CN106120936A - A kind of expressway gutter cleans dredging intelligence equipment and performs mechanical hand - Google Patents
A kind of expressway gutter cleans dredging intelligence equipment and performs mechanical hand Download PDFInfo
- Publication number
- CN106120936A CN106120936A CN201610471291.1A CN201610471291A CN106120936A CN 106120936 A CN106120936 A CN 106120936A CN 201610471291 A CN201610471291 A CN 201610471291A CN 106120936 A CN106120936 A CN 106120936A
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- China
- Prior art keywords
- mobile
- side chain
- fixed
- cleaning
- shovel pawl
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
Abstract
The present invention relates to a kind of expressway gutter cleaning dredging intelligence equipment and perform mechanical hand, including redundancy parallel mechanism and cleaning plant；Described redundancy parallel mechanism is positioned at immediately below cleaning plant, and redundancy parallel mechanism upper end is connected with cleaning plant.The present invention can carry out cleaning dredging operation to the gutter on both sides, expressway, 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.It uses the parallel institution form of 2 UPS 2 RPS, it can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, on the one hand serve cleaning plant orientation angles is integrally-regulated, achieve the function of flexible prune job, on the other hand cleaning plant is served the effect of damping, prevents excessive cleaning plant prune job is produced of jitter from affecting.
Description
Technical field
The present invention relates to irrigation canals and ditches cleaning field, a kind of expressway gutter cleans dredging intelligence equipment execution machine
Tool hands.
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.Clean thin in consideration of it, the invention provides a kind of expressway gutter
Logical intelligence equipment performs mechanical hand.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of expressway gutter cleaning dredging intelligence equipment and perform
Mechanical hand.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of expressway gutter cleans dredging intelligence equipment and performs mechanical hand, including redundancy parallel mechanism and cleaning plant；
Described redundancy parallel mechanism is positioned at immediately below cleaning plant, and redundancy parallel mechanism upper end is connected with cleaning plant.
As a further improvement on the present invention, described redundancy parallel mechanism include fixed platform, moving platform, the first side chain and
Second side chain；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at directly over fixed platform；Described
The quantity of one side chain and the second side chain is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and first
The two ends of side chain and the second side chain are connected with fixed platform and moving platform respectively, and the level peace of the first side chain and the second side chain
Dress angle is 90 degree；The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect post and the first damping spring；The first described ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
Using Hooke's hinge to be attached between lower end, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connects post is fixed on the lower surface of moving platform, and the first damping spring is around being enclosed within the first electric pushrod；Pass through Hooke's hinge
The rotation of both direction can be carried out, the rotation in three directions can be carried out by the first spherical hinge, can be entered by the first electric pushrod
Row moves up and down, and the first side chain uses the form of 2-UPS parallel institution, and adds the first side chain fortune by the first damping spring
Stationarity time dynamic, improves the exercise performance of the present invention；The second described side chain includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed platform upper surface
On, use rotational pin to be attached between the second ear mount and the second electric pushrod lower end, the second electric pushrod upper end and the second ball
Hinge is connected, and the second spherical hinge connects post by second and is fixed on the lower surface of moving platform, and the second damping spring is around being enclosed within
On second electric pushrod；The rotation in a direction can be carried out by rotational pin, three directions can be carried out by the second spherical hinge
Rotating, can be moved up and down by the second electric pushrod, the second side chain uses the form of 2-RPS parallel institution, and by the
Two damping springs add stationarity during second chain movement, improve the exercise performance of the present invention；Redundancy parallel mechanism leads to
Cross fixed platform, moving platform, the first side chain and the second side chain and constitute four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2-
The parallel institution form of RPS, it can realize moving along X-axis and Z axis and around X-axis with around rotation totally four degree of freedom sides of Y-axis
To motion, and four degree of freedom are all independent, by four degree of freedom can also co-ordination, the moving platform track made is along predetermined
The curvilinear motion in space, stable movement, redundancy parallel mechanism flexibly, is applied in the present invention by motion, and it is right on the one hand to serve
Cleaning plant orientation angles integrally-regulated, it is simple to the various attitude of the present invention is comprehensive to be carried out gutter prune job, it is achieved
The function of flexible prune job, on the other hand serves the effect of damping so that cleaning plant is in all the time to cleaning plant
Horizontal plateau, prevents excessive produce cleaning plant prune job 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 gutter 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 gutter of different in width is 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 can carry out cleaning dredging operation, and degree of freedom flexible adjustment, intellectuality to the gutter on both sides, expressway
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) redundancy parallel mechanism of the present invention constitutes four selfs by fixed platform, moving platform, the first side chain and the second side chain
By degree symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, its can realize moving along X-axis and Z axis and
Around X-axis and the motion in rotation totally four the degree of freedom directions around Y-axis, and four degree of freedom are all independent, by four degree of freedom also
Can be with co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, stable movement, and motion is flexible, by redundant parallel
On the one hand mechanism is applied in the present invention, and serve cleaning plant orientation angles is integrally-regulated, it is simple to the various appearance of the present invention
State is comprehensive to be carried out gutter prune job, it is achieved that the function of flexible prune job, on the other hand plays cleaning plant
The effect of damping so that cleaning plant is in horizontal plateau all the time, prevents that jitter is excessive to be made cleaning plant cleaning
Industry produces impact.
