CN106088196B - 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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- CN106088196B CN106088196B CN201610464038.3A CN201610464038A CN106088196B CN 106088196 B CN106088196 B CN 106088196B CN 201610464038 A CN201610464038 A CN 201610464038A CN 106088196 B CN106088196 B CN 106088196B
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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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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 arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center opening 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 can the irrigation canals and ditches of road pavement roadbed carry out cleaning dredging maintenance work, and free degree flexible adjustment, intelligence degree are high, cleaning dredging efficiency high, solve the problems such as present manual cleaning dredging amount of labour is big, efficiency is low and cost is high.
Description
Technical field
The present invention relates to irrigation canals and ditches to clear up field, specifically a kind of full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one.
Background technology
With the development of the social economy, the people's livelihood such as urban construction, transport development and water conservancy construction engineering is increasingly by society
Can all circles concern, government is also increasing to the input in terms of these, engineering construction in this respect be also it is in full flourish, everywhere
It can be seen that but can all be related to one piece in the people's livelihood engineering such as urban construction, transport development and water conservancy construction, that is, drainage system
Arrangement it is reserved and build, such as highway, expressway, municipal works, gardens, pavement, road surface roadbed, building, city
Gutter, gutter, intercepting ditch, Ming Gou, hondo, Bilge etc. irrigation canals and ditches, ditch can be all related in city's traffic route etc. engineering
The effect of canal is mainly used in rainwater weather and the usually discharge of Living Industry water；But due to the throwing out without care of rubbish often, draining
When the accumulating of soil, the reason such as filtering accumulation of flooded slag it is regular cause irrigation canals and ditches to block, therefore, it is fixed to be needed for these irrigation canals and ditches
Phase clear up the regular maintenance of dredging, still, current more using manually cleaning dredging operation is carried out using shovel spade, occupies big
The labour of amount, and cleaning dredging quantities is big, cost is high, and efficiency is low, in addition, due to bending over to carry out cleaning dredging often
Operation, easily cause the arthritic conditions such as worker's lumbar vertebrae cervical vertebra.In consideration of it, the invention provides a kind of full-automatic subgrade and pavement ditch
Canal conserves all-in-one.
The content 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 be solved its technical problem and use following technical scheme to realize.
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 right respectively
Title is arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center opening 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 simultaneously
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, motor, drive shaft, walking belt wheel, tight locking button and traveling crawler,
And the quantity of motor, tight locking button and traveling crawler is two, drive shaft and walking belt wheel quantity are four；Described chassis is in
Rectangular configuration, chassis rear and front end offer mounting groove respectively, and motor is separately fixed at the mounting groove of chassis front and rear sides
It is interior, and motor uses Biaxial synchronous output motor, drive shaft one end is connected with driving motor output shaft, and drive shaft is another
End is connected with walking belt wheel, and is fixed between drive shaft and walking belt wheel by tight locking button, traveling crawler both ends difference
Walked around being enclosed on belt wheel, and semicircle tread plate is evenly arranged with the outside of traveling crawler.
As a further improvement on the present invention, described running gear system includes walking fixed plate, walking slide rail, walking
Sliding block, walking ear mount, No.1 rotating shaft, mobile holder, No. two rotating shafts, walking support bar, moving block, movable motor, movable motor
Frame, walking axle and walking runner；Described walking slide rail is fixed on walking fixed plate lower surface, and walking sliding block is arranged on walking
On slide rail, and upper end of slide block of walking is concave structure, and walking sliding block lower end is the U-shape structure to stand upside down, and walking ear mount is positioned at walking
Sliding rail rear end opening position, and ear mount of walking is connected with walking fixed plate, mobile holder upper end passes through No.1 rotating shaft and walking ear mount
It is connected, walking connecting rod is provided with mobile holder medium position, walking support bar one end is slided by No. two rotating shafts and walking
Block lower end is connected, and the walking support bar other end is connected by moving block with the walking connecting rod in the middle part of mobile holder, and row
It is pneumatic telescopic structure to walk support bar, and movable motor is fixed on mobile holder lateral wall by movable motor frame, and row
Walk electric machine main shaft with walking axle to be connected, walking axle both ends are separately fixed on the left and right madial wall of mobile holder lower end, are walked
Runner is arranged at walking axle medium position.
