CN106149860B - A kind of Municipal pavement irrigation canals and ditches upkeep operation robot - Google Patents
A kind of Municipal pavement irrigation canals and ditches upkeep operation robot Download PDFInfo
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- CN106149860B CN106149860B CN201610463202.9A CN201610463202A CN106149860B CN 106149860 B CN106149860 B CN 106149860B CN 201610463202 A CN201610463202 A CN 201610463202A CN 106149860 B CN106149860 B CN 106149860B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
- E03F7/106—Accessories, e.g. hose support
Abstract
The present invention relates to a kind of Municipal pavement irrigation canals and ditches upkeep operation robots, including crawler unit, running gear system, electrical turntable, delta parallel institutions and cleaning plant；The running gear system quantity is four, and running gear system is symmetrically arranged at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and electrical turntable is connected with crawler unit, delta parallel institutions are between electrical turntable and cleaning plant, and delta parallel institutions lower end is connected with electrical turntable, delta parallel institutions upper end is connected with cleaning plant.The present invention can carry out Municipal pavement irrigation canals and ditches cleaning dredging maintenance work, and degree of freedom 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.
Description
Technical field
The present invention relates to irrigation canals and ditches to clear up field, specifically a kind of Municipal pavement irrigation canals and ditches upkeep operation machine
People.
Background technology
With the development of the social economy, the people's livelihood such as urban construction, transport development and water conservancy construction engineering is increasingly by society
Can all circles concern, government is also increasing to the input in terms of these, engineering construction in this respect be also it is in full flourish, everywhere
As it can be seen that still can all be related to one piece in the people's livelihood engineering such as urban construction, transport development and water conservancy construction, that is, drainage system
Arrangement it is reserved and build, such as highway, expressway, municipal works, gardens, pavement, road surface roadbed, building, city
Gutter, gutter, intercepting ditch, Ming Gou, hondo, Bilge etc. irrigation canals and ditches, ditch can be all related in city's traffic route etc. engineering
The effect of canal is mainly used for rainwater weather and the usually discharge of Living Industry water；But due to the throwing out without care of rubbish often, drain
When the accumulating of soil, flooded slag the reasons such as filtering accumulation it is regular cause irrigation canals and ditches to block, therefore, it is fixed that these irrigation canals and ditches are needed
Phase carries out the daily maintenance of cleaning dredging, still, mostly uses manually carry out cleaning dredging operation using shovel spade at present, occupy greatly
The labour of amount, and cleaning dredging quantities is big, of high cost, efficiency is low, in addition to this, 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.In consideration of it, the present invention provides a kind of Municipal pavement ditches
Canal upkeep operation robot.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of Municipal pavement irrigation canals and ditches upkeep operation machines
People.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of Municipal pavement irrigation canals and ditches upkeep operation robot, including crawler unit, running gear system, electricity
Turn platform, delta parallel institutions and cleaning plant；The running gear system quantity is four, and running gear system is distinguished
It is arranged symmetrically at left and right sides of crawler unit, electrical turntable is located at crawler unit upper end center position, and electronic
Turntable is connected with crawler unit, and delta parallel institutions are between electrical turntable and cleaning plant, and delta parallel machines
Structure lower end is connected with electrical turntable, and delta parallel institutions upper end is connected with cleaning plant.
The crawler unit includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler,
And the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking belt wheel quantity are four；The chassis is in
Rectangular configuration, chassis rear and front end offer mounting groove respectively, and driving motor is separately fixed at the mounting groove of chassis front and rear sides
It is interior, and driving motor uses Biaxial synchronous output motor, drive shaft one end to be connected with driving motor output shaft, drive shaft is another
End is connected with walking belt wheel, and is fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler both ends difference
It walks on belt wheel around being sleeved on, and semicircle tread plate is evenly arranged on the outside of traveling crawler.
