CN106088196A - A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one - Google Patents
A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one Download PDFInfo
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- CN106088196A CN106088196A CN201610464038.3A CN201610464038A CN106088196A CN 106088196 A CN106088196 A CN 106088196A CN 201610464038 A CN201610464038 A CN 201610464038A CN 106088196 A CN106088196 A CN 106088196A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
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- General Engineering & Computer Science (AREA)
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- Cleaning By Liquid Or Steam (AREA)
- Road Paving Structures (AREA)
- Soil Working Implements (AREA)
Abstract
The present invention relates to a kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, including crawler unit, running gear system, electrical turntable, 3-freedom parallel mechanism and cleaning plant；Described running gear system quantity is four, and running gear system is respectively symmetrically and is arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electrical turntable is connected with crawler unit, 3-freedom parallel mechanism is between electrical turntable and cleaning plant, and 3-freedom parallel mechanism lower end is connected with electrical turntable, 3-freedom parallel mechanism upper end is connected with cleaning plant.The present invention irrigation canals and ditches of road pavement roadbed can carry out cleaning dredging maintenance work, and degree of freedom flexible adjustment, intelligence degree are high, cleaning dredging efficiency is high, solves present labor cleaning and dredges that the amount of labour is big, efficiency is low and high in cost of production problem.
Description
Technical field
The present invention relates to irrigation canals and ditches cleaning field, a kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one.
Background technology
Along with socioeconomic development, the people's livelihood engineering such as urban construction, transport development and water conservancy construction is increasingly by society
The concern of meeting all circles, government is the most increasing to the input in terms of these, and engineering construction in this respect is also in full flourish, everywhere
Visible, but the people's livelihood engineerings such as urban construction, transport development and water conservancy construction all can relate to one piece, that is, drainage system
Layout reserved and build, such as highway, expressway, municipal works, gardens, footpath, road surface roadbed, building, city
City's traffic route etc. engineering all can relate to gutter, gutter, intercepting ditch, Ming Gou, hondo, Bilge etc. irrigation canals and ditches, ditch
The effect of canal is mainly used in the discharge of rainwater weather and Living Industry water at ordinary times；But, due to the throwing out without care of rubbish often, draining
Time the accumulation of earth, the irrigation canals and ditches that cause filtering the reason such as accumulation regular of flood slag block, therefore, these irrigation canals and ditches are needed calmly
Phase carries out the regular maintenance that cleaning is dredged, but, the most employings artificial use shovel spade carries out cleaning and dredges operation, occupies big
The labour force of amount, and cleaning dredging quantities is big, cost is high, and efficiency is low, in addition, carries out cleaning dredging owing to often bending over
Operation, is easily caused the arthritic conditions such as workman's lumbar vertebra cervical vertebra.In consideration of it, the invention provides a kind of full-automatic subgrade and pavement ditch
Canal maintenance all-in-one.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, including crawler unit, running gear system, electric rotating
Platform, 3-freedom parallel mechanism and cleaning plant；Described running gear system quantity is four, and running gear system is the most right
Claiming to be arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, and electric rotating
Platform is connected with crawler unit, and 3-freedom parallel mechanism is between electrical turntable and cleaning plant, and Three Degree Of Freedom is also
Online structure lower end is connected with electrical turntable, and 3-freedom parallel mechanism upper end is connected with cleaning plant.
Described crawler unit includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler,
And driving the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking belt wheel quantity are four；Described chassis in
Rectangular configuration, rear and front end, chassis offers mounting groove respectively, drives motor to be separately fixed at the mounting groove of both sides before and after chassis
In, and drive motor use Biaxial synchronous output motor, drive shaft one end with driving motor output shaft be connected, drive shaft another
Holding and be connected with walking belt wheel, and be fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler two ends are respectively
Around being enclosed within walking belt wheel, and outside traveling crawler, it is evenly arranged with semicircle tread plate.
