CN106120936B - A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator - Google Patents
A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator Download PDFInfo
- Publication number
- CN106120936B CN106120936B CN201610471291.1A CN201610471291A CN106120936B CN 106120936 B CN106120936 B CN 106120936B CN 201610471291 A CN201610471291 A CN 201610471291A CN 106120936 B CN106120936 B CN 106120936B
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- 238000004140 cleaning Methods 0.000 claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000013016 damping Methods 0.000 claims abstract description 20
- 244000309464 bull Species 0.000 claims description 18
- 208000028804 PERCHING syndrome Diseases 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000002262 irrigation Effects 0.000 description 4
- 238000003973 irrigation Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
Dredging intelligence equipment, which is cleaned, the present invention relates to a kind of high speed roadside ditch performs manipulator, including redundancy parallel mechanism and cleaning plant；The redundancy parallel mechanism is located at immediately below cleaning plant, and redundancy parallel mechanism upper end is connected with cleaning plant.The present invention can carry out gutter at a high speed on both sides of the road cleaning dredging operation, and free degree flexible adjustment, intelligence degree are high, cleaning dredging is efficient, solve the problems such as present manual cleaning dredging amount of labour is big, efficiency is low and of high cost.It uses the parallel institution form of 2 UPS, 2 RPS, it can realize the movement for rotating totally four free degree directions moved along X-axis and Z axis and around X-axis and around Y-axis, on the one hand play to the integrally-regulated of cleaning plant orientation angles, realize the function of flexible prune job, on the other hand the effect of damping is played to cleaning plant, prevents jitter excessive and cleaning plant prune job is had an impact.
Description
Technical field
The present invention relates to irrigation canals and ditches to clear up field, and specifically a kind of high speed roadside ditch cleans dredging intelligence equipment execution machine
Tool hand.
Background technology
With the development of the social economy, the people's livelihood engineering such as urban construction, transport development and water conservancy construction is increasingly subject to 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
As it can be seen that still it 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 reserve 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 for 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 carries out the regular maintenance of cleaning 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, of high cost, efficiency is low, in addition, due to bending over to carry out cleaning dredging often
Operation, is easy to cause the arthritic conditions such as worker's lumbar vertebrae cervical vertebra.Dredged in consideration of it, being cleaned the present invention provides a kind of high speed roadside ditch
Logical intelligence equipment performs manipulator.
The content of the invention
In order to make up for the deficiencies of the prior art, dredging intelligence equipment is cleaned the present invention provides a kind of high speed roadside ditch to perform
Manipulator.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator, including redundancy parallel mechanism and cleaning plant；
The redundancy parallel mechanism is located at immediately below cleaning plant, and redundancy parallel mechanism upper end is connected with cleaning plant.
As a further improvement on the present invention, the redundancy parallel mechanism include fixed platform, moving platform, the first side chain and
Second side chain；The fixed platform and moving platform is disc-shaped structure, and moving platform is located 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 both ends of side chain and the second side chain are respectively connected with fixed platform and moving platform, and the horizontal peace of the first side chain and the second side chain
It is 90 degree to fill angle；First side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect column and the first damping spring；First ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
It is attached between lower end using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connecting pole is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on 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 into by the first electric pushrod
Row moves up and down, and the first side chain uses the form of 2-UPS parallel institutions, and adds the first side chain by the first damping spring and transport
Stationarity when dynamic, improves the exercise performance of the present invention；Second side chain includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connecting pole and the second damping spring；Second ear mount is fixed on fixed platform upper surface
On, it is attached between the second ear mount and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end and the second ball
Hinge is connected, and the second spherical hinge is fixed on the lower face of moving platform by the second connecting pole, and the second damping spring is around being sleeved on
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
Rotate, can be moved up and down by the second electric pushrod, the second side chain uses the form of 2-RPS parallel institutions, and passes through 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, which can be realized, moves along X-axis and Z axis and around X-axis and around rotation four free degree sides of Y-axis totally
To movement, and four frees degree are independent, can also co-ordination by four frees degree so that moving platform track is along predetermined
The curvilinear motion in space, stable movement, movement is flexible, and redundancy parallel mechanism is applied in the present invention, on the one hand plays pair
Cleaning plant orientation angles it is integrally-regulated, easy to the various comprehensive progress to gutter prune job of posture of the present invention, realize
The function of flexible prune job, on the other hand plays cleaning plant the effect of damping so that cleaning plant is in all the time
Horizontal plateau, prevents jitter excessive and cleaning plant prune job is had an impact.
