CN106121015B - A kind of construction drainage burying pipeline intelligent robot - Google Patents
A kind of construction drainage burying pipeline intelligent robot Download PDFInfo
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- CN106121015B CN106121015B CN201610553363.7A CN201610553363A CN106121015B CN 106121015 B CN106121015 B CN 106121015B CN 201610553363 A CN201610553363 A CN 201610553363A CN 106121015 B CN106121015 B CN 106121015B
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- stock chest
- delta parallel
- shaft
- running gear
- fixed
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/08—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions using driven mechanical means affecting the mixing
- B28C5/0893—Mobile mixing devices, e.g. hanging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/48—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions wherein the mixing is effected by vibrations
- B28C5/485—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions wherein the mixing is effected by vibrations with reciprocating or oscillating stirrers; Stirrers therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The present invention relates to a kind of construction drainage burying pipeline intelligent robots, including stock chest, agitating device, adjustable discharge device, delta parallel connection shake tables, fixing device, running gear and track, agitating device is located inside stock chest, adjustable discharge device is located at immediately below the rectangular leak at the medium position of stock chest lower end, delta parallel connections shake table is mounted on by fixing device on stock chest lateral wall, running gear is located at immediately below delta parallel connections shake table, and running gear upper end is connected with delta parallel connection shake tables lower end, the installation of running gear lower end is in orbit.The present invention integrates study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walk; one-machine-multi-function; and mechanical intelligent degree is high; effectively raise the efficiency and quality of construction drainage burying pipeline; leakproofness and fastness after building pipe is buried are improved, good protective effect is played to drainage pipeline.
Description
Technical field
The present invention relates to building intelligence construction equipment field, a kind of specifically construction drainage burying pipeline intelligence machine
People.
Background technology
Construction refers to the production activity of engineering construction implementation phase, is the building course of all kinds of buildings, can also
It says it is various lines on design drawing, in specified place, becomes process in kind；It includes basic engineering construction, master
Body structure construction, roof construction, Water and Waste Water Engineering, decorative engineering construction etc.；Referred to as " building is applied in the place of construction operation
Work scene " is named " construction site ".Often it is related to Water and Waste Water Engineering in building construction process, Water and Waste Water Engineering is general
It is to carry out digging foundation pit, laying pipeline and buried pipes, buried pipes material around the foot of a wall in building construction to mostly use mixed
Solidifying soil is buried, and the mode of operation of buried pipes, which mostly uses, is manually buried with shovel spade, and artificial bury has the following disadvantages：
(1) a large amount of labour is occupied, and labor intensity is big；
(2) manually carry out building pipe bury be usually first after mixing plant stirs concrete, after transported by transport vehicle
Construction site to be transported to, is then manually filled, centre takes long, the easy slagging caking of concrete after stirring, and
It is not easy to be again stirring for before pouring, has seriously affected the leakproofness after burying pipeline and fastness；
(3) all it is artificial progress filler when burying pipeline, amount of filler and filler speed are not easy to control, cause burying pipeline
Out-of-flatness is uneven；
(4) burying pipeline construction equipment intelligence degree is low, and functionalization is single, and working efficiency is low, and construction cost is high.
In addition to this, since construction site peril hidden danger is more, and construction personnel's awareness of safety is not strong,
Buried pipes process often results in unnecessary safety accident, causes actual bodily harm to construction personnel, while also to work order
Position causes monetary losses；If carrying out burying pipeline with mechanical equipment, special mechanical equipment in this respect not only there is no at present,
And since construction site place is uneven and pavement behavior is poor, it has not been convenient to which automated machine is moved and walked.
