinders 4211 pass through two
No.1 flange 4212 makees stretching motion with dynamic pressure plate 4213, and pressing plate 4213 drives the six roots of sensation compression leg 4214 of lower section to be pressed on corresponding six
On six adjusting blocks 4225 of a adjustable side chain 422；It is described adjust support plate 41 lower face in the middle part of be provided with existing suction pump or
Pumping device, is quickly handled the ponding in road plash by existing suction pump or pumping device.During work, three rows are adjustable
Nine adjustable side chains 422 on side chain start simultaneously at work, and No. two hydraulic cylinders 4221 on nine adjustable side chains 422, which drive, to be corresponded to
Connecting cylinder 4222 makees stretching motion, and connecting cylinder 4222 drives spherical hinge 4223 to be synchronized with the movement, and spherical hinge 4223 passes through connecting pole
4224 drive adjusting blocks 4225 also make stretching motion, since the effect of spherical hinge 4223 causes adjusting block 4225 in No. two hydraulic cylinders
Can be according to plash pavement of road angle of inclination activity adjustment support angle, so as to ensure that every under the action of 4221 hydraulic couplings
Adjusting block 4225 on a adjustable side chain 422 can locking support on plash pavement of road, so latter two compresses side chain 421
On No. three hydraulic cylinders 4211 start to work, each two No. three hydraulic cylinders 4211 compressed on side chain 421 pass through two No.1s
Flange 4212 drives corresponding pressing plate 4213 to make stretching motion, and pressing plate 4213 drives the six roots of sensation compression leg 4214 of lower section to be pressed on corresponding six
On six adjusting blocks 4225 of a adjustable side chain 422, so that nine adjusting blocks 4225 on nine adjustable side chains 422 all be compressed
It is locked on plash pavement of road so that the present invention can be suitably used for the road plash work of different complex road conditions, reduce
The work difficulty of complex road condition, the scope of application is big, and work efficiency is high.
In use, the present invention is installed in existing mobile equipment first, in the lower face that the present invention adjusts support plate 41
Portion is provided with existing suction pump or pumping device, the road that then present invention passes through existing mobile equipment automatically walk to required cleaning
Plash road surface, when the present invention moves to road plash road surface, nine on the adjustable side chain of three rows on adjustable abutting device 4
A adjustable side chain 422 is started to work, and No. two hydraulic cylinders 4221 on nine adjustable side chains 422 drive corresponding connecting cylinder 4222 to stretch
Contracting movement, connecting cylinder 4222 drive spherical hinge 4223 to be synchronized with the movement, and spherical hinge 4223 drives adjusting block by connecting pole 4224
4225 also make stretching motion, since the effect of spherical hinge 4223 causes adjusting block 4225 in the work of No. two 4221 hydraulic couplings of hydraulic cylinder
Can be according to plash pavement of road angle of inclination activity adjustment support angle, so as to ensure that each adjustable side chain 422 under
On adjusting block 4225 can locking support on plash pavement of road, so latter two compress side chain 421 on No. three hydraulic pressure
Cylinder 4211 is started to work, and each two No. three hydraulic cylinders 4211 compressed on side chain 421 are driven by two No.1 flanges 4212
Corresponding pressing plate 4213 makees stretching motion, and pressing plate 4213 drives the six roots of sensation compression leg 4214 of lower section to be pressed on corresponding six adjustable side chains
On 422 six adjusting blocks 4225, ponding is locked in so that nine adjusting blocks 4225 on nine adjustable side chains 422 all be compressed
Cheat on pavement of road so that the present invention can be suitably used for the road plash work of different complex road conditions, reduce complex road condition
Work difficulty, the scope of application is big, and work efficiency is high；Finally it is installed on the existing suction pump or pumping adjusted in the middle part of 41 lower face of support plate
Hydrophone quickly handles the ponding in road plash, and the present invention passes through fixed platform, the side chain in parallel of three RPR types and dynamic
Platform forms 3-RPR parallel institutions, and 3-RPR parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability
The advantages that good and kinematic accuracy is high, causes the present invention on complicated road plash road surface by the advantages of 3-RPR parallel institutions
With good damping performance and stability during walking, environmental adaptability is good, finally realizes the present invention in complicated road
Stable locking support function, solve existing mobile equipment by suction pump or water aspirator the course of work on complicated road
Present in need human assistance operation, labor intensity is big, work efficiency is low, front equipment end working position is difficult to locking support
In road surface, work difficulty is big, the scope of application is small, equipment damping performance is poor, stability is poor and facility environment adaptability
The problems such as energy difference, have reached purpose.
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 simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, 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
Define.