As a further improvement on the present invention, described running gear system includes walk fixed plate, walking slide rail, walking
Slide block, walking ear mount, rotating shaft, mobile roof support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motors
Frame, walking axle and walking runner；Described walking slide rail is fixed on walking fixed plate lower surface, and walking slide block is arranged on walking
On slide rail, and walking upper end of slide block is concave structure, and walking slide block lower end is the U-shape structure stood upside down, and walking ear mount is positioned at walking
Sliding rail rear end position, and walking ear mount is connected with walking fixed plate, mobile roof support upper end is by a rotating shaft and walking ear mount
Being connected, be provided with walking connecting rod at mobile roof support medium position, walking support bar one end is sliding with walking by No. two rotating shafts
Block lower end is connected, and the walking support bar other end is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and row
Walking support bar is pneumatic telescopic structure, and movable motor is fixed on mobile roof support lateral wall by movable motor frame, and row
Walking electric machine main shaft to be connected with walking axle, walking axle two ends are separately fixed on the medial wall, left and right of mobile roof support lower end, walking
Runner is arranged at walking axle medium position.
When the present invention advances, when walking in flat road surface, by the motion laterally on walking slide rail of the walking slide block
Drive walking support bar stretching the most laterally, and walking support bar links with mobile roof support, thus drive walking
Frame carries out rotary motion laterally counterclockwise with rotating shaft for center of rotation, when on walking rotatable wheel contacts ground, and whole crawler belt
Running gear separates with ground, is in and is lifted dummy status, is driven the rotation of walking runner by movable motor simultaneously, it is achieved
The walking of running gear system is moved, and the speed of travel is fast, overcomes the problem that the crawler unit speed of travel is slow；Work as chance
During to hogwallow, received inside walking support bar clockwise direction by walking slide block driving to medial motion on walking slide rail
Contracting motion, and walk support bar and mobile roof support linkage, thus drive mobile roof support to carry out suitable with a rotating shaft for center of rotation
Hour hands inside side rotary motion, it is achieved that the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device contacts with ground, by driving the rotation rotating drive treads wheel of motor, thus drives the motion of traveling crawler, carries out
It is mainly used in the walking of the present invention, movement with running gear and turns to, and crawler unit is by using track structure more
Add the walking being easy to hollow physical features ground condition so that the suitability of the present invention is higher；Filled by crawler unit and running on wheels
The cooperation conversion put, improves the locomotor activity of the present invention.
As a further improvement on the present invention, described 3-freedom parallel mechanism include fixed platform, moving platform, ear mount,
Rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring, and ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit
The quantity of position spring is three；Described fixed platform and moving platform the most rounded shape structure, and moving platform is positioned at fixed platform and just goes up
Side, ear mount is positioned on the upper surface of fixed platform, and the installation angle between ear mount is 60 degree, connects seat and is positioned under moving platform
On end face, and ear mount distinguishes one_to_one corresponding with being connected seat；Described electric pushrod bottom is arranged in ear mount by rotating shaft, electronic
Push rod top is attached by spherical hinge with being connected between seat, and limit spring is around being enclosed within electric pushrod upper end；During specific works,
The motion of moving platform can be driven by pumping of electric pushrod, and reduce freedom degree parallel connection by limit spring
Jitter during mechanism kinematic, adds the stationarity of 3-freedom parallel mechanism motion, 3-freedom parallel mechanism and cascade machine
Structure phase specific stiffness is big, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism uses 3-in motion
The form of the parallel institution of RPS, is applied to 3-freedom parallel mechanism in the present invention, on the one hand serves cleaning plant side
Parallactic angle degree integrally-regulated, it is simple to the various attitude of the present invention is comprehensive to be carried out irrigation canals and ditches prune job, it is achieved that flexible cleaning
On the other hand the function of operation, serves the effect of damping to cleaning plant so that cleaning plant jolts shape in present invention walking
All the time it is in horizontal plateau under state, prevents excessive cleaning plant prune job is produced of jitter from affecting.