When the present invention advances, when being walked in flat road surface, pass through outside lateral movement of the sliding block on walking slide rail of walking
Walking support bar stretching routine laterally counterclockwise is driven, and support bar of walking links with mobile holder, so as to drive walking
Frame carries out rotary motion laterally counterclockwise by pivot of No.1 rotating shaft, when on walking rotatable wheel contacts ground, whole crawler belt
Running gear is separated with ground, in by lift dummy status, while is passed through the rotation that movable motor drives walking runner, is realized
The walking movement of running gear system, and the speed of travel is fast, overcome the problem of crawler unit speed of travel is slow；Work as chance
During to hogwallow, by walking, sliding block being driven to medial motion on walking slide rail is received on the inside of walking support bar clockwise direction
Contract and move, and support bar of walking links with mobile holder, so as to drive mobile holder suitable as pivot progress using No.1 rotating shaft
The inside side rotary motion of hour hands, realizes the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device contacts with ground, drives the rotation of treads wheel by the rotation of motor, so as to drive the motion of traveling crawler, carries out
Be mainly used in the walking of the present invention, mobile and turn to running gear, and crawler unit by using track structure more
Add the walking of with being easy to hollow physical features condition so that applicability of the invention is stronger；Filled by crawler unit and running on wheels
The cooperation conversion put, improve 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, connecting seat and limit spring, and ear mount, rotating shaft, electric pushrod, spherical hinge, connecting seat and limit
The quantity of position spring is three；Described fixed platform and moving platform structure in rounded shape, and moving platform be located at fixed platform just on
Side, ear mount are located on the upper surface of fixed platform, and the installation center angle between ear mount is 60 degree, and connecting seat is located under moving platform
On end face, and ear mount corresponds respectively with connecting seat；Described electric pushrod bottom is arranged in ear mount by rotating shaft, electronic
It is attached between push rod top and connecting seat by spherical hinge, limit spring is around being enclosed on electric pushrod upper end；During specific works,
The motion of moving platform can be driven by pumping for electric pushrod, and freedom degree parallel connection is reduced by limit spring
Jitter during mechanism kinematic, add the stationarity of 3-freedom parallel mechanism motion, 3-freedom parallel mechanism and cascade machine
Structure is big compared to rigidity, and motion is flexible, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism uses 3-
The form of RPS parallel institution, 3-freedom parallel mechanism is applied in the present invention, is on the one hand served to cleaning plant side
Parallactic angle degree it is integrally-regulated, be easy to the various comprehensive progress to irrigation canals and ditches prune job of posture of the present invention, realize flexible cleaning
The function of operation, the effect of damping is on the other hand served to cleaning plant so that cleaning plant is in the shape that jolts of the invention of walking
All the time horizontal plateau is under state, prevents jitter excessive and cleaning plant prune job is had an impact.
As a further improvement on the present invention, described cleaning plant include cleaning turntable, driven bearing, driven bull stick,
Driven carriage, active bull stick, active bracket, active hydraulic cylinder, rotational pin, transition bull stick, active bearing and scraper bowl；It is described from
Dynamic bearing is positioned at cleaning turntable upper surface rear side side, and driven bearing is connected with cleaning turntable, and driven carriage bottom passes through driven
Bull stick is fixed on driven bearing, and the stepped structure of driven carriage, and driven carriage top is by active bull stick with actively propping up
Frame upper end is connected, and active bracket uses extension type paliform structure, and telescopic block is provided with active bracket medium position,
It is provided with connection ear mount on telescopic block bottom face, passes through between the connection ear mount on active hydraulic cylinder one end and telescopic block bottom face
Rotational pin is attached, and the active hydraulic cylinder other end is arranged on active bearing by transition bull stick, the U-shaped knot of active bearing
Structure, and active bearing is fixed on cleaning turntable upper surface front side, and active bearing, driven bearing and the center of circle for clearing up turntable