Claims (1)
- A kind of 1. parallel manipulator for concrete road water absorption device, it is characterised in that：Including shock-absorbing support mechanism (132), the lower end of the shock-absorbing support mechanism (132) is welded with adjustable abutting device (4)；The shock-absorbing support mechanism (132) Including fixed platform (136), fixed platform (136) lower face is uniformly provided with three side chains (137) in parallel in the axial direction, and three simultaneously The top of connection side chain (137) is installed on the upper surface of moving platform (138)；It is fixed that the parallel connection side chain (137) includes being welded on The concave bearing (1371) of platform (136) lower face, is provided with lower limit axis (1372) between the middle part of concave bearing (1371), Two arc-shaped limit grooves (1371a) are symmetrically arranged with the lower end inner wall of concave bearing (1371)；The lower limit axis (1372) On be arranged with No.1 hydraulic cylinder (1373), the bottom both sides of No.1 hydraulic cylinder (1373) are provided with two gag lever posts (1374), two It is connected between the end of a gag lever post (1374) and two arc-shaped limit grooves (1371a) by sliding matching mode；The No.1 The top of hydraulic cylinder (1373) is provided with spherical connector (1375) by screw thread, and the both ends of spherical connector (1375) are symmetrically set Two upper limit axis (1376) are equipped with, two upper limit axis (1376) pass through bearing between the both ends of ear mount (1377) respectively It is connected, positioning column (1378) is welded with the upper surface inner wall of ear mount (1377), the end of positioning column (1378) is and spherical company The corresponding concave spherical structure of connector (1375), passes through cunning between the end of positioning column (1378) and spherical connector (1375) Dynamic fit system is connected, and the lower face of ear mount (1377) is welded on moving platform (138)；The adjustable abutting device (4) includes being welded on the adjusting support plate (41) of moving platform (138) lower face, adjusts support plate (41) Four No.1 muscle blocks (3a) are respectively welded between four sides of upper surface and curved pillar (3) end, adjust support plate (41) Both sides be symmetrically installed with two and be close to mechanism (42), be close to mechanism (42) and include uniformly being installed on adjust support plate (41) lower face The adjustable side chain of three rows, be mounted between the adjacent adjustable side chain of two rows compressing side chain (421), often arranging adjustable side chain has three Evenly spaced three adjustable side chain (422) compositions, and No. four limits are all uniformly connected between two neighboring adjustable side chain (422) Position spring (423), the upper end for compressing side chain (421) are installed on concave locating rack (424), and the middle part of concave locating rack (424) is equal Even to be fixed with the adjustable side chain of three rows, the upper end both sides of concave locating rack (424), which are symmetrically welded at, to be adjusted on support plate (41)；It is described can Side chain (422) is adjusted to include being installed on No. two hydraulic cylinders (4221) adjusted on support plate (41) lower face, No. two hydraulic cylinders (4221) Top connecting cylinder (4222) is provided with by screw thread, connecting cylinder (4222) lower end is provided with spherical hinge (4223) by screw thread, Spherical hinge (4223) lower end is provided with connecting pole (4224) by screw thread, and connecting pole (4224) is welded on adjusting block (4225), And all uniformly it is connected with No. four limit springs (423) between two adjusting blocks (4225) on two neighboring adjustable side chain (422)； Described two No. three hydraulic cylinders (4211) for compressing side chain (421) and including being symmetrically mounted on concave locating rack (424) lower face, The top of two No. three hydraulic cylinders (4211) is separately installed with two No.1 flanges (4212), two No.1 flanges by screw thread (4212) lower end is provided with pressing plate (4213) by screw, and the lower face of pressing plate (4213) is evenly arranged with six roots of sensation compression leg (4214), the lower face of six roots of sensation compression leg (4214) bears against on the adjacent adjustable side chain of two rows six adjustable side chains (422) On six adjusting blocks (4225).
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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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| 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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| CN106002953B true CN106002953B (en) | 2018-05-15 |
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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 |
| CN110014418B (en) * | 2019-04-29 | 2022-05-31 | 天津大学 | 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 |
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| CN102922507A (en) * | 2012-08-30 | 2013-02-13 | 南京理工大学 | Two-degree-of-freedom leveling device |
| CN203077277U (en) * | 2013-02-04 | 2013-07-24 | 中联重科股份有限公司 | Parallel-serial pose adjusting mechanism |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03264280A (en) * | 1990-03-13 | 1991-11-25 | Toshiba Corp | Industrial robot |
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- 2016-07-06 CN CN201610523568.0A patent/CN106002953B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| CN102922507A (en) * | 2012-08-30 | 2013-02-13 | 南京理工大学 | Two-degree-of-freedom leveling device |
| CN203077277U (en) * | 2013-02-04 | 2013-07-24 | 中联重科股份有限公司 | Parallel-serial pose adjusting mechanism |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
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