In consideration of it, the present invention provides a kind of construction drainage burying pipeline intelligent robots.In view of the above deficiency, the present invention provides one
Kind strip road builds intelligent robot by laying bricks or stones along side.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of construction drainage burying pipeline intelligent robots.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of construction drainage burying pipeline intelligent robot, including stock chest, agitating device, adjustable discharge device,
Delta parallel connections shake table, fixing device, running gear and track；The stock chest is in cross shell structure, and stock chest
Upper end opening, the stock chest lower end left and right sides are provided with inclined floor, and inclined floor is conducive to the concrete in stock chest and passes through
Rectangular leak is discharged, and rectangular leak is offered at the medium position of stock chest lower end；The agitating device is located inside stock chest,
Adjustable discharge device quantity is two, under adjustable discharge device is located at the rectangular leak at the medium position of stock chest lower end just
Side, and adjustable discharge device is symmetrically arranged along stock chest longitudinal center axis；The delta parallel connection shake table quantity
Four vertex of stock chest are located at for four, delta parallel connection shake tables, and delta parallel connection shake tables are pacified by fixing device
On stock chest lateral wall；The running gear quantity is four, and running gear is located at immediately below delta parallel connections shake table,
And running gear upper end is connected with delta parallel connection shake tables lower end, running gear lower end is mounted in orbit.
Further, the agitating device includes agitating shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；
The agitating shaft is located inside stock chest, and agitating shaft both ends are fixed on by rolling bearing units on stock chest front-rear side walls respectively,
Stirring hooks pawl and is linearly arranged on agitating shaft successively, and stirring hooks to be provided with and the matched snap ring of agitating shaft, stirring in the middle part of pawl
It hooks the central axis on the outside of pawl along stirring hook pawl and is evenly arranged with arc shape stirrer gear, electric rotating machine main shaft and one end of the mixing shaft phase
Connection, and electric rotating machine is fixed on by electric machine support on stock chest front end outer side wall, electric machine support front end is provided with and rotates
The matched fixed ring of motor, electric machine support rear end are evenly arranged with locking post；Agitating shaft is driven by the rotation of electric rotating machine
Rotation, to drive stirring to hook rotation of the pawl in stock chest, reached the concrete stored in stock chest is carried out it is secondary
The function of stirring, it is therefore prevented that concrete is easy the problem of slagging caking after lasting a period of time.
Further, the delta parallel connection shake tables include fixed platform, moving platform, top base, bottom base, upper rotary shaft,
Lower rotary shaft, upper connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring；The fixed platform and
Moving platform structure in rounded shape, moving platform are located at right over fixed platform, and the quantity of top base and bottom base is three, on three
Pedestal in positive triangle shaped formation and is fixed on moving platform bottom face centered on the center of circle of moving platform, and three bottom bases are with fixed
It is arranged on fixed platform top end face in positive triangle shape centered on the center of circle of platform, and top base installation site and bottom base installation
Position corresponds respectively, and upper connecting rod one end is mounted on by upper rotary shaft on top base, the upper connecting rod other end and lower link top
It is attached by rotational pin between end, lower link bottom end is mounted on by lower rotary shaft on bottom base；The electric pushrod
Between upper connecting rod and lower link, and electric pushrod upper end is mounted on by upper hinge at the medium position of upper connecting rod, electronic
Push rod lower end is mounted on by lower hinge at the medium position of lower link, and limit spring is around being sleeved on electric pushrod.By electronic
The stretching motion of push rod can drive the corresponding rotation of upper connecting rod and lower link, to drive the movement of moving platform, and pass through limit
Spring increases the jitter of moving platform, improves the vibrating effect of delta parallel connection shake tables, and delta parallel connection shake tables use
Delta parallel institutions, rigidity is big compared with serial mechanism, stable structure, and bearing capacity is strong and fine motion precision is high, and delta is in parallel
Shake table can carry out the movement in the total six-freedom degree direction of three translations three rotation in space, and space is small, movement velocity
Soon, kinematic dexterity is good, in the present invention, drives entire stock chest that can carry out three in space by delta parallel connection shake tables
The movement in the total six-freedom degree direction of three rotation of translation, by the kinematic dexterity height of six degree of freedom delta parallel institutions and carrying
The strong feature of ability applies in the present invention so that the present invention mixes while being stirred to concrete also by vibration
Principle increase concrete uniform secondary mixing effect, be conducive to building pipe bury when quality, improve building pipe
Leakproofness and fastness after road burial, good protective effect is played to drainage pipeline；The speed of vibration frequency is determined simultaneously
Determine the speed that the present invention discharges.