It is located on the same line, scraper bowl is arranged on active bracket lower end；Whole cleaning plant can be driven in water by clearing up turntable
Rotation in plane, the length of scraper bowl stretching can be adjusted by the stretching motion of active bracket, passes through stretching for active hydraulic cylinder
Contracting motion is so as to adjust the opening angle of active bracket on the vertical plane, and scraper bowl is connected with active bracket, it is achieved thereby that shovel
The regulation for the vertical plane angle that struggles against, and cleaning plant uses 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, moves Jaw plate, electric expansion bar, consolidates
Determine round platform, fixed 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 Jaw plate quantity is two, and longitudinal center axis of the mobile Jaw plate along scraper bowl guide groove is respectively symmetrically arranged, and is moved
Dynamic Jaw plate medial extremity is arranged on inside scraper bowl guide groove, and mobile Jaw plate outboard end is fan shape structure, in mobile Jaw plate outer upper end
Heart opening position is provided with mounting disc, and electric expansion bar uses adjustable speed bi-directional expansion bar, and electric expansion bar left and right ends lead to respectively
Cross fixed round platform to be fixed in the mounting disc of mobile Jaw plate outer upper end center position, fixed shovel pawl is being fixed on scraper bowl guide groove just
At front position, fixed shovel pawl is in strip structure, and fixed shovel pawl front end is provided with fixed perching knife, and mobile shovel pawl is respectively positioned at solid
Surely shovel at left and right sides of pawl, and mobile shovel pawl edge is moved Jaw plate and is equally spaced respectively, mobile shovel pawl rear end is connected with mobile Jaw plate
Connecing, mobile shovel pawl front end is provided with mobile perching knife, and guide cylinder is through fixed shovel pawl, and guide cylinder is connected with fixed shovel pawl,
Guide cylinder is evenly arranged along fixed 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 are fixed on mobile Jaw plate madial wall；During specific progress prune job, according to the width of irrigation canals and ditches for clearance
The width of degree regulation scraper bowl, by the bi-directional synchronization of electric expansion bar at the same speed to the stretching routine at both ends, mobile Jaw plate is driven to exist
Synchronously moved out to both sides in scraper bowl guide groove, guide cylinder and being used cooperatively for regulation round bar are played for the regulation of outside width of bucket
Supporting role, width is adjustable and easy to adjust during scraper bowl prune job, is easy to carry out cleaning work to the irrigation canals and ditches of different in width
The fixation scraper bowl and the sharpness of mobile scraper bowl that industry, strong applicability, while scraper bowl use are high, and work capacity is strong, and spatula speed is fast.
Compared with prior art, the present invention has advantages below：
(1) present invention can the irrigation canals and ditches of road pavement roadbed carry out cleaning dredging maintenance work, and free degree flexible adjustment, intelligence
Change degree is high, cleaning dredging efficiency high, solves the problems such as present manual cleaning dredging amount of labour is big, efficiency is low and cost is high.
(2) crawler unit of the invention and running gear system coordinate conversion to use, and conversion is convenient and swift, can fit
The walking of Ying Yu differently conditions, crawler unit are 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 are fast.
(3) 3-freedom parallel mechanism of the invention uses the form of 3-RPS parallel institution, by three-freedom parallel
Structure is applied in the present invention, is on the one hand served to the integrally-regulated of cleaning plant orientation angles, is easy to the various postures of the present invention
The comprehensive progress to irrigation canals and ditches prune job, the function of flexible prune job is realized, on the other hand cleaning plant is served
The effect of damping so that cleaning plant is in horizontal plateau all the time in the case where the present invention walks jounce condition, prevents jitter
It is excessive that cleaning plant prune job is had an impact.
(4) cleaning plant of the invention can carry out the motion that a translation two rotates three degree of freedom direction altogether in space,
And plane double leval jib motion principle is used, rapid and convenient is adjusted, linkage is good, and stability is strong, while scraper bowl prune job time width
Spend adjustable, be easy to carry out prune job to the irrigation canals and ditches of different in width, strong applicability, scraper bowl sharpness is high, and work capacity is strong, spatula
Speed is fast.