(3) 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 gutter of different in width is 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 the perspective view of redundancy parallel mechanism of the present invention；
Fig. 3 is the perspective view (viewed from above) of cleaning plant of the present invention；
Fig. 4 is the perspective view (seeing from the bottom up) of cleaning plant of the present invention；
Fig. 5 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 5, a kind of expressway gutter cleans dredging intelligence equipment and performs mechanical hand, including including redundancy
Parallel institution 4 and cleaning plant 5；Described redundancy parallel mechanism 4 is positioned at immediately below cleaning plant 5, and on redundancy parallel mechanism 4
End is connected with cleaning plant 5.
As depicted in figs. 1 and 2, described redundancy parallel mechanism 4 includes fixed platform 41, moving platform the 42, first side chain 43 and
Second side chain 44；Described fixed platform 41 and moving platform 42 are disc-shaped structure, and moving platform 42 be positioned at fixed platform 41 just under
Side；The first described side chain 43 and the quantity of the second side chain 44 are two, and the first side chain 43 and the second side chain 44 are respectively positioned on and allocate
Between platform 41 and moving platform 42, the first side chain 43 is connected with fixed platform 41 and moving platform 42 respectively with the two ends of the second side chain 44
Connect, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；The first described side chain 43 includes the first ear mount
431, Hooke's hinge the 432, first electric pushrod the 433, first spherical hinge 434, first connects post 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on fixed platform 41 upper surface, adopts between the first ear mount 431 and the first electric pushrod 433 lower end
Being attached with Hooke's hinge 432, the first electric pushrod 433 upper end is connected with the first spherical hinge 434, and the first spherical hinge 434 leads to
Crossing the first connection post 435 to be fixed on the lower surface of moving platform 42, the first damping spring 436 is around being enclosed within the first electric pushrod 433
On；The rotation of both direction can be carried out by Hooke's hinge 432, the rotation in three directions can be carried out by the first spherical hinge 434, logical
Crossing the first electric pushrod 433 can move up and down, the first side chain 43 uses the form of 2-UPS parallel institution, and by first
Damping spring 436 adds stationarity when the first side chain 43 moves, and improves the exercise performance of the present invention；Described second
Chain 44 includes that the second ear mount 441, rotational pin the 442, second electric pushrod the 443, second spherical hinge 444, second connect post 445 and the
Two damping springs 446；The second described ear mount 441 is fixed on fixed platform 41 upper surface, and the second ear mount 441 is electronic with second to be pushed away
Using rotational pin 442 to be attached between bar 443 lower end, the second electric pushrod 443 upper end is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on the lower surface of moving platform 42 by the second connection post 445, and the second damping spring 446 is around being enclosed within
On second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, three can be carried out by the second spherical hinge 444
The rotation in individual direction, can be moved up and down by the second electric pushrod 443, and the second side chain 44 uses 2-RPS parallel institution
Form, and add stationarity when the second side chain 44 moves by the second damping spring 446, improve the mobility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform the 42, first side chain 43 and the second side chain 44
Claiming parallel institution, and it uses the parallel institution form of 2-UPS-2-RPS, it can realize moving and around X-axis along X-axis and Z axis
With the motion in totally four the degree of freedom directions of the rotation around Y-axis, and four degree of freedom are all independent, can also be assisted by four degree of freedom
Adjusting work, the moving platform track made is along the curvilinear motion of predetermined space, stable movement, and motion flexibly, should by redundancy parallel mechanism 4
On the one hand using in the present invention, serve cleaning plant 5 orientation angles is integrally-regulated, it is simple to the various attitude of present invention side entirely
Gutter prune job is carried out by position, it is achieved that the function of flexible prune job, on the other hand cleaning plant 5 is served damping
Effect so that cleaning plant 5 is in horizontal plateau all the time, prevent jitter excessive to cleaning plant 5 prune job produce
Raw impact.