Further, the adjustable discharge device includes discharge door, turning joint, No.1 ear mount, No.1 shaft, discharging
Telescopic rod, No. two ear mounts, No. two shafts and supporting rod；The discharge door is in the U-shaped structure to stand upside down, discharge door rear and front end card
It is sleeved on before and after stock chest on two lateral walls, is attached by turning joint between discharge door and stock chest lateral wall, No.1 ear
Seat is mounted at discharge door bottom face medium position, and discharging telescopic rod front end is mounted on by No.1 shaft in No.1 ear mount, is gone out
The flexible rod rear end of material is connected by No. two shafts with No. two ear mounts, and No. two ear mounts are fixed on supporting bar top, supporting rod bottom end
It is fixed on stock chest bottom face；The closing and unlatching of discharge door, discharging is driven to stretch by the stretching, extension and contraction of the telescopic rod that discharges
The length of contracting bar directly decides the angle that discharge door opens, to decide the load of the invention to discharge, adjustable discharge
Device is mainly used for the adjusting of load when present invention discharging.
Further, the fixing device includes fixed plate and clamping screw, the T-shaped structure of fixed plate, and fixed plate is located at
Stock chest vertex, and fixed plate is mounted on by clamping screw on stock chest lateral wall.
Further, the running gear includes lifting stud, jacking sleeve, walking seat, walking shaft and traveling wheel；Institute
External screw thread is provided on the lifting stud lateral wall stated, jacking sleeve is in the hollow cylindrical structure of both ends open, jacking sleeve
It is provided on madial wall and is mounted on lifting with the matched internal thread of external screw thread on lifting stud lateral wall, lifting stud lower end
Sleeve inner, jacking sleeve lower end are fixed on walking seat, and walking seat passes through shaft of walking in the U-shaped structure to stand upside down, traveling wheel
Mounted on walking seat lower position, traveling wheel is in I-shaped structure；Lifting stud by rotation drives lifting stud lifting
Up and down motion in sleeve, for adjusting the whole height of the present invention, convenient for the burial work of the drainage pipeline of different height
Journey, while can realize the effect for the burial that discharges while walking, and also mechanization degree is high, improves construction drainage pipeline and covers
The efficiency buried.
Compared with prior art, the present invention has the following advantages：
(1) it is more to integrate study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walk, a machine by the present invention
Can, and mechanical intelligent degree is high, effectively raises the efficiency and quality of construction drainage burying pipeline.
(2) present invention can carry out secondary agitation by agitating device to concrete, it is therefore prevented that concrete lasts a period of time
The problem of being easy slagging caking afterwards.
(3) adjustable angle that adjustable discharge device of the present invention opens, to which the adjustable present invention buries construction drainage pipe
Load when road.
(4) six degree of freedom delta parallel institutions are applied on delta parallel connection shake tables by the present invention, can drive entire storage
Hopper can carry out the movement in the total six-freedom degree direction of three translations three rotation in space, take full advantage of six degree of freedom delta
The strong feature of the kinematic dexterity height and bearing capacity of parallel institution so that the present invention while being stirred to concrete,
The effect that concrete uniform secondary mixes is increased also by mixed principle is vibrated, is conducive to matter when building pipe is buried
Amount improves leakproofness and fastness after building pipe is buried, good protective effect is played to drainage pipeline.