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 dimensional structure diagram when crawler unit and running gear system of the present invention coordinate；
Fig. 3 is the dimensional structure diagram of running gear system of the present invention；
Fig. 4 is dimensional structure diagram when 3-freedom parallel mechanism and cleaning plant of the present invention coordinate；
Fig. 5 is the front view of 3-freedom parallel mechanism of the present invention；
Fig. 6 is the dimensional structure diagram (viewed from above) of cleaning plant of the present invention；
Fig. 7 is the dimensional structure diagram (seeing from the bottom up) of cleaning plant of the present invention；
Fig. 8 is the dimensional structure diagram of scraper bowl of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
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；The described quantity of running gear system 2 is
Four, and running gear system 2 is respectively symmetrically arranged in the left and right sides of crawler unit 1, electrical turntable 3 is located at crawler travel dress
1 upper end center opening position is put, and electrical turntable 3 is connected with crawler unit 1,3-freedom parallel mechanism 4 is located at electric rotating
Between platform 3 and cleaning plant 5, and the lower end of 3-freedom parallel mechanism 4 is connected with electrical turntable 3,3-freedom parallel mechanism 4
Upper end is connected with cleaning plant 5.
As shown in Fig. 2 described crawler unit 1 includes chassis 11, motor 12, drive shaft 13, walking belt wheel
14th, tight locking button 15 and traveling crawler 16, and the quantity of motor 12, tight locking button 15 and traveling crawler 16 is two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and the rear and front end of chassis 11 offers mounting groove respectively,
Motor 12 is separately fixed in the mounting groove of the front and rear sides of chassis 11, and motor 12 is using Biaxial synchronous output electricity
Machine, the one end of drive shaft 13 are connected with the output shaft of motor 12, and the other end of drive shaft 13 is connected with walking belt wheel 14, and drives
Moving axis 13 and walking belt wheel 14 between be fixed by tight locking button 15, the both ends of traveling crawler 16 rotating around be enclosed on walking belt wheel 14
On, and the outside of traveling crawler 16 is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, described running gear system 2 includes walking fixed plate 21, walking slide rail 22, walking cunning
Block 23, walking ear mount 24, No.1 rotating shaft 25,26, No. two rotating shafts 27 of mobile holder, 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 sliding block 23 is arranged on walking slide rail 22, and the upper end of sliding block 23 of walking is concave structure, is walked under sliding block 23
The U-shape structure for handstand is held, walking ear mount 24 is at the walking back-end location of slide rail 22, and walk ear mount 24 and walking fixed plate
21 are connected, and the upper end of mobile holder 26 is connected by No.1 rotating shaft 25 with walking ear mount 24, is set at the medium position of mobile holder 26
Walking connecting rod is equipped with, walking one end of support bar 28 is connected by No. two rotating shafts 27 with walking sliding block 23 lower end, walking support
The other end of bar 28 is connected by moving block 29 with the walking connecting rod at the middle part of mobile holder 26, and support bar 28 of walking is pneumatic
Telescopic structure, movable motor 210 is fixed on the lateral wall of mobile holder 26 by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and walking axle 212 both ends are separately fixed on the left and right madial wall of the lower end of mobile holder 26,
Runner 213 of walking is arranged at the walking medium position of axle 212.
As shown in Figure 1 to Figure 3, when the present invention advances, when being walked in flat road surface, by walking, sliding block 23 is slided in walking
Outside lateral movement on rail 22 drives walking support bar 28 stretching routine laterally counterclockwise, and walk support bar 28 and walking branch
Frame 26 links, so as to drive mobile holder 26 to carry out rotary motion laterally counterclockwise with No.1 rotating shaft 25 for pivot, when
Runner 213 of walking is contacted on ground, and whole crawler unit 1 is separated with ground, in by lift dummy status, is passed through simultaneously
Movable motor 210 drives the rotation of walking runner 213, realizes the walking movement of running gear system 2, and the speed of travel is fast,
Overcome the problem of speed of travel of crawler unit 1 is slow；When running into hogwallow, by sliding block 23 of walking in walking slide rail
Contractile motion on the inside of the walking clockwise direction of support bar 28 is driven to medial motion on 22, and walk support bar 28 and mobile holder
26 linkages, so as to drive mobile holder 26 to carry out rotary motion on the inside of clockwise direction with No.1 rotating shaft 25 for pivot, realize
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, logical
The rotation of motor 12 of overdriving drives the rotation of treads wheel 14, so as to drive the motion of traveling crawler 16, crawler unit 1
It is mainly used in walking, move and turning to for the present invention, and crawler unit 1 easily facilitates hollow by using track structure
Physical features condition walking so that applicability of the invention is stronger；Pass through the cooperation of crawler unit 1 and running gear system 2