As shown in Figures 3 to 5, 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 it is shown in figure 5, 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 limit for clearance
The width of the width adjusting scraper bowl 511 of ditch, 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 gutter of different in width is 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 (2)
1. an expressway gutter cleans dredging intelligence equipment and performs mechanical hand, it is characterised in that: include redundancy parallel mechanism and
Cleaning plant；Described redundancy parallel mechanism is positioned at immediately below cleaning plant, and redundancy parallel mechanism upper end and cleaning plant phase
Connect；Wherein:
Described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform is flat with dynamic
Platform is disc-shaped structure, and moving platform is positioned at directly over fixed platform；The first described side chain and the quantity of the second side chain are
Two, the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and the two ends of the first side chain and the second side chain are respectively
It is connected with fixed platform and moving platform, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；
The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, first connects post and the
One damping spring；The first described ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
Employing Hooke's hinge is attached, and the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge is by the first connection
Post is fixed on the lower surface of moving platform, and the first damping spring is around being enclosed within the first electric pushrod；
The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, second connects post and the
Two damping springs；The second described ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
Employing rotational pin is attached, and the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge is by the second connection
Post is fixed on the lower surface of moving platform, and the second damping spring is around being enclosed within the second electric pushrod；
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.
A kind of expressway the most according to claim 1 gutter cleans dredging intelligence equipment and performs mechanical hand, it is characterised in that:
Described scraper bowl includes scraper bowl guide groove, mobile Hubei Province plate, electric expansion bar, fixing round platform, fixing shovel pawl, mobile shovel pawl, guides circle
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, mobile
Hubei Province plate is respectively symmetrically layout along longitudinal center's axis of scraper bowl guide groove, 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, electric expansion bar
Using adjustable speed bi-directional expansion bar, two ends, electric expansion bar left and right are fixed on mobile Hubei Province plate outer upper end by fixing round platform respectively
In the mounting disc of center position, 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 is equally spaced respectively, and mobile shovel pawl rear end is connected with mobile Hubei Province plate, and mobile shovel pawl front end is provided with mobile perching knife, leads
To cylinder through fixing shovel pawl, and guide cylinder is connected with fixing shovel pawl, and guide cylinder is evenly arranged along fixing shovel pawl side, adjusts
Pitch circle 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 inside the plate of mobile Hubei Province
On wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471291.1A CN106120936B (en) | 2016-06-23 | 2016-06-23 | A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471291.1A CN106120936B (en) | 2016-06-23 | 2016-06-23 | A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106120936A true CN106120936A (en) | 2016-11-16 |
| CN106120936B CN106120936B (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471291.1A Active CN106120936B (en) | 2016-06-23 | 2016-06-23 | A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113697460A (en) * | 2021-08-31 | 2021-11-26 | 哇一(广州)智能机器人科技有限责任公司 | Flexible soft ball collecting device and ball collecting method thereof |
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| JP3545003B2 (en) * | 1993-02-15 | 2004-07-21 | 日立建機株式会社 | Electronic control unit for hydraulic circuit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113697460A (en) * | 2021-08-31 | 2021-11-26 | 哇一(广州)智能机器人科技有限责任公司 | Flexible soft ball collecting device and ball collecting method thereof |
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| CN106120936B (en) | 2018-05-11 |
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