As a further improvement on the present invention, the running gear system includes walking fixed plate, walking sliding rail, walking
Sliding block, walking ear mount, No.1 shaft, mobile holder, No. two shafts, walking supporting rod, moving block, movable motor, movable motor
Frame, walking axle and walking runner；The walking sliding rail is fixed on walking fixed plate lower face, and walking sliding block is mounted on walking
On sliding rail, and upper end of slide block of walking is concave structure, and walking sliding block lower end is the U-shaped structure to stand upside down, and walking ear mount is located at walking
At sliding rail rear end position, and ear mount of walking is connected with walking fixed plate, and mobile holder upper end passes through No.1 shaft and walking ear mount
It is connected, walking connecting rod is provided at mobile holder medium position, walking supporting rod one end is slided by No. two shafts and walking
Block lower end is connected, and the walking supporting rod other end is connected by moving block with the walking connecting rod in the middle part of mobile holder, and row
It is pneumatic telescopic structure to walk supporting rod, and movable motor is fixed on by movable motor frame on mobile holder lateral wall, and row
It walks electric machine main shaft with walking axle to be connected, walking axle both ends are separately fixed on the left and right madial wall of mobile holder lower end, walking
Runner is mounted at walking axle medium position.
When the present invention advances, when flat road surface is walked, pass through outward movement of the sliding block on walking sliding rail of walking
Walking supporting rod stretching routine outward counterclockwise is driven, and supporting rod of walking links with mobile holder, to drive walking branch
Frame carries out rotary motion outward counterclockwise by rotation center of No.1 shaft, on walking rotatable wheel contacts ground, entire crawler belt
Running gear is detached with ground, is in by lift dummy status, while passing through the rotation that movable motor drives walking runner, is realized
The walking movement of running gear system, and the speed of travel is fast, overcome the slow problem of the crawler unit speed of travel；Work as chance
When to hogwallow, by walking, inwardly movement of the sliding block on walking sliding rail drives walking supporting rod to receive inwardly clockwise
It contracts and moves, and supporting rod of walking links with mobile holder, to drive mobile holder suitable as rotation center progress using No.1 shaft
Hour hands rotary motion inwardly, realizes the contraction of running gear system, when runner of walking is detached from ground, entire crawler travel
Device is contacted with ground, and the rotation of walking belt wheel is driven by the rotation of driving motor, to drive the movement of traveling crawler, is carried out
With running gear be mainly used for the present invention walk, move and turn to, and crawler unit by using track structure more
Add the walking of convenient for hollow topography condition so that applicability of the invention is stronger；It is filled by crawler unit and running on wheels
The cooperation conversion set, improves the locomotor activity of the present invention.
As a further improvement on the present invention, the delta parallel institutions include fixed platform, moving platform, motor cabinet, simultaneously
Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；Described determines
Platform and moving platform structure in rounded shape, moving platform are located at right over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, three motor cabinets in positive triangle shaped formation and are fixed on fixed platform upper surface, three centered on the center of circle of fixed platform
Rotating basis is arranged in positive triangle shape on moving platform lower face centered on the center of circle of moving platform, and motor cabinet installation site
It is corresponded respectively with rotating basis installation site, installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors use
Adjustable speed twin shaft output motor, first rotating shaft one end are connected with parallel-connected induction motors main shaft, the first rotating shaft other end and first connecting rod
Upper end is connected, and is attached using rotational pin between first connecting rod lower end and second connecting rod upper end, second connecting rod lower end and the
Two shaft one end are connected, and the second shaft other end is mounted on rotating basis, and rotating basis lower end is provided with swivel bearing, and
Swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end be provided with the matched double end sleeve of the second shaft,
One connecting rod middle inside and second connecting rod middle inside are respectively provided with the first mounting base and the second mounting base, limit spring position
Between the first mounting base and the second mounting base, and limit spring upper end is connected with the first mounting base, limit spring lower end with
Second mounting base is connected；When specific works, by parallel-connected induction motors rotation drive first rotating shaft rotation, and first connecting rod with
First rotating shaft is coaxially connected, and to drive the rotation of second connecting rod by the rotation of first connecting rod, and then drives moving platform
Movement, and jitter when delta parallel institutions move is reduced by limit spring, increase the movement of delta parallel institutions
Stationarity, delta parallel institutions rigidity compared with serial mechanism is big, and movement is flexible, and stable structure, bearing capacity is strong and fine motion is smart
Degree is high, and delta parallel institutions can carry out the movement in the total six-freedom degree direction of three translations three rotation, and space in space
It is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, on the one hand play to cleaning fill
The integrally-regulated of orientation angles is set, convenient for the various comprehensive progress to irrigation canals and ditches prune job of posture of the present invention, realizes flexibility