Conversion, improve the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, described 3-freedom parallel mechanism 4 include fixed platform 41, moving platform 42, ear mount 43, turn
Axle 44, electric pushrod 45, spherical hinge 46, connecting seat 47 and limit spring 48, and ear mount 43, rotating shaft 44, electric pushrod 45, ball pivot
The quantity of chain 46, connecting seat 47 and limit spring 48 is three；Described fixed platform 41 and moving platform 42 structure in rounded shape,
And moving platform 42 is located at directly over fixed platform 41, ear mount 43 is located on the upper surface of fixed platform 41, and the installation between ear mount 43
Angle is 60 degree, and connecting seat 47 is located on the lower surface of moving platform 42, and ear mount 43 corresponds respectively with connecting seat 47；Institute
The bottom of electric pushrod 45 stated is arranged in ear mount 43 by rotating shaft 44, passes through ball between the top of electric pushrod 45 and connecting seat 47
Hinge 46 is attached, and limit spring 48 is around being enclosed on the upper end of electric pushrod 45；During specific works, above and below electric pushrod 45
The motion of moving platform 42 can be driven by moving back and forth, and is reduced when 3-freedom parallel mechanism 4 moves and trembled by limit spring 48
Dynamic property, add the stationarity of the motion of 3-freedom parallel mechanism 4, the rigidity compared with serial mechanism of 3-freedom parallel mechanism 4
Greatly, motion is flexible, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 uses 3-RPS parallel connection
The form of mechanism, 3-freedom parallel mechanism 4 is applied in the present invention, is on the one hand served to the orientation angles of cleaning plant 5
It is integrally-regulated, be easy to the various comprehensive progress to irrigation canals and ditches prune job of posture of the present invention, realize flexible prune job
Function, the effect of damping is on the other hand served to cleaning plant 5 so that cleaning plant 5 is walked under jounce condition in the present invention
All the time horizontal plateau is in, prevents jitter excessive and the prune job of cleaning plant 5 is had an impact.
As shown in Figure 6 to 8, described cleaning plant 5 include cleaning turntable 51, driven bearing 52, driven bull stick 53, from
Dynamic support 54, active bull stick 55, active bracket 56, active hydraulic cylinder 57, rotational pin 58, transition bull stick 59, the and of active bearing 510
Scraper bowl 511；Described driven bearing 52 is positioned at cleaning turntable 51 upper surface rear side side, and driven bearing 52 and cleaning turntable 51 are solid
Even, the bottom of driven carriage 54 is fixed on driven bearing 52 by driven bull stick 53, and 54 stepped structure of driven carriage, from
The dynamic top of support 54 is connected by active bull stick 55 with the upper end of active bracket 56, and active bracket 56 uses extension type fence
Shape structure, telescopic block is provided with the medium position of active bracket 56, connection ear mount, active hydraulic pressure are provided with telescopic block bottom face
It is attached between connection ear mount on the one end of cylinder 57 and telescopic block bottom face by rotational pin 58, the other end of active hydraulic cylinder 57
It is arranged on by transition bull stick 59 on active bearing 510,510 U-shaped structure of active bearing, and active bearing 510 is fixed on clearly
Manage turntable 51 upper surface front side, and active bearing 510, driven bearing 52 and clear up the center of circle of turntable 51 to be located at same straight
On line, scraper bowl 511 is arranged on the lower end of active bracket 56；Whole cleaning plant 5 can be driven in horizontal plane by clearing up turntable 51
On rotation, by the stretching motion of active bracket 56 can adjust scraper bowl 511 stretch out length, pass through active hydraulic cylinder 57
Stretching motion is so as to adjust the opening angle of active bracket 510 on the vertical plane, and scraper bowl 511 is connected with active bracket 56, from
And the regulation of the vertical plane angle of scraper bowl 511 is realized, and cleaning plant 5 is fast using plane double leval jib motion principle, angular adjustment
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 Jaw plate 5112, electric expansion bar 5113,
Fixed round platform 5114, fixed shovel pawl 5115, mobile shovel pawl 5116, guide cylinder 5117 and regulation round bar 5118；Described scraper bowl
The cross section transverse of guide groove 5111 is fan shape hollow shell structure, and it is two to move the quantity of Jaw plate 5112, moves Jaw plate 5112 along scraper bowl
The longitudinal center axis of guide groove 5111 is respectively symmetrically arranged, and the mobile medial extremity of Jaw plate 5112 is arranged in scraper bowl guide groove 5111
Portion, the mobile outboard end of Jaw plate 5112 is fan shape structure, and the mobile outer upper end center position of Jaw plate 5112 is provided with mounting disc,
Electric expansion bar 5113 uses adjustable speed bi-directional expansion bar, and the left and right ends of electric expansion bar 5113 pass through fixed round platform 5114 respectively
It is fixed in the mounting disc of the mobile outer upper end center position of Jaw plate 5112, fixed shovel pawl 5115 is fixed on scraper bowl guide groove 5111
At positive front position, fixed shovel pawl 5115 is in strip structure, and fixed shovel pawl 5115 front end is provided with fixed perching knife, mobile shovel pawl