As a further improvement on the present invention, described cleaning plant include clear up turntable, driven bearing, driven bull stick,
Driven carriage, actively bull stick, active bracket, actively hydraulic cylinder, rotational pin, transition bull stick, actively bearing and scraper bowl；Described from
Dynamic bearing is positioned at side on rear side of cleaning turntable upper surface, and driven bearing is connected with cleaning turntable, and driven carriage bottom is by driven
Bull stick is fixed on driven bearing, and the stepped structure of driven carriage, and driven carriage top is by actively bull stick and active
Frame upper end is connected, and active bracket uses extension type paliform structure, is provided with telescopic block at active bracket medium position,
It is provided with connection ear mount on telescopic block bottom face, actively passes through between the connection ear mount on hydraulic cylinder one end and telescopic block bottom face
Rotational pin is attached, and actively the hydraulic cylinder other end is arranged on active bearing by transition bull stick, the actively U-shaped knot of bearing
Structure, and actively bearing is fixed on cleaning front side, turntable upper surface, and actively bearing, driven bearing and the center of circle of cleaning turntable
Being located on the same line, scraper bowl is arranged on active bracket lower end；Whole cleaning plant can be driven at water by cleaning turntable
Rotation in plane, can regulate, by the stretching motion of active bracket, the length that scraper bowl stretches out, by stretching of active hydraulic cylinder
Contracting is moved thus is regulated active bracket opening angle on the vertical plane, and scraper bowl is connected with active bracket, it is achieved thereby that shovel
The regulation of bucket vertical angle, and cleaning plant employing plane double leval jib motion principle, angular adjustment rapid and convenient, linkage
Good, stability is strong.
As a further improvement on the present invention, described scraper bowl includes scraper bowl guide groove, movement Hubei Province plate, electric expansion bar, consolidates
Determine round platform, fixing shovel pawl, mobile shovel pawl, guide cylinder and regulation round bar；Described scraper bowl guide groove cross section transverse is that fan shape is empty
Heart shell structure, mobile Hubei Province plate quantity is two, and mobile Hubei Province plate is respectively symmetrically layout along longitudinal center's axis of scraper bowl guide groove, and moves
Dynamic Hubei Province plate medial extremity is arranged on inside scraper bowl guide groove, and mobile Hubei Province plate outboard end is fan shape structure, in the plate outer upper end of mobile Hubei Province
Heart position is provided with mounting disc, and electric expansion bar uses adjustable speed bi-directional expansion bar, and two ends, electric expansion bar left and right lead to respectively
Crossing fixing round platform to be fixed in the mounting disc of mobile Hubei Province plate outer upper end center position, fixing shovel pawl is just being fixed on scraper bowl guide groove
At front position, fixing shovel pawl is strip structure, and fixing shovel pawl front end is provided with fixing perching knife, and mobile shovel pawl lays respectively at solid
Surely shovel the pawl left and right sides, and mobile shovel pawl is equally spaced respectively along mobile Hubei Province plate, moves shovel pawl rear end and is connected with mobile Hubei Province plate
Connecing, mobile shovel pawl front end is provided with mobile perching knife, and guide cylinder is through fixing shovel pawl, and guide cylinder is connected with fixing shovel pawl,
Guide cylinder is evenly arranged along fixing shovel pawl side, and regulation round bar one end sequentially passes through mobile shovel pawl and is arranged in guide cylinder
Portion, the regulation round bar other end is fixed on plate medial wall, mobile Hubei Province；When specifically carrying out prune job, according to the width of irrigation canals and ditches for clearance
The width of degree regulation scraper bowl, by the synchronized stretching to two ends of the bi-directional synchronization of electric expansion bar, drives mobile Hubei Province plate to exist
Synchronizing to both sides in scraper bowl guide groove to move out, guide cylinder plays with the use of the regulation for outside width of bucket with regulation round bar
Supporting role, during scraper bowl prune job, width is adjustable, and easy to adjust, it is simple to the irrigation canals and ditches of different in width are carried out cleaning and makees
Industry, the suitability is strong, and scraper bowl uses simultaneously fixing scraper bowl and the sharpness of mobile scraper bowl are high, and performance capacity is strong, and spatula speed is fast.
Compared with prior art, the invention have the advantages that
(1) present invention irrigation canals and ditches of road pavement roadbed can carry out cleaning dredging maintenance work, and degree of freedom flexible adjustment, intelligence
Change degree is high, cleaning dredging efficiency is high, solves present labor cleaning and dredges that the amount of labour is big, efficiency is low and high in cost of production problem.
(2) crawler unit and the running gear system of the present invention coordinates conversion to use, and changes convenient and swift, can fit
The walking of Ying Yu differently condition, crawler unit is mainly used in the walking of hogwallow, and running gear system is mainly used in putting down
The walking on smooth ground, the speed of travel is fast.