On the other hand the function of prune job plays cleaning plant the effect of damping so that cleaning plant is on present invention walking top
Always it is in horizontal plateau under state of winnowing with a dustpan, 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 located at cleaning turntable upper surface rear side side, and driven bearing is connected with cleaning turntable, and driven carriage bottom end passes through driven
Bull stick is fixed on driven bearing, and the stepped structure of driven carriage, and driven carriage top passes through active bull stick and actively branch
Frame upper end is connected, and active bracket uses extension type paliform structure, and telescopic block is provided at 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 mounted on by transition bull stick on active bearing, 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 mounted on active bracket lower end；Entire cleaning plant can be driven in water by clearing up turntable
Rotation in plane can adjust the length of scraper bowl stretching by the stretching motion of active bracket, pass through stretching for active hydraulic cylinder
Contracting movement is to adjust the opening angle of active bracket on the vertical plane, and scraper bowl is connected with active bracket, to realize 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 adjusts round bar；The scraper bowl guide groove cross section transverse is that fan shape is empty
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 inner end is mounted 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 at heart position, electric telescopic rod uses adjustable speed bi-directional expansion bar, and electric telescopic rod left and right ends lead to respectively
It crosses 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 located at solid
Surely at left and right sides of shovel pawl, and mobile shovel pawl edge is moved Jaw plate and is equally spaced respectively, and mobile shovel pawl rear end is connected with mobile Jaw plate
It connecing, mobile shovel pawl front end is provided with mobile perching knife, and guide cylinder passes 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 mounted in guide cylinder
Portion adjusts the round bar other end and is fixed on mobile Jaw plate madial wall；When specific progress prune job, according to the width of irrigation canals and ditches 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, mobile Jaw plate is driven to exist
It synchronizes and moves 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 when scraper bowl prune job, convenient for carrying out cleaning work to the irrigation canals and ditches of different in width
The sharpness of fixation scraper bowl and mobile scraper bowl that industry, strong applicability, while scraper bowl use is 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 Municipal pavement irrigation canals and ditches can be carried out cleaning dredging maintenance work, and degree of freedom flexible adjustment,
Intelligence degree is high, cleaning dredging is efficient, solves that the present manual cleaning dredging amount of labour is big, efficiency is low and of high cost etc. asks
Topic.
(2) crawler unit of the invention and running gear system cooperation conversion use, and conversion is convenient and efficient, can fit
The walking of Ying Yu differently conditions, crawler unit are mainly used for the walking of hogwallow, and running gear system is mainly used for putting down
The walking on smooth ground, the speed of travel are fast.
(3) delta parallel institutions of the invention can carry out the total six-freedom degree direction of three translations three rotation in space
Movement, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, a side
Face is played to the integrally-regulated of cleaning plant orientation angles, is convenient for the various postures of the present invention comprehensive to irrigation canals and ditches prune job
It carries out, realizes the function of flexible prune job, the effect of damping is on the other hand played to cleaning plant so that cleaning plant
It is in horizontal plateau always in the case where the present invention walks jounce condition, prevents jitter excessive and cleaning plant prune job is produced
It is raw to influence.
(4) cleaning plant of the invention can carry out the movement in the total three degree of freedom direction of a translation two rotation 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, convenient for carrying out prune job to the irrigation canals and ditches of different in width, strong applicability, scraper bowl sharpness is high, and work capacity is strong, spatula
Speed is fast.
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；
Dimensional structure diagram when Fig. 2 is crawler unit and running gear system cooperation of the present invention；
Fig. 3 is the dimensional structure diagram of running gear system of the present invention；
Dimensional structure diagram when Fig. 4 is delta parallel institutions and cleaning plant cooperation of the present invention；
Fig. 5 is the dimensional structure diagram of delta parallel institutions of the present invention；
Fig. 6 is the dimensional structure diagram (viewed from above) of cleaning plant of the present invention；
Fig. 7 is the dimensional structure diagram (seeing from the bottom up) of cleaning plant of the present invention；
Fig. 8 is the dimensional structure diagram of scraper bowl of the present invention.
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 8, a kind of Municipal pavement irrigation canals and ditches upkeep operation robot, including crawler unit
1, running gear system 2, electrical turntable 3, delta parallel institutions 4 and cleaning plant 5；2 quantity of running gear system is
Four, and running gear system 2 is symmetrically arranged at 1 left and right sides of crawler unit, electrical turntable 3 is located at crawler travel dress
It sets at 1 upper end center position, and electrical turntable 3 is connected with crawler unit 1, delta parallel institutions 4 are located at electrical turntable 3
Between cleaning plant 5, and 4 lower end of delta parallel institutions is connected with electrical turntable 3,4 upper end of delta parallel institutions with it is clear
Reason device 5 is connected.