5116 respectively positioned at the fixed left and right sides of shovel pawl 5115, and mobile shovel pawl 5116 is equally spaced respectively along Jaw plate 5112 is moved,
The mobile shovel rear end of pawl 5116 is connected with mobile Jaw plate 5112, and mobile shovel pawl 5116 front end is provided with mobile perching knife, guide cylinder
5117 through fixed shovel pawl 5115, and guide cylinder 5117 is connected with fixed shovel pawl 5115, and guide cylinder 5118 shovels pawl along fixed
5115 sides are evenly arranged, and regulation round bar 5118 one end sequentially passes through mobile shovel pawl 5116 and is arranged on inside guide cylinder 5117,
The regulation other end of round bar 5118 is fixed on the mobile madial wall of Jaw plate 5112；During specific progress prune job, according to ditch for clearance
The width of the width adjusting scraper bowl 511 of canal, by the bi-directional synchronization of electric expansion bar 5113 at the same speed to the stretching routine at both ends, band
Dynamic mobile Jaw plate 5112 synchronously moves out in scraper bowl guide groove 5111 to both sides, guide cylinder 5117 and regulation round bar 5118
Supporting role is served with the use of the regulation for the width of scraper bowl 511, and width is adjustable during 511 prune job of scraper bowl, and regulation side
Just, it is easy to carry out the irrigation canals and ditches of different in width the He of fixation scraper bowl 5115 that prune job, strong applicability, while scraper bowl 511 use
The sharpness of mobile scraper bowl 5116 is high, and work capacity is strong, and spatula speed is fast.
The basic principles, principal features and advantages of the present 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-described embodiment and specification 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, and these change and changed
Entering will all include in the scope of protection of present invention.The claimed scope of the invention is by appended claims and its equivalent
Thing defines.
Claims (3)
- A kind of 1. full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one, it is characterised in that：Filled including crawler unit, running on wheels 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 arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center position Place, and electrical turntable is connected with crawler unit, 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 walking fixed plate, walking slide rail, walking sliding block, walking ear mount, No.1 rotating shaft, walking Support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motor frame, walking axle and walking runner；Described row Walk slide rail to be fixed on walking fixed plate lower surface, walking sliding block is arranged on walking slide rail, and upper end of slide block of walking is matrix Structure, walking sliding block lower end are the U-shape structure that stands upside down, walking ear mount positioned at walking sliding rail rear end opening position, and walk ear mount with Walking fixed plate is connected, and mobile holder upper end is connected by No.1 rotating shaft with walking ear mount, is set at mobile holder medium position Walking connecting rod is equipped with, walking support bar one end is connected by No. two rotating shafts with walking sliding block lower end, and walking support bar is another End is connected by moving block with the walking connecting rod in the middle part of mobile holder, and support bar of walking is pneumatic telescopic structure, Movable motor is fixed on mobile holder lateral wall by movable motor frame, and movable motor main shaft is connected with walking axle, OK Walk axle both ends to be separately fixed on the left and right madial wall of mobile holder 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, connecting seat And limit spring, and ear mount, rotating shaft, electric pushrod, spherical hinge, the quantity of connecting seat and limit spring are three；Described determines Platform and moving platform structure in rounded shape, and moving platform is located at directly over fixed platform, ear mount is located on the upper surface of fixed platform, And the installation center angle between ear mount is 60 degree, connecting seat is located on moving platform lower surface, and ear mount and connecting seat difference one One correspondence；Described electric pushrod bottom is arranged in ear mount by rotating shaft, passes through ball between electric pushrod top and connecting seat Hinge is attached, and limit spring is around being enclosed on electric pushrod upper end；Described cleaning plant include cleaning turntable, driven bearing, driven bull stick, driven carriage, active bull stick, active bracket, Active hydraulic cylinder, rotational pin, transition bull stick, active bearing and scraper bowl；Described driven bearing is behind 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 are connected by active bull stick with active bracket upper end, and active bracket uses Extension type paliform structure, telescopic block is provided with active bracket medium position, engaging lug is provided with telescopic block bottom face , it is attached between the connection ear mount on active hydraulic cylinder one end and telescopic block bottom face by rotational pin, active hydraulic cylinder The other end is arranged on active bearing by transition bull stick, the U-shaped structure of active bearing, and active bearing is fixed on cleaning turntable Upper surface front side, and the center of circle of active bearing, driven bearing and cleaning turntable is located on the same line, scraper bowl is arranged on Active bracket lower end.