(3) form of the parallel institution of the 3-freedom parallel mechanism employing 3-RPS of the present invention, by three-freedom parallel
On the one hand structure is applied in the present invention, and serve cleaning plant orientation angles is integrally-regulated, it is simple to the various attitude of the present invention
Comprehensive irrigation canals and ditches prune job is carried out, it is achieved that the function of flexible prune job, on the other hand cleaning plant is served
The effect of damping so that cleaning plant is in horizontal plateau under the present invention walks jounce condition all the time, prevents jitter
Excessive produce cleaning plant prune job affects.
(4) cleaning plant of the present invention can carry out the motion in a translation two rotation three degree of freedom direction altogether in space,
And use plane double leval jib motion principle, and regulating rapid and convenient, linkage is good, and stability is strong, width during scraper bowl prune job simultaneously
Spending adjustable, it is simple to the irrigation canals and ditches of different in width are carried out prune job, the suitability is strong, and scraper bowl sharpness is high, and performance capacity is strong, spatula
Speed is fast.
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 perspective view when crawler unit of the present invention and running gear system cooperation；
Fig. 3 is the perspective view of running gear system of the present invention；
Fig. 4 is perspective view when 3-freedom parallel mechanism of the present invention and cleaning plant cooperation；
Fig. 5 is the front view of 3-freedom parallel mechanism of the present invention；
Fig. 6 is the perspective view (viewed from above) of cleaning plant of the present invention；
Fig. 7 is the perspective view (seeing from the bottom up) of cleaning plant of the present invention；
Fig. 8 is the perspective view of scraper bowl of the present invention.
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 knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, including crawler unit 1, wheel
Formula running gear 2, electrical turntable 3,3-freedom parallel mechanism 4 and cleaning plant 5；Described running gear system 2 quantity is
Four, and running gear system 2 is respectively symmetrically and is arranged in crawler unit 1 left and right sides, electrical turntable 3 is positioned at crawler travel dress
Putting 1 upper end center position, and electrical turntable 3 is connected with crawler unit 1,3-freedom parallel mechanism 4 is positioned at electric rotating
Between platform 3 and cleaning plant 5, and 3-freedom parallel mechanism 4 lower end is connected with electrical turntable 3,3-freedom parallel mechanism 4
Upper end is connected with cleaning plant 5.
As in figure 2 it is shown, described crawler unit 1 includes chassis 11, drives motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers mounting groove respectively,
Drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drive motor 12 to use Biaxial synchronous output electricity
Machine, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14, and drives
Being fixed by tight locking button 15 between moving axis 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking belt wheel 14
On, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, described running gear system 2 includes that walking fixed plate 21, walking slide rail 22, walking are slided
Block 23, walking 24, rotating shaft 25 of ear mount, 26, No. two rotating shafts 27 of mobile roof support, walking support bar 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；Described walking slide rail 22 is fixed on walking fixed plate 21
On lower surface, walking slide block 23 is arranged on walking slide rail 22, and walking slide block 23 upper end is concave structure, walking slide block 23 times
The U-shape structure for standing upside down, walking ear mount 24 is held to be positioned at walking slide rail 22 back-end location, and walk ear mount 24 and walking fixed plate
21 are connected, and mobile roof support 26 upper end is connected with walking ear mount 24 by a rotating shaft 25, sets at mobile roof support 26 medium position
Being equipped with walking connecting rod, walking support bar 28 one end is connected with walking slide block 23 lower end by No. two rotating shafts 27, and walking supports
Bar 28 other end is connected with the walking connecting rod in the middle part of mobile roof support 26 by moving block 29, and walking support bar 28 is pneumatic
Telescopic structure, movable motor 210 is fixed on mobile roof support 26 lateral wall by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and walking axle 212 two ends are separately fixed on the medial wall, left and right of mobile roof support 26 lower end,
Walking runner 213 is arranged at walking axle 212 medium position.