As shown in Fig. 2, the crawler unit 1 includes chassis 11, driving motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, drive shaft
13 and walking 14 quantity of belt wheel be four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers mounting groove respectively,
Driving motor 12 is separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is using Biaxial synchronous output electricity
Machine, 13 one end of drive shaft are connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14, and drives
Moving axis 13 and walking belt wheel 14 between be fixed by tight locking button 15,16 both ends of traveling crawler rotating around be sleeved on walking belt wheel 14
On, and 16 outside of traveling crawler is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, the running gear system 2 includes walking fixed plate 21, walking sliding rail 22, walking cunning
Block 23, walking ear mount 24, No.1 shaft 25,26, No. two shafts 27 of mobile holder, walking supporting rod 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；The walking sliding rail 22 is fixed on walking fixed plate 21
On lower face, walking sliding block 23 is mounted on walking sliding rail 22, and 23 upper end of sliding block of walking is concave structure, is walked under sliding block 23
End is the U-shaped structure to stand upside down, and walking ear mount 24 is located at walking 22 back-end location of sliding rail, and walk ear mount 24 and walking fixed plate
21 are connected, and 26 upper end of mobile holder is connected by No.1 shaft 25 with walking ear mount 24, is set at 26 medium position of mobile holder
It is equipped with walking connecting rod, walking 28 one end of supporting rod is connected by No. two shafts 27 with 23 lower end of walking sliding block, walking support
28 other end of bar is connected by moving block 29 with the walking connecting rod at 26 middle part of mobile holder, and supporting rod 28 of walking is pneumatic
Telescopic structure, movable motor 210 is fixed on by movable motor frame 211 on 26 lateral wall of mobile holder, and movable motor
210 main shafts are connected with walking axle 212, and 212 both ends of walking axle are separately fixed on the left and right madial wall of 26 lower end of mobile holder,
Runner 213 of walking is mounted at 212 medium position of walking axle.
As shown in Figure 1 to Figure 3, when the present invention advances, when flat road surface is walked, by walking, sliding block 23 is slided in walking
Movement outward on rail 22 drives walking supporting rod 28 stretching routine outward counterclockwise, and walk supporting rod 28 and walking branch
Frame 26 links, to drive mobile holder 26 to carry out rotary motion outward counterclockwise with No.1 shaft 25 for rotation center, when
Runner 213 of walking contacts on ground, and entire crawler unit 1 is detached with ground, in by lift dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, realizes the walking movement of running gear system 2, and the speed of travel is fast,
Overcome the slow problem of 1 speed of travel of crawler unit；When encountering hogwallow, by sliding block 23 of walking in walking sliding rail
Movement inwardly on 22 drives walking supporting rod 28 contractile motion inwardly clockwise, and walk supporting rod 28 and mobile holder
26 linkages are realized to drive mobile holder 26 to carry out rotary motion inwardly clockwise with No.1 shaft 25 for rotation center
The contraction of running gear system 2, when runner 213 of walking is detached from ground, entire crawler unit 1 is contacted with ground, logical
Overdrive motor 12 rotation drive walking belt wheel 14 rotation, to drive the movement of traveling crawler 16, crawler unit 1
It is mainly used for walking, move and turning to for the present invention, and crawler unit 1 easily facilitates hollow by using track structure
Topography condition walking so that applicability of the invention is stronger；Pass through the cooperation of crawler unit 1 and running gear system 2
Conversion improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, the delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously
Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second shaft 49, rotating basis 410 and limit
Position spring 411；Fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at right over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, and three motor cabinets 43 are in positive triangle centered on the center of circle of fixed platform 41
Shaped formation is simultaneously fixed on 41 upper surface of fixed platform, and three rotating basis 410 are in positive three centered on the center of circle of moving platform 42
Angular shape is arranged on 42 lower face of moving platform, and 43 installation site of motor cabinet and 410 installation site of rotating basis difference are one by one
Corresponding, installation is fixed by motor cabinet 43 in parallel-connected induction motors 44, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, the
One shaft, 45 one end is connected with 44 main shaft of parallel-connected induction motors, and 45 other end of first rotating shaft is connected with 46 upper end of first connecting rod, the
One connecting rod, 46 lower end and second connecting rod are attached between 48 upper end using rotational pin 47,48 lower end of second connecting rod and the second shaft