- A kind of 2. full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one according to claim 1, it is characterised in that：Described shoe Band running gear includes chassis, motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and 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 Both ends offer mounting groove respectively afterwards, and motor is separately fixed in the mounting groove of chassis front and rear sides, and motor is adopted With Biaxial synchronous output motor, drive shaft one end is connected with driving motor output shaft, the drive shaft other end and belt wheel phase of walking Connection, and be fixed between drive shaft and walking belt wheel by tight locking button, traveling crawler both ends are rotating around being enclosed on walking belt wheel On, and it is evenly arranged with semicircle tread plate on the outside of traveling crawler.
- A kind of 3. full-automatic subgrade and pavement irrigation canals and ditches maintenance all-in-one according to claim 1, it is characterised in that：Described shovel Bucket includes scraper bowl guide groove, mobile Jaw plate, electric expansion bar, fixed round platform, fixed 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 Jaw plate quantity is two, mobile Jaw plate edge shovel The longitudinal center axis of bucket guide groove is respectively symmetrically arranged, and mobile Jaw plate medial extremity is arranged on inside scraper bowl guide groove, mobile Jaw plate Outboard end is fan shape structure, and mobile Jaw plate outer upper end center position is provided with mounting disc, and electric expansion bar is using adjustable Fast bi-directional expansion bar, electric expansion bar left and right ends are fixed on mobile Jaw plate outer upper end center by fixed round platform respectively In the mounting disc at place, fixed shovel pawl is fixed at the positive front position of scraper bowl guide groove, and fixed shovel pawl is in strip structure, fixed shovel pawl Front end is provided with fixed perching knife, and mobile shovel pawl is shoveled at left and right sides of pawl positioned at fixed respectively, and mobile shovel pawl is distinguished along Jaw plate is moved It is equally spaced, mobile shovel pawl rear end is connected with mobile Jaw plate, and mobile shovel pawl front end is provided with mobile perching knife, and guide cylinder is worn Fixed shovel pawl is crossed, and guide cylinder is connected with fixed shovel pawl, guide cylinder is evenly arranged along fixed shovel pawl side, adjusts 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 mobile Jaw plate madial wall.
Priority Applications (2)
| 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 |
| CN201810044888.7A CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch 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 |
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| Publication Number | Publication Date |
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| CN106088196A CN106088196A (en) | 2016-11-09 |
| CN106088196B true CN106088196B (en) | 2018-01-02 |
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| 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 |
| CN201810044888.7A Active CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch maintenance all-in-one |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810044888.7A Active CN108118738B (en) | 2016-06-23 | 2016-06-23 | Ditch maintenance all-in-one |
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Families Citing this family (6)
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| CN107227764B (en) * | 2017-07-21 | 2022-12-20 | 王茂刚 | Mechanical excavator with changeable walking mode |
| 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 |
| 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 |
| 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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Also Published As
| Publication number | Publication date |
|---|---|
| CN108118738A (en) | 2018-06-05 |
| CN106088196A (en) | 2016-11-09 |
| 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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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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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. |