As shown in Figure 1 to Figure 3, when the present invention advances, when walking in flat road surface, sliding in walking by walking slide block 23
Motion laterally on rail 22 drives walking support bar 28 stretching the most laterally, and walk support bar 28 and walking
Frame 26 links, thus drives mobile roof support 26 to carry out rotary motion laterally counterclockwise with a rotating shaft 25 for center of rotation, when
Walking runner 213 contacts on ground, and whole crawler unit 1 separates with ground, is in and is lifted dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, it is achieved that the walking of running gear system 2 is moved, and the speed of travel is fast,
Overcome the problem that crawler unit 1 speed of travel is slow；When running into hogwallow, by walking slide block 23 at walking slide rail
Contractile motion inside medial motion drive walking support bar 28 clockwise direction on 22, and walk support bar 28 and mobile roof support
26 linkages, thus drive mobile roof support 26 to carry out rotary motion inside clockwise direction with a rotating shaft 25 for center of rotation, it is achieved
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, leads to
That overdrives motor 12 rotates the rotation driving treads wheel 14, thus drives the motion of traveling crawler 16, crawler unit 1
It is mainly used in the walking of the present invention, movement and turns to, and crawler unit 1 is by using track structure to easily facilitate hollow
The walking of physical features ground condition so that the suitability of the present invention is higher；By crawler unit 1 and the cooperation of running gear system 2
Conversion, improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, described 3-freedom parallel mechanism 4 includes fixed platform 41, moving platform 42, ear mount 43, turns
Axle 44, electric pushrod 45, spherical hinge 46, connection seat 47 and limit spring 48, and ear mount 43, rotating shaft 44, electric pushrod 45, ball pivot
The quantity of chain 46, connection seat 47 and limit spring 48 is three；Described fixed platform 41 and moving platform 42 the most rounded shape structure,
And moving platform 42 is positioned at directly over fixed platform 41, ear mount 43 is positioned on the upper surface of fixed platform 41, and the installation between ear mount 43
Angle is 60 degree, connects seat 47 and is positioned on moving platform 42 lower surface, and ear mount 43 distinguishes one_to_one corresponding with being connected seat 47；Institute
Electric pushrod 45 bottom stated is arranged in ear mount 43 by rotating shaft 44, and ball is passed through with being connected between seat 47 in electric pushrod 45 top
Hinge 46 is attached, and limit spring 48 is around being enclosed within electric pushrod 45 upper end；During specific works, upper and lower by electric pushrod 45
Reciprocating motion can drive the motion of moving platform 42, and reduced when 3-freedom parallel mechanism 4 moves by limit spring 48 and tremble
Dynamic property, adds the stationarity of 3-freedom parallel mechanism 4 motion, 3-freedom parallel mechanism 4 and serial mechanism phase specific stiffness
Greatly, flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 uses the parallel connection of 3-RPS in motion
The form of mechanism, is applied to 3-freedom parallel mechanism 4 in the present invention, on the one hand serves cleaning plant 5 orientation angles
Integrally-regulated, it is simple to the various attitude of the present invention is comprehensive to be carried out irrigation canals and ditches prune job, it is achieved that flexible prune job
Function, on the other hand serves the effect of damping so that cleaning plant 5 is under the present invention walks jounce condition to cleaning plant 5
All the time it is in horizontal plateau, prevents excessive cleaning plant 5 prune job is produced of jitter from affecting.
As shown in Figure 6 to 8, described cleaning plant 5 include clear up turntable 51, driven bearing 52, driven bull stick 53, from
Dynamic support 54, actively bull stick 55, active bracket 56, actively hydraulic cylinder 57, rotational pin 58, transition bull stick 59, actively bearing 510 and
Scraper bowl 511；Described driven bearing 52 is positioned at side on rear side of cleaning turntable 51 upper surface, and driven bearing 52 is solid with cleaning turntable 51
Even, driven carriage 54 bottom is fixed on driven bearing 52 by driven bull stick 53, and the stepped structure of driven carriage 54, from
Dynamic support 54 top is connected with active bracket 56 upper end by actively bull stick 55, and active bracket 56 uses extension type fence
Shape structure, is provided with telescopic block, telescopic block bottom face is provided with connection ear mount, actively hydraulic pressure at active bracket 56 medium position
It is attached by rotational pin 58 between connection ear mount on cylinder 57 one end and telescopic block bottom face, actively hydraulic cylinder 57 other end
It is arranged on active bearing 510 by transition bull stick 59, the actively U-shaped structure of bearing 510, and actively bearing 510 is fixed on clearly
Reason front side, turntable 51 upper surface, and to be positioned at same straight in the center of circle of actively bearing 510, driven bearing 52 and cleaning turntable 51
On line, scraper bowl 511 is arranged on active bracket 56 lower end；Whole cleaning plant 5 can be driven at horizontal plane by cleaning turntable 51
On rotation, can regulate, by the stretching motion of active bracket 56, the length that scraper bowl 511 stretches out, by active hydraulic cylinder 57
Stretching motion thus regulate active bracket 510 opening angle on the vertical plane, and scraper bowl 511 is connected with active bracket 56, from
And achieve the regulation of scraper bowl 511 vertical angle, and cleaning plant 5 uses plane double leval jib motion principle, angular adjustment is fast
Speed is convenient, and linkage is good, and stability is strong.