As a further improvement on the present invention, the 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 installed 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 installed 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 movement 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 adjusting 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, the scraper bowl includes scraper bowl guide groove, moves Jaw plate, electric telescopic rod, consolidates
Determine round platform, fixed shovel pawl, mobile shovel pawl, guide cylinder and adjust round bar；The scraper bowl guide groove cross section transverse is empty for fan shape
Heart shell structure, mobile Jaw plate quantity is two, and mobile Jaw plate is symmetrically arranged along the longitudinal center axis of scraper bowl guide groove, and is moved
Dynamic Jaw plate medial extremity is installed on inside scraper bowl guide groove, and mobile Jaw plate outboard end is fan shape structure, in mobile Jaw plate outer upper end
Mounting disc is provided with heart position, electric telescopic rod uses adjustable speed bi-directional expansion bar, and electric telescopic rod 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 adjusting round bar one end sequentially passes through mobile shovel pawl and is installed in guide cylinder
Portion, adjusts the round bar other end and is fixed on mobile Jaw plate madial wall；During specific progress prune job, according to the width of gutter for clearance
Degree adjusts the width of scraper bowl, by the bi-directional synchronization of electric telescopic rod at the same speed to the stretching routine at both ends, drives mobile Jaw plate to exist
Synchronously moved out to both sides in scraper bowl guide groove, guide cylinder and being used cooperatively for adjusting round bar are played for the adjusting of outside width of bucket
Supporting role, width is adjustable and easy to adjust during scraper bowl prune job, easy to carrying out cleaning work to the gutter 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 the following advantages：
(1) present invention can carry out gutter at a high speed on both sides of the road cleaning dredging operation, and free degree flexible adjustment, intelligence
Degree is high, cleaning dredging is efficient, solves the problems such as present manual cleaning dredging amount of labour is big, efficiency is low and of high cost.
(2) redundancy parallel mechanism of the 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 moved along X-axis and Z axis and
The movement for rotating totally four free degree directions around X-axis and around Y-axis, and four frees degree are independent, pass through four frees degree
Can be with co-ordination so that curvilinear motion of the moving platform track along predetermined space, stable movement, movement is flexible, by redundant parallel
Mechanism is applied in the present invention, is on the one hand played to the integrally-regulated of cleaning plant orientation angles, easy to the various appearances of the present invention
The comprehensive progress to gutter prune job of state, realizes the function of flexible prune job, on the other hand cleaning plant is played
The effect of damping so that cleaning plant is in horizontal plateau all the time, prevents from jitter excessive clearing up cleaning plant making
Industry has an impact.
(3) cleaning plant of the invention can carry out the movement 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, easy to carry out prune job to the gutter 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 the dimensional structure diagram of redundancy parallel mechanism of the present invention；
Fig. 3 is the dimensional structure diagram (viewed from above) of cleaning plant of the present invention；
Fig. 4 is the dimensional structure diagram (seeing from the bottom up) of cleaning plant of the present invention；
Fig. 5 is the dimensional structure diagram of scraper bowl of the present invention.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 5, a kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator, including including redundancy
Parallel institution 4 and cleaning plant 5；The redundancy parallel mechanism 4 is located 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, the redundancy parallel mechanism 4 includes fixed platform 41, moving platform 42,43 and of the first side chain
Second side chain 44；Under the fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 is located at fixed platform 41 just
Side；First 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 both ends of the first side chain 43 and the second side chain 44 are respectively connected with fixed platform 41 and moving platform 42
Connect, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；First side chain 43 includes the first ear mount
431st, Hooke's hinge 432, the first electric pushrod 433, the first spherical hinge 434, the first connecting pole 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on 41 upper surface of fixed platform, and the first ear mount 431 and the first electric pushrod are adopted between 433 lower end
It is attached with Hooke's hinge 432,433 upper end of the first electric pushrod is connected with the first spherical hinge 434, and the first spherical hinge 434 is logical
Cross the first connecting pole 435 to be fixed on the lower face of moving platform 42, the first damping spring 436 is around being sleeved on 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, is led to
Crossing the first electric pushrod 433 can move up and down, and the first side chain 43 uses the form of 2-UPS parallel institutions, and passes through first
Damping spring 436 adds the stationarity during movement of the first side chain 43, improves the exercise performance of the present invention；Described second
Chain 44 includes the second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting pole 445 and the
Two damping springs 446；Second ear mount 441 is fixed on 41 upper surface of fixed platform, and the second ear mount 441 electronic is pushed away with second
It is attached between 443 lower end of bar using rotational pin 442,443 upper end of the second electric pushrod is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on the lower face of moving platform 42 by the second connecting pole 445, and the second damping spring 446 is around being sleeved on
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 a direction, can be moved up and down by the second electric pushrod 443, and the second side chain 44 is using 2-RPS parallel institutions
Form, and stationarity when the second side chain 44 moves is added by the second damping spring 446, improve the motility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform 42, the first side chain 43 and the second side chain 44
Claim parallel institution, and it uses the parallel institution form of 2-UPS-2-RPS, it, which can be realized, moves along X-axis and Z axis and around X-axis
With the movement around rotation totally four free degree directions of Y-axis, and four frees degree are independent, can also be assisted by four frees degree
Adjust work so that curvilinear motion of the moving platform track along predetermined space, stable movement, movement is flexible, should by redundancy parallel mechanism 4
Use in the present invention, on the one hand play to the integrally-regulated of 5 orientation angles of cleaning plant, it is entirely square easy to the various postures of the present invention
Progress of the position to gutter prune job, realizes the function of flexible prune job, on the other hand plays damping to cleaning plant 5
Effect so that cleaning plant 5 is in horizontal plateau all the time, prevent jitter excessive to 5 prune job of cleaning plant produce
It is raw to influence.