49 one end are connected, and 49 other end of the second shaft is mounted on rotating basis 410, and 410 lower end of rotating basis is provided with rotary shaft
It holds, and swivel bearing is mutually fixed with 42 upper surface of moving platform, 410 upper end of rotating basis is provided with matched with the second shaft 49
Double end sleeve, 46 middle inside of first connecting rod and 48 middle inside of second connecting rod are respectively provided with the first mounting base and the second peace
Seat is filled, limit spring 411 is between the first mounting base and the second mounting base, and 411 upper end of limit spring and the first mounting base
It is connected, 411 lower end of limit spring is connected with the second mounting base；When specific works, driven by the rotation of parallel-connected induction motors 44
The rotation of first rotating shaft 45, and first connecting rod 46 is coaxially connected with first rotating shaft 45, to pass through the rotation of first connecting rod 46
The rotation of second connecting rod 48 is driven, and then drives the movement of moving platform 42, and delta parallel connections are reduced by limit spring 411
Jitter when mechanism 4 moves increases the stationarity of the movement of delta parallel institutions 4, delta parallel institutions 4 and serial mechanism phase
Specific stiffness is big, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, and delta parallel institutions 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；It will
Delta parallel institutions 4 are applied in the present invention, are on the one hand played to the integrally-regulated of 5 orientation angles of cleaning plant, convenient for this
The comprehensive progress to irrigation canals and ditches prune job of various postures is invented, the function of flexible prune job is realized, on the other hand to clear
Reason device 5 plays the effect of damping so that cleaning plant 5 is in horizontal steady shape always in the case where the present invention walks jounce condition
State prevents jitter excessive and is had an impact to 5 prune job of cleaning plant.
As shown in Figure 6 to 8, the cleaning plant 5 include cleaning turntable 51, driven bearing 52, driven bull stick 53, from
Dynamic holder 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 located at 51 upper surface rear side side of cleaning turntable, and driven bearing 52 and cleaning turntable 51 are solid
Even, 54 bottom end of driven carriage is fixed on by driven bull stick 53 on driven bearing 52, and 54 stepped structure of driven carriage, from
Dynamic 54 top of holder 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 on telescopic block bottom face
It is attached by rotational pin 58 between connection ear mount on 57 one end of cylinder and telescopic block bottom face, 57 other end of active hydraulic cylinder
It is mounted on active bearing 510 by transition bull stick 59,510 U-shaped structure of active bearing, and active bearing 510 is fixed on clearly
It manages turntable 51 upper surface front side, and active bearing 510, driven bearing 52 and clears up the center of circle of turntable 51 to be located at same straight
On line, scraper bowl 511 is mounted on 56 lower end of active bracket；Entire 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 stretching length, pass through active hydraulic cylinder 57
Stretching motion is 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 fast
Speed is convenient, and linkage is good, and stability is strong.
As shown in figure 8, 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 5112 quantity of mobile Jaw plate is two, and mobile Jaw plate 5112 is along scraper bowl
The longitudinal center axis of guide groove 5111 is symmetrically arranged, and 5112 inner end of mobile Jaw plate is mounted in scraper bowl guide groove 5111
Portion, 5112 outboard end of mobile Jaw plate are 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, 5113 left and right ends of electric telescopic rod to pass through fixed round platform 5114 respectively
It is fixed in the mounting disc of 5112 outer upper end center position of mobile 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 are located 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 pass 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 5112 madial wall of mobile Jaw plate；When specific progress prune job, according to ditch for clearance
The width of the width adjusting scraper bowl 511 of canal, by the bi-directional synchronization of electric telescopic rod 5113 at the same speed to the stretching routine at both ends, band
Dynamic mobile Jaw plate 5112, which synchronizes in scraper bowl guide groove 5111 to both sides, to be moved out, 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 when 511 prune job of scraper bowl, and adjusting side
Just, it is convenient for carrying out 5115 He of fixation scraper bowl that prune job, strong applicability, while scraper bowl 511 use to the irrigation canals and ditches of different in width
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 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 (3)
1. a kind of Municipal pavement irrigation canals and ditches upkeep operation robot, it is characterised in that：Including crawler unit, wheeled row