As shown in Figure 8, described scraper bowl 511 include scraper bowl guide groove 5111, mobile Hubei Province plate 5112, electric expansion bar 5113,
Fixing round platform 5114, fixing shovel pawl 5115, mobile shovel pawl 5116, guide cylinder 5117 and regulation round bar 5118；Described scraper bowl
Guide groove 5111 cross section transverse is fan shape hollow shell structure, and mobile Hubei Province plate 5112 quantity is two, and mobile Hubei Province plate 5112 is along scraper bowl
Longitudinal center's axis of guide groove 5111 is respectively symmetrically layout, and mobile Hubei Province plate 5112 medial extremity is arranged in scraper bowl guide groove 5111
Portion, mobile Hubei Province plate 5112 outboard end is fan shape structure, and mobile Hubei Province plate 5112 outer upper end center position is provided with mounting disc,
Electric expansion bar 5113 uses adjustable speed bi-directional expansion bar, and electric expansion bar about 5113 two ends are respectively by fixing round platform 5114
Being fixed in the mounting disc of mobile Hubei Province plate 5112 outer upper end center position, fixing shovel pawl 5115 is fixed on scraper bowl guide groove 5111
At positive front position, fixing shovel pawl 5115 is in strip structure, and fixing shovel pawl 5115 front end is provided with fixing perching knife, mobile shovel pawl
5116 lay respectively at fixing shovel pawl 5115 left and right sides, and mobile shovel pawl 5116 is equally spaced respectively along mobile Hubei Province plate 5112,
Mobile shovel pawl 5116 rear end is connected with mobile Hubei Province plate 5112, and mobile shovel pawl 5116 front end is provided with mobile perching knife, guide cylinder
5117 through fixing shovel pawl 5115, and guide cylinder 5117 is connected with fixing shovel pawl 5115, and guide cylinder 5118 is along fixing shovel pawl
5115 sides are evenly arranged, and regulation round bar 5118 one end sequentially passes through mobile shovel pawl 5116 and is arranged on guide cylinder 5117 inside,
Regulation round bar 5118 other end is fixed on plate 5112 medial wall, mobile Hubei Province；When specifically carrying out prune job, according to ditch for clearance
The width of the width adjusting scraper bowl 511 of canal, by the synchronized stretching to two ends of the bi-directional synchronization of electric expansion bar 5113, band
Dynamic mobile Hubei Province plate 5112 synchronizes to both sides to move out in scraper bowl guide groove 5111, guide cylinder 5117 and regulation round bar 5118
Serving supporting role with the use of the regulation for scraper bowl 511 width, during scraper bowl 511 prune job, width is adjustable, and regulation side
Just, it is simple to the irrigation canals and ditches of different in width are carried out prune job, the suitability is strong, fixing scraper bowl 5115 He that scraper bowl 511 uses simultaneously
The sharpness of mobile scraper bowl 5116 is high, and performance capacity is strong, and spatula speed is fast.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (3)
1. a full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, it is characterised in that: include that crawler unit, running on wheels fill
Put, electrical turntable, 3-freedom parallel mechanism and cleaning plant；Described running gear system quantity is four, and running on wheels
Device is respectively symmetrically and is arranged in the crawler unit left and right sides, and electrical turntable is positioned at crawler unit upper end center position
Place, and electrical turntable and crawler unit be connected, 3-freedom parallel mechanism between electrical turntable and cleaning plant, and
3-freedom parallel mechanism lower end is connected with electrical turntable, and 3-freedom parallel mechanism upper end is connected with cleaning plant；Its
In:
Described running gear system includes walk fixed plate, walking slide rail, walking slide block, walking ear mount, rotating shaft, a walking
Support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motor frame, walk axle and walking runners；Described row