As shown in Figures 3 to 5, the cleaning plant 5 include cleaning turntable 51, driven bearing 52, driven bull stick 53, from
Dynamic stent 54, active bull stick 55, active bracket 56, active hydraulic cylinder 57, rotational pin 58, transition bull stick 59,510 and of active bearing
Scraper bowl 511；The driven bearing 52 is positioned at 51 upper surface rear side side of cleaning turntable, and driven bearing 52 and cleaning turntable 51 are solid
Even, 54 bottom of driven carriage is fixed on driven bearing 52 by driven bull stick 53, and 54 stepped structure of driven carriage, from
Dynamic 54 top of stent is connected by active bull stick 55 with 56 upper end of active bracket, and active bracket 56 uses extension type fence
Shape structure, is provided with telescopic block at 56 medium position of active bracket, connection ear mount, active hydraulic pressure is provided with telescopic block bottom face
It is attached between connection ear mount on 57 one end of cylinder and telescopic block bottom face by rotational pin 58,57 other end of active hydraulic cylinder
It is installed 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 installed on 56 lower end of active bracket；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 adjusting of 511 vertical plane angle of scraper bowl is realized, 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 5, the scraper bowl 511 include scraper bowl guide groove 5111, mobile Jaw plate 5112, electric telescopic rod 5113,
Fixed round platform 5114, fixed shovel pawl 5115, movement shovel pawl 5116, guide cylinder 5117 and adjust round bar 5118；The scraper bowl
5111 cross section transverse of guide groove is fan shape hollow shell structure, and it is two to move 5112 quantity of Jaw plate, moves Jaw plate 5112 along scraper bowl
The longitudinal center axis of guide groove 5111 is symmetrically arranged, and 5112 medial extremity of mobile Jaw plate is installed in scraper bowl guide groove 5111
Portion, mobile 5112 outboard end of Jaw plate is fan shape structure, and mobile 5112 outer upper end center position of Jaw plate is provided with mounting disc,
Electric telescopic rod 5113 uses adjustable speed bi-directional expansion bar, and 5113 left and right ends of electric telescopic rod pass through fixed round platform 5114 respectively
It is fixed in the mounting disc of mobile 5112 outer upper end center position of Jaw plate, 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 5115 front end of fixed shovel pawl is provided with fixed perching knife, mobile shovel pawl
5116 respectively positioned at fixed 5115 left and right sides of shovel pawl, and mobile shovel pawl 5116 is equally spaced respectively along Jaw plate 5112 is moved,
Mobile shovel 5116 rear end of pawl is connected with mobile Jaw plate 5112, and 5116 front end of mobile shovel pawl 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 are adjusted 5118 one end of round bar and are sequentially passed through mobile shovel pawl 5116 inside guide cylinder 5117,
5118 other end of round bar is adjusted to be fixed on mobile 5112 madial wall of Jaw plate；During specific progress prune job, according to side for clearance
The width of the width adjusting scraper bowl 511 of ditch, by the bi-directional synchronization of electric telescopic rod 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 adjusting round bar 5118
Supporting role is played with the use of the adjusting for 511 width of scraper bowl, and width is adjustable during 511 prune job of scraper bowl, and adjusting side
Just, easy to the gutter of different in width progress prune job, strong applicability, while 5115 He of fixation scraper bowl that scraper bowl 511 uses
The sharpness of mobile scraper bowl 5116 is high, and work capacity is strong, and spatula speed is fast.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Define.