Walking apparatus, electrical turntable, delta parallel institutions and cleaning plant；The running gear system quantity is four, and running on wheels
Device is symmetrically arranged at left and right sides of crawler unit, and electrical turntable is located at crawler unit upper end center position
Place, and electrical turntable and crawler unit are connected, delta parallel institutions between electrical turntable and cleaning plant, and
Delta parallel institutions lower end is connected with electrical turntable, and delta parallel institutions upper end is connected with cleaning plant；Wherein：
The running gear system includes walking fixed plate, walking sliding rail, walking sliding block, walking ear mount, No.1 shaft, walking
Holder, No. two shafts, walking supporting rod, moving block, movable motor, movable motor frame, walking axle and walking runner；The row
It walks sliding rail to be fixed on walking fixed plate lower face, walking sliding block is mounted on walking sliding rail, and upper end of slide block of walking is concave
Structure, walking sliding block lower end be the U-shaped structure to stand upside down, and walking ear mount is located at walking sliding rail rear end position, and walk ear mount and
Fixed plate of walking is connected, and mobile holder upper end is connected by No.1 shaft with walking ear mount, is set at mobile holder medium position
It is equipped with walking connecting rod, walking supporting rod one end is connected by No. two shafts with walking sliding block lower end, and walking supporting rod is another
End is connected by moving block with the walking connecting rod in the middle part of mobile holder, and supporting rod of walking is pneumatic telescopic structure,
Movable motor is fixed on by movable motor frame on mobile holder lateral wall, and movable motor main shaft is connected with walking axle, row
It walks axis both ends to be separately fixed on the left and right madial wall of mobile holder lower end, walking runner is mounted at walking axle medium position；
The delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turn
Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring；The fixed platform and moving platform structure in rounded shape,
Moving platform is located at right over fixed platform, and the quantity of motor cabinet and rotating basis is three, and three motor cabinets are with the center of circle of fixed platform
Centered in positive triangle shaped formation and being fixed on fixed platform upper surface, three rotating basis are centered on the center of circle of moving platform
It is arranged on moving platform lower face in positive triangle shape, and motor cabinet installation site and rotating basis installation site difference one are a pair of
It answers, installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors use adjustable speed twin shaft output motor, first rotating shaft one
End is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, first connecting rod lower end and second
It is attached using rotational pin between small end, second connecting rod lower end is connected with second shaft one end, and the second shaft is another
End is mounted on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface,
Rotating basis upper end be provided with the matched double end sleeve of the second shaft, on the inside of first connecting rod middle inside and second connecting rod in
Portion is respectively provided with the first mounting base and the second mounting base, limit spring between the first mounting base and the second mounting base,
And limit spring upper end is connected with the first mounting base, limit spring lower end is connected with the second mounting base；
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；After the driven bearing is located at cleaning turntable upper surface
Side, and driven bearing is connected with cleaning turntable, driven carriage bottom end is fixed on by driven bull stick on driven bearing, and driven
The stepped structure of holder, 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 on telescopic block bottom face
, it is attached by rotational pin between the connection ear mount on active hydraulic cylinder one end and telescopic block bottom face, active hydraulic cylinder
The other end is mounted on by transition bull stick on active bearing, 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 mounted on
Active bracket lower end.
2. a kind of Municipal pavement irrigation canals and ditches upkeep operation robot according to claim 1, it is characterised in that：It is described
Crawler unit include chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and driving motor,
The quantity of tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The chassis is in rectangular configuration, bottom
Disk rear and front end offers mounting groove respectively, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and drives electricity
Machine uses Biaxial synchronous output motor, drive shaft one end to be connected with driving motor output shaft, the drive shaft other end and treads
Wheel is connected, and drive shaft and walking belt wheel between be fixed by tight locking button, traveling crawler both ends rotating around be sleeved on walking
On belt wheel, and semicircle tread plate is evenly arranged on the outside of traveling crawler.