Walking slide rail to be fixed on walking fixed plate lower surface, walking slide block is arranged on walking slide rail, and walking upper end of slide block is matrix
Structure, walking slide block lower end be stand upside down U-shape structure, walking ear mount be positioned at walking sliding rail rear end position, and walking ear mount with
Walking fixed plate is connected, and mobile roof support upper end is connected with walking ear mount by a rotating shaft, sets at mobile roof support medium position
Being equipped with walking connecting rod, walking support bar one end is connected with slide block lower end of walking by No. two rotating shafts, walk support bar another
End is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and walking support bar is pneumatic telescopic structure,
Movable motor is fixed on mobile roof support lateral wall by movable motor frame, and movable motor main shaft is connected, OK with walking axle
Walking axle two ends to be separately fixed on the medial wall, left and right of mobile roof support lower end, walking runner is arranged at walking axle medium position；
Described 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat
And limit spring, and the quantity of ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring is three；Described determines
Platform and moving platform the most rounded shape structure, and moving platform is positioned at directly over fixed platform, ear mount is positioned on the upper surface of fixed platform,
And the installation angle between ear mount is 60 degree, connects seat and be positioned on moving platform lower surface, and ear mount distinguishes one with being connected seat
One is corresponding；Described electric pushrod bottom is arranged in ear mount by rotating shaft, and ball is passed through with being connected between seat in electric pushrod top
Hinge is attached, and limit spring is around being enclosed within electric pushrod upper end；
Described cleaning plant include clear up turntable, driven bearing, driven bull stick, driven carriage, actively bull stick, active bracket,
Actively hydraulic cylinder, rotational pin, transition bull stick, actively bearing and scraper bowl；After described driven bearing is positioned at cleaning turntable upper surface
Side, and driven bearing is connected with cleaning turntable, driven carriage bottom is fixed on driven bearing by driven bull stick, and driven
The stepped structure of support, driven carriage top is connected with active bracket upper end by actively bull stick, and active bracket uses
Extension type paliform structure, is provided with telescopic block, telescopic block bottom face is provided with engaging lug at active bracket medium position
Seat, is actively attached by rotational pin between the connection ear mount on hydraulic cylinder one end and telescopic block bottom face, actively hydraulic cylinder
The other end is arranged on active bearing by transition bull stick, the actively U-shaped structure of bearing, and actively bearing is fixed on cleaning turntable
Front side, upper surface, and the center of circle of actively bearing, driven bearing and cleaning turntable is located on the same line, scraper bowl is arranged on
Active bracket lower end.
One the most according to claim 1 full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, it is characterised in that: described shoe
Band running gear includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives motor, locking
The quantity of button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, before chassis
Rear two ends offer mounting groove respectively, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to adopt
Biaxial synchronous output motor, drive shaft one end is used to be connected with driving motor output shaft, the drive shaft other end and walking belt wheel phase
Connecting, and be fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel
On, and outside traveling crawler, it is evenly arranged with semicircle tread plate.