(5) whole height of the present invention is adjusted in running gear of the present invention, convenient for the burial of the drainage pipeline of different height
Engineering, while can realize the effect for the burial that discharges while walking, and also mechanization degree is high, improves construction drainage pipeline
The efficiency of burial.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram after present invention removal running gear and track；
Fig. 3 is dimensional structure diagram when stock chest of the present invention, agitating device and adjustable discharge device coordinate (from upper
It looks down)；
Fig. 4 is dimensional structure diagram when stock chest of the present invention, agitating device and adjustable discharge device coordinate (under
It looks up)；
Fig. 5 is the dimensional structure diagram of agitating device of the present invention；
Fig. 6 is the dimensional structure diagram of delta parallel connections shake table of the present invention；
Fig. 7 is the dimensional structure diagram after delta parallel connections shake table removal moving platform and fixed platform of the present invention；
Dimensional structure diagram when Fig. 8 is running gear of the present invention shake table in parallel with delta；
Dimensional structure diagram when Fig. 9 is running gear and track cooperation of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 9, a kind of construction drainage burying pipeline intelligent robot, including stock chest 1, agitating device 2,
Adjustable discharge device 3, delta parallel connections shake table 4, fixing device 5, running gear 6 and track 7；The stock chest 1 is in ten
Font shell structure, and 1 upper end opening of stock chest, 1 lower end of the stock chest left and right sides are provided with inclined floor, and inclined floor is advantageous
It is discharged by rectangular leak in the concrete in stock chest 1, rectangular leak is offered at 1 lower end medium position of stock chest；It is described
Agitating device 2 be located inside stock chest 1,3 quantity of adjustable discharge device be two, adjustable discharge device 3 is located at stock chest 1
Immediately below rectangular leak at the medium position of lower end, and adjustable discharge device 3 along 1 longitudinal center axis of stock chest respectively symmetrically
Arrangement；4 quantity of delta parallel connections shake table is that four, delta parallel connections shake table 4 is located at 1 four apex angles of stock chest
Place, and delta parallel connections shake table 4 is mounted on by fixing device 5 on 1 lateral wall of stock chest；6 quantity of running gear is
Four, running gear 6 is located at immediately below delta parallel connections shake table 4, and 6 upper end of running gear shake table 4 lower end in parallel with delta
It is connected, 6 lower end of running gear is mounted on track 7.
As shown in figure 5, the agitating device 2 includes agitating shaft 21, stirring hook pawl 22, rolling bearing units 23, electric rotating machine
24 and electric machine support 25；The agitating shaft 21 is located inside stock chest 1, and 21 both ends of agitating shaft are solid by rolling bearing units 23 respectively
It is scheduled on 1 front-rear side walls of stock chest, stirring hooks pawl 22 and is linearly arranged on agitating shaft 21 successively, and stirring hooks 22 middle part setting of pawl
Have and hooks 22 outside of pawl with 21 matched snap ring of agitating shaft, stirring and be evenly arranged with arc shape along the central axis for hooking pawl 22 is stirred
Stirrer gear, 24 main shaft of electric rotating machine is connected with 21 one end of agitating shaft, and electric rotating machine 24 is fixed on storage by electric machine support 25
On 1 front end outer side wall of hopper, 25 front end of electric machine support be provided with 24 matched fixed ring of electric rotating machine, after electric machine support 25
End is evenly arranged with locking post；The rotation that agitating shaft 21 is driven by the rotation of electric rotating machine 24, to drive stirring to hook pawl 22
Rotation in stock chest 1 has reached the function that secondary agitation is carried out to the concrete stored in stock chest 1, it is therefore prevented that coagulation
Soil is easy the problem of slagging caking after lasting a period of time.