Claims (2)
1. a kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator, it is characterised in that：Including redundancy parallel mechanism and
Cleaning plant；The redundancy parallel mechanism is located at immediately below cleaning plant, and redundancy parallel mechanism upper end and cleaning plant phase
Connection；Wherein：
The redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；The fixed platform is put down with dynamic
Platform is disc-shaped structure, and moving platform is located at directly over fixed platform；First 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 both 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；
First side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the
One damping spring；First ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
It is attached using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through the first connection
Column is fixed on the lower face of moving platform, and the first damping spring is around being sleeved on the first electric pushrod；
Second side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting pole and the
Two damping springs；Second ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
It is attached using rotational pin, the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge passes through the second connection
Column is fixed on the lower face of moving platform, and the second damping spring is around being sleeved on the second electric pushrod；
The 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；The 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 stent, driven carriage top are connected by active bull stick with active bracket upper end, and active bracket uses
Extension type paliform structure, is provided with telescopic block at 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 installed 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 installed on
Active bracket lower end.
2. a kind of high speed roadside ditch according to claim 1 cleans dredging intelligence equipment and performs manipulator, it is characterised in that：
The scraper bowl includes scraper bowl guide groove, mobile Jaw plate, electric telescopic rod, fixed round platform, fixed shovel pawl, mobile shovel pawl, is oriented to circle
Cylinder and adjusting round bar；The scraper bowl guide groove cross section transverse is fan shape hollow shell structure, and mobile Jaw plate quantity is two, mobile
Jaw plate is symmetrically arranged along the longitudinal center axis of scraper bowl guide groove, and mobile Jaw plate medial extremity is installed 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, electric telescopic rod
Using adjustable speed bi-directional expansion bar, electric telescopic rod left and right ends are fixed on mobile Jaw plate outer upper end by fixed round platform respectively
In the mounting disc of center position, fixed shovel pawl is fixed at the positive front position of scraper bowl guide groove, and fixed shovel pawl is in strip structure,
Fix shovel pawl front end and be provided with fixed perching knife, mobile shovel pawl is located at respectively to be fixed at left and right sides of shovel pawl, and mobile pawl edge of shoveling is moved
Jaw plate is equally spaced respectively, and mobile shovel pawl rear end is connected with mobile Jaw plate, and mobile shovel pawl front end is provided with mobile perching knife, leads
To cylinder through fixed shovel pawl, and guide cylinder is connected with fixed shovel pawl, and guide cylinder is evenly arranged along fixed shovel pawl side, is adjusted
Pitch circle bar one end sequentially passes through mobile shovel pawl and is installed on inside guide cylinder, adjusts the round bar other end and is fixed on the inside of mobile Jaw plate
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 CN106120936A (en) | 2016-11-16 |
| CN106120936B true CN106120936B (en) | 2018-05-11 |
Family
ID=57268301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471291.1A Expired - Fee Related CN106120936B (en) | 2016-06-23 | 2016-06-23 | A kind of high speed roadside ditch cleans dredging intelligence equipment and performs manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106120936B (en) |
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| CN113697460B (en) * | 2021-08-31 | 2022-11-29 | 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3545003B2 (en) * | 1993-02-15 | 2004-07-21 | 日立建機株式会社 | Electronic control unit for hydraulic circuit |
| CN1614162A (en) * | 2003-11-07 | 2005-05-11 | 日立建机株式会社 | Display device for constructing machine |
| CN101806080A (en) * | 2009-02-12 | 2010-08-18 | 沃尔沃建造设备控股（瑞典）有限公司 | The construction equipment that comprises rear view camera |
-
2016
- 2016-06-23 CN CN201610471291.1A patent/CN106120936B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3545003B2 (en) * | 1993-02-15 | 2004-07-21 | 日立建機株式会社 | Electronic control unit for hydraulic circuit |
| CN1614162A (en) * | 2003-11-07 | 2005-05-11 | 日立建机株式会社 | Display device for constructing machine |
| CN101806080A (en) * | 2009-02-12 | 2010-08-18 | 沃尔沃建造设备控股（瑞典）有限公司 | The construction equipment that comprises rear view camera |
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| Publication number | Publication date |
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| CN106120936A (en) | 2016-11-16 |
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Effective date of registration: 20190820 Address after: 266000 Room 613, 6th floor, Meijing Building, No. 3 Seoul Road, Qingdao Bonded Port District, Shandong Province Patentee after: QINGDAO JUZHUI AUTOMATION TECHNOLOGY CO.,LTD. Address before: Jingjiang Yi Cun Jiang Road Huian County Fujian city Quanzhou province Chongwu town 362000 No. 135 Patentee before: Kang Zebo |
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