One the most according to claim 1 full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, it is characterised in that: described shovel
Bucket includes scraper bowl guide groove, mobile Hubei Province plate, electric expansion bar, fixing round platform, fixing shovel pawl, mobile shovel pawl, guide cylinder and regulation
Round bar；Described scraper bowl guide groove cross section transverse is fan shape hollow shell structure, and mobile Hubei Province plate quantity is two, and mobile Hubei Province plate is along shovel
Longitudinal center's axis of bucket guide groove is respectively symmetrically layout, and mobile Hubei Province plate medial extremity is arranged on inside scraper bowl guide groove, mobile Hubei Province plate
Outboard end is fan shape structure, and mobile Hubei Province plate outer upper end center position is provided with mounting disc, and electric expansion bar uses adjustable
Speed bi-directional expansion bar, two ends, electric expansion bar left and right are fixed on plate outer upper end center, mobile Hubei Province by fixing round platform respectively
In the mounting disc at place, fixing shovel pawl is fixed at the positive front position of scraper bowl guide groove, and fixing shovel pawl is strip structure, fixing shovel pawl
Front end is provided with fixing perching knife, and mobile shovel pawl lays respectively at the fixing shovel pawl left and right sides, and mobile shovel pawl is along mobile Hubei Province plate respectively
Being equally spaced, mobile shovel pawl rear end is connected with mobile Hubei Province plate, and mobile shovel pawl front end is provided with mobile perching knife, and guide cylinder is worn
Crossing fixing shovel pawl, and guide cylinder is connected with fixing shovel pawl, guide cylinder is evenly arranged along fixing shovel pawl side, regulates round bar one
End sequentially passes through mobile shovel pawl and is arranged on inside guide cylinder, and the regulation round bar other end is fixed on plate medial wall, mobile Hubei Province.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810044888.7A CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch maintenance all-in-one |
| CN201610464038.3A CN106088196B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610464038.3A CN106088196B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810044888.7A Division CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch maintenance all-in-one |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106088196A true CN106088196A (en) | 2016-11-09 |
| CN106088196B CN106088196B (en) | 2018-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810044888.7A Active CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch maintenance all-in-one |
| CN201610464038.3A Active CN106088196B (en) | 2016-06-23 | 2016-06-23 | A kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810044888.7A Active CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch maintenance all-in-one |
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| Country | Link |
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| CN (2) | CN108118738B (en) |
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| CN107227764A (en) * | 2017-07-21 | 2017-10-03 | 王茂刚 | The mechanical digging machine of convertible walking manner |
| CN107724452A (en) * | 2017-09-21 | 2018-02-23 | 镇江市胜得机械制造有限责任公司 | One kind is used for digging machine chassis connecting shaft |
| CN107761799A (en) * | 2017-09-21 | 2018-03-06 | 镇江市胜得机械制造有限责任公司 | A kind of good digging machine chassis of stability |
| CN113016335A (en) * | 2021-03-08 | 2021-06-25 | 兰志勇 | A pasture and water cleaning device for rural river course |
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| US11610117B2 (en) | 2018-12-27 | 2023-03-21 | Tesla, Inc. | System and method for adapting a neural network model on a hardware platform |
| CN111021454A (en) * | 2019-12-26 | 2020-04-17 | 山东良耘生态科技有限公司 | Bohai sea water area port silt cleaning device |
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| CN107724452A (en) * | 2017-09-21 | 2018-02-23 | 镇江市胜得机械制造有限责任公司 | One kind is used for digging machine chassis connecting shaft |
| CN107761799A (en) * | 2017-09-21 | 2018-03-06 | 镇江市胜得机械制造有限责任公司 | A kind of good digging machine chassis of stability |
| CN113016335A (en) * | 2021-03-08 | 2021-06-25 | 兰志勇 | A pasture and water cleaning device for rural river course |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106088196B (en) | 2018-01-02 |
| CN108118738A (en) | 2018-06-05 |
| CN108118738B (en) | 2020-10-20 |
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Inventor after: Li Jianying Inventor after: Cao Yu Inventor after: Wang Hongbo Inventor after: Xu Jingxue Inventor before: Wu Yan |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20171206 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 246001, Anqing, Anhui Province, 1 South Jixian Road, Daguan building, seven floor, block C Applicant before: Anqing dandelion hydropower installation engineering Co., Ltd. |
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Effective date of registration: 20181102 Address after: 414002 room 538, Yungang Road Customs Service building, Chenglingji new port, Yueyang, Hunan Patentee after: Hakda robotics group Yueyang Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co., Ltd. |
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| TR01 | Transfer of patent right | ||
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Effective date of registration: 20181225 Address after: 414002 Fourth Floor, Building 2, Xindeng Incubation Building, Yungang Road Military-Civil Integration Industrial Park, Chenglingji New Port District, Yueyang City, Hunan Province Patentee after: Harbin University of Technology Robot (Yueyang) Research Institute Co., Ltd. Address before: 414002 room 538, Yungang Road Customs Service building, Chenglingji new port, Yueyang, Hunan Patentee before: Hakda robotics group Yueyang Co., Ltd. |