CN106150096A - A kind of redundancy four-degree-of-freedom Municipal greenbelt builds intelligent robot - Google Patents
A kind of redundancy four-degree-of-freedom Municipal greenbelt builds intelligent robot Download PDFInfo
- Publication number
- CN106150096A CN106150096A CN201610560470.2A CN201610560470A CN106150096A CN 106150096 A CN106150096 A CN 106150096A CN 201610560470 A CN201610560470 A CN 201610560470A CN 106150096 A CN106150096 A CN 106150096A
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- degree
- stock chest
- redundancy
- side chain
- freedom
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/02—Retaining or protecting walls
- E02D29/0258—Retaining or protecting walls characterised by constructional features
- E02D29/0275—Retaining or protecting walls characterised by constructional features cast in situ
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
Abstract
The present invention relates to a kind of redundancy four-degree-of-freedom Municipal greenbelt and build intelligent robot, including stock chest, agitating device, adjustable discharge device, redundancy four-degree-of-freedom vibration table, fixing device, running gear and track, agitating device is positioned at inside stock chest, adjustable discharge device is positioned at immediately below the square leak at the medium position of stock chest lower end, redundancy four-degree-of-freedom vibration table lays respectively at four drift angles of stock chest, and redundancy four-degree-of-freedom vibration table is arranged on stock chest lateral wall by fixing device；Running gear is positioned at immediately below redundancy four-degree-of-freedom vibration table, and running gear upper end is connected with redundancy four-degree-of-freedom vibration table lower end, and running gear lower end is installed in orbit.The present invention collects study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walks in one, one-machine-multi-function, and mechanical intelligent degree high, effectively raise urban green belts retaining wall and pour efficiency and the quality of construction.
Description
Technical field
The present invention relates to Municipal Construction Machinery field, a kind of redundancy four-degree-of-freedom Municipal is green specifically
Change band and build intelligent robot.
Background technology
Urban afforestation is planted trees in city exactly, is planted grass and plant flower, certain covered ground or decorateeed
Come, urban afforestation be serike to improve the activity of urban environment, urban afforestation is as the reduction group in urban ecological system
Knitting, urban ecological system has the restorable ability by external interference and destruction, it is simply that usually said urban ecology
The restoring function of system；What urban ecological system had a restoring function is primarily due to the work of afforestation ecological environment in city
With, the research of urban afforestation ecological environment is sought to makes full use of urban afforestation ecological environment and makes urban ecological system have also
Former function, it is possible to improve this critical nature of life of urban resident environmental quality, also affect the fame in a city.Urban afforestation
Band is built to be typically all and is the most first set plantation flower bed shape, the most artificial concrete masonry units build meet afforest accordingly band-shaped
The retaining wall of shape, finally fills earth in respective shapes retaining wall and carries out vegetation plantation；The most manually pour construction city green
Change band retaining wall and be primarily present problems with:
(1) occupy substantial amounts of labour force, and labor intensity is big；
(2) urban green belts retaining wall manually pours construction and is usually first after mixing plant is by concrete-agitating, after pass through
Transport vehicle is transported to job site, the most manually pours, and centre is the most long, the concrete easy slagging scorification knot after stirring
Block, and be not easy to before pouring be again stirring for, have a strong impact on the quality that urban green belts is built；
(3) it is all that manually to carry out filler, amount of filler and filler speed equal when urban green belts retaining wall manually pours construction
Wayward, cause and build out-of-flatness or uneven by laying bricks or stones；
(4) urban green belts retaining wall manually pour construction construction equipment intelligence