As shown in Figure 6 and Figure 7, further, the delta parallel connections shake table 4 include fixed platform 41, moving platform 42, on
Pedestal 43, bottom base 44, upper rotary shaft 45, lower rotary shaft 46, upper connecting rod 47, lower link 48, rotational pin 49, upper hinge 410, under
Hinge 411, electric pushrod 412 and limit spring 413；Fixed platform 41 and moving platform 42 structure in rounded shape is moved flat
Platform 42 is located at right over fixed platform 41, and the quantity of top base 43 and bottom base 44 is three, and three top bases 43 are with moving platform 42
The center of circle centered in positive triangle shaped formation and being fixed on 42 bottom face of moving platform, three bottom bases 44 are to allocate 41
It is arranged on 41 top end face of fixed platform in positive triangle shape centered on the center of circle, and 43 installation site of top base and bottom base 44 are installed
Position corresponds respectively, 47 one end of upper connecting rod by upper rotary shaft 45 be mounted on top base 43 on, 47 other end of upper connecting rod with
Lower link is attached between 48 top by rotational pin 49, and 48 bottom end of lower link is mounted on bottom base 44 by lower rotary shaft 46
On；The electric pushrod 412 is between upper connecting rod 47 and lower link 48, and 412 upper end of electric pushrod passes through upper hinge 410
At the medium position of upper connecting rod 47,412 lower end of electric pushrod is mounted on the middle position of lower link 48 by lower hinge 411
Set place, limit spring 413 is around being sleeved on electric pushrod 412.47 He of upper connecting rod can be driven by the stretching motion of electric pushrod 412
The corresponding rotation of lower link 48 to drive the movement of moving platform 42, and increases trembling for moving platform 42 by limit spring 413
Dynamic property improves the vibrating effect of delta parallel connections shake table 4, and delta parallel connections shake table 4 uses delta parallel institutions, with string
Online structure is big compared to rigidity, stable structure, and bearing capacity is strong and fine motion precision is high, and delta parallel connections shake table 4 can be into space
The movement in the total six-freedom degree direction of three rotation of the translation of row three, and space is small, movement velocity is fast, kinematic dexterity is good,
In the present invention, drive entire stock chest 1 that can carry out three translations three rotation totally six in space by delta parallel connections shake table 4
The strong feature of the kinematic dexterity height of six degree of freedom delta parallel institutions and bearing capacity is used in the movement of freedom degree direction
Into the present invention so that the present invention increases coagulation while being stirred to concrete, also by the principle for vibrating mixed
The effect of native uniform secondary mixing, is conducive to quality when building pipe is buried, and improves the leakproofness after building pipe is buried
And fastness, good protective effect is played to drainage pipeline；The speed of vibration frequency decides that the present invention discharges simultaneously
Speed.
As shown in figure 4, the adjustable discharge device 3 includes discharge door 31, turning joint 32, No.1 ear mount 33, one
Number shaft 34, the discharging shaft 37 of ear mount 36, two of telescopic rod 35, two and supporting rod 38；The discharge door 31 is in the U to stand upside down
Type structure, 31 rear and front end of discharge door are fastened in before and after stock chest 1 on two lateral walls, discharge door 31 and 1 lateral wall of stock chest it
Between be attached by turning joint 32, No.1 ear mount 33 be mounted on 31 bottom face medium position of discharge door at, discharge telescopic rod
35 front ends are mounted on by No.1 shaft 34 in No.1 ear mount 33, and discharging 35 rear end of telescopic rod passes through No. two shafts 37 and No. two ears
Seat 36 is connected, and No. two ear mounts 36 are fixed on 38 top of supporting rod, and 38 bottom end of supporting rod is fixed on 1 bottom face of stock chest；It is logical
It crosses the stretching, extension of discharging telescopic rod 35 and shrinks the closing and unlatching for driving discharge door 31, the length of discharging telescopic rod 35 directly determines
The angle for the opening of discharge door 31, to decide that the load of the invention to discharge, adjustable discharge device 3 are mainly used for this hair
The adjusting of load when bright discharging.