3. a kind of Municipal pavement irrigation canals and ditches upkeep operation robot according to claim 1, it is characterised in that：It is described
Scraper bowl include scraper bowl guide groove, mobile Jaw plate, electric telescopic rod, fixed round platform, fixed shovel pawl, mobile shovel pawl, guide cylinder and
Adjust 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
Longitudinal center axis along scraper bowl guide groove is symmetrically arranged, and mobile Jaw plate inner end is mounted on inside scraper bowl guide groove, mobile
Jaw plate outboard end is fan shape structure, and mobile Jaw plate outer upper end center position is provided with mounting disc, and electric telescopic rod uses
Adjustable speed bi-directional expansion bar, electric telescopic rod left and right ends are fixed on mobile Jaw plate outer upper end center by fixed round platform respectively
In mounting disc at position, fixed shovel pawl is fixed at the positive front position of scraper bowl guide groove, and fixed shovel pawl is in strip structure, fixed
Shovel pawl front end is provided with fixed perching knife, and mobile shovel pawl, which is located at, to be fixed at left and right sides of shovel pawl, and Jaw plate is moved on mobile shovel pawl edge
It is equally spaced respectively, mobile shovel pawl rear end is connected with mobile Jaw plate, and mobile shovel pawl front end is provided with mobile perching knife, is oriented to circle
Cylinder passes through fixed shovel pawl, and guide cylinder is connected with fixed shovel pawl, and guide cylinder is evenly arranged along fixed shovel pawl side, adjusts circle
Bar one end sequentially passes through mobile shovel pawl and is mounted on inside guide cylinder, adjusts the round bar other end and is fixed on mobile Jaw plate madial wall
On.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463202.9A CN106149860B (en) | 2016-06-23 | 2016-06-23 | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610463202.9A CN106149860B (en) | 2016-06-23 | 2016-06-23 | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot |
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| Publication Number | Publication Date |
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| CN106149860A CN106149860A (en) | 2016-11-23 |
| CN106149860B true CN106149860B (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610463202.9A Active CN106149860B (en) | 2016-06-23 | 2016-06-23 | A kind of Municipal pavement irrigation canals and ditches upkeep operation robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108442507A (en) * | 2018-05-31 | 2018-08-24 | 辽宁工业大学 | A kind of sewer discharge outlet cleaning robot |
| CN109624623A (en) * | 2019-01-16 | 2019-04-16 | 中铁上海工程局集团有限公司 | A kind of traveling steel wheel and crawler belt switchable type running gear and application method |
| CN110080378A (en) * | 2019-04-25 | 2019-08-02 | 黄远请 | A kind of garden layout drain cleaner device |
| CN111634340B (en) * | 2020-06-05 | 2021-07-30 | 山东航拍网络科技有限公司 | Mobile chassis for industrial robot |
| CN114606994A (en) * | 2022-03-16 | 2022-06-10 | 厦门欣龙腾机械有限公司 | Energy-concerving and environment-protective novel excavator |
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|---|---|---|---|---|
| EP0017593A1 (en) * | 1979-04-10 | 1980-10-15 | Gilbert Bibaut | Engine for cleaning ponds, marshes or canals |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN204551556U (en) * | 2015-03-20 | 2015-08-12 | 徐州工程学院 | A kind of multi-purpose excavator scraper bowl |
| CN105291734A (en) * | 2015-11-13 | 2016-02-03 | 苏州飞驰环保科技股份有限公司 | Multifunctional amphibious working ship |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITGE20030015A1 (en) * | 2003-02-25 | 2004-08-26 | Gianluca Malacrino | ADJUSTABLE CAPACITY BUCKET OR SHOVEL |
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2016
- 2016-06-23 CN CN201610463202.9A patent/CN106149860B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0017593A1 (en) * | 1979-04-10 | 1980-10-15 | Gilbert Bibaut | Engine for cleaning ponds, marshes or canals |
| CN203779488U (en) * | 2014-03-30 | 2014-08-20 | 上海理工大学 | Delta parallel robot |
| CN204551556U (en) * | 2015-03-20 | 2015-08-12 | 徐州工程学院 | A kind of multi-purpose excavator scraper bowl |
| CN105291734A (en) * | 2015-11-13 | 2016-02-03 | 苏州飞驰环保科技股份有限公司 | Multifunctional amphibious working ship |
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| CN106149860A (en) | 2016-11-23 |
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Effective date of registration: 20190627 Address after: 214200 Yixing International Economic and Trade Building 2202, Yixing Street, Yixing City, Wuxi City, Jiangsu Province Patentee after: Jiangsu Avenue Biological Environment Technology Co., Ltd. Address before: 322100 No. 2719, Gao Zhai village, Qian Xiang Town, Dongyang City, Jinhua, Zhejiang Patentee before: Zhang Jian |