As shown in Fig. 2, the fixing device 5 includes fixed plate 51 and clamping screw 52,51 T-shaped structure of fixed plate,
Fixed plate 51 is located at 1 vertex of stock chest, and fixed plate 51 is mounted on by clamping screw 52 on 1 lateral wall of stock chest.
As shown in Figure 8 and Figure 9, the running gear 6 includes lifting stud 61, jacking sleeve 62, walking seat 63, walking
Shaft 64 and traveling wheel 65；External screw thread is provided on 61 lateral wall of lifting stud, jacking sleeve 62 is in both ends open
Hollow cylindrical structure, be provided on 62 madial wall of jacking sleeve with the external screw thread on lifting 61 lateral wall of stud it is matched in
Screw thread, 61 lower end of lifting stud are mounted on inside jacking sleeve 62, and 62 lower end of jacking sleeve is fixed on walking seat 63, seat of walking
63 are mounted on walking 63 lower position of seat in the U-shaped structure to stand upside down, traveling wheel 65 by shaft 64 of walking, and traveling wheel 65 is in work
Font structure；Stud 61 is lifted by rotation and drives up and down motion of the lifting stud 61 in jacking sleeve 62, for adjusting
The whole height of abridged edition invention, convenient for the burial engineering of the drainage pipeline of different height, while can realize and go out while walking
Expect the effect buried, and mechanization degree is high, improves the efficiency of construction drainage burying pipeline.
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 only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, 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
It defines.
Claims (4)
1. a kind of construction drainage burying pipeline intelligent robot, it is characterised in that：Including stock chest, agitating device, it is adjustable go out
Expect device, delta parallel connections shake table, fixing device, running gear and track；The stock chest is in cross shell structure,
And stock chest upper end opening, the stock chest lower end left and right sides are provided with inclined floor, are offered at the medium position of stock chest lower end
Rectangular leak；The agitating device is located inside stock chest, and adjustable discharge device quantity is two, adjustable discharge device position
Immediately below rectangular leak at the medium position of stock chest lower end, and adjustable discharge device is along stock chest longitudinal center axis point
It is not arranged symmetrically；The delta parallel connection shake table quantity is that four, delta parallel connection shake tables are located at four tops of stock chest
At angle, and delta parallel connections shake table is mounted on by fixing device on stock chest lateral wall；The running gear quantity is
Four, running gear is located at immediately below delta parallel connections shake table, and running gear upper end is connected with delta parallel connection shake tables lower end
It connects, running gear lower end is mounted in orbit；Wherein：
The agitating device includes agitating shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；The stirring
Inside stock chest, agitating shaft both ends are fixed on by rolling bearing units on stock chest front-rear side walls axle position respectively, stirring hook pawl according to
Secondary to be linearly arranged on agitating shaft, stirring hooks to be provided in the middle part of pawl hooks edge on the outside of pawl with the matched snap ring of agitating shaft, stirring
The central axis that stirring hooks pawl is evenly arranged with arc shape stirrer gear, and electric rotating machine main shaft is connected with one end of the mixing shaft, and revolves
Rotating motor is fixed on by electric machine support on stock chest front end outer side wall, and electric machine support front end is provided with to be matched with electric rotating machine
Fixed ring, electric machine support rear end is evenly arranged with locking post；
The delta parallel connection shake tables include fixed platform, moving platform, top base, bottom base, upper rotary shaft, lower rotary shaft, on
Connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring；The fixed platform and moving platform be in
Round structure, moving platform are located at right over fixed platform, and the quantity of top base and bottom base is three, and three top bases are with dynamic flat
It is in positive triangle shaped formation centered on the center of circle of platform and is fixed on moving platform bottom face, three bottom bases is with the center of circle of fixed platform
Centered on be arranged on fixed platform top end face in positive triangle shape, and top base installation site and bottom base installation site difference one
One corresponds to, and upper connecting rod one end is mounted on by upper rotary shaft on top base, is passed through between the upper connecting rod other end and lower link top
Rotational pin is attached, and lower link bottom end is mounted on by lower rotary shaft on bottom base；The electric pushrod is located at upper connecting rod
Between lower link, and electric pushrod upper end is mounted on by upper hinge at the medium position of upper connecting rod, and electric pushrod lower end is logical
Lower hinge is crossed at the medium position of lower link, limit spring is around being sleeved on electric pushrod.
2. a kind of construction drainage burying pipeline intelligent robot according to claim 1, it is characterised in that：Described is adjustable
Formula drawing mechanism includes discharge door, turning joint, No.1 ear mount, No.1 shaft, discharging telescopic rod, No. two ear mounts, No. two shafts
And supporting rod；For the discharge door in the U-shaped structure to stand upside down, discharge door rear and front end is fastened in two lateral walls before and after stock chest
On, it is attached by turning joint between discharge door and stock chest lateral wall, No.1 ear mount is mounted in discharge door bottom face
At portion position, discharging telescopic rod front end is mounted on by No.1 shaft in No.1 ear mount, is discharged and is stretched rod rear end by No. two turns
Axis is connected with No. two ear mounts, and No. two ear mounts are fixed on supporting bar top, and supporting rod bottom end is fixed on stock chest bottom face.
3. a kind of construction drainage burying pipeline intelligent robot according to claim 1, it is characterised in that：The fixation
Device includes fixed plate and clamping screw, and the T-shaped structure of fixed plate, fixed plate is located at stock chest vertex, and fixed plate passes through
Clamping screw is mounted on stock chest lateral wall.
4. a kind of construction drainage burying pipeline intelligent robot according to claim 1, it is characterised in that：The walking
Device includes lifting stud, jacking sleeve, walking seat, walking shaft and traveling wheel；It is arranged on the lifting stud lateral wall
It is in the hollow cylindrical structure of both ends open to have external screw thread, jacking sleeve, is provided on jacking sleeve madial wall and lifting stud
The matched internal thread of external screw thread on lateral wall, lifting stud lower end are mounted on inside jacking sleeve, and jacking sleeve lower end is solid
It being scheduled on walking seat, walking seat is mounted on walking seat lower position in the U-shaped structure to stand upside down, traveling wheel by shaft of walking,
Traveling wheel is in I-shaped structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553363.7A CN106121015B (en) | 2016-07-14 | 2016-07-14 | A kind of construction drainage burying pipeline intelligent robot |
| CN201810326474.3A CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553363.7A CN106121015B (en) | 2016-07-14 | 2016-07-14 | A kind of construction drainage burying pipeline intelligent robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810326474.3A Division CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106121015A CN106121015A (en) | 2016-11-16 |
| CN106121015B true CN106121015B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810326474.3A Active CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
| CN201610553363.7A Active CN106121015B (en) | 2016-07-14 | 2016-07-14 | A kind of construction drainage burying pipeline intelligent robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810326474.3A Active CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
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| CN (2) | CN108571051B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112064752B (en) * | 2020-09-07 | 2021-10-01 | 浙江蓝绿双城建筑设计有限公司 | Drain pipe construction equipment and drain pipe construction method |
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| CN204728312U (en) * | 2015-05-15 | 2015-10-28 | 重庆建筑工程职业学院 | The fastening servicing unit of track traffic construction ground |
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| CN205310527U (en) * | 2016-01-08 | 2016-06-15 | 长安大学 | Stabilized soil secondary agitating unit |
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| CN102114876B (en) * | 2009-12-30 | 2012-08-01 | 中国科学院沈阳自动化研究所 | Wheel-tracked obstacle crossing mechanism |
| WO2012167694A1 (en) * | 2011-06-10 | 2012-12-13 | 厦门正鸿昌机械科技有限公司 | Excavator with tracked pontoons |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108571051A (en) | 2018-09-25 |
| CN106121015A (en) | 2016-11-16 |
| CN108571051B (en) | 2020-12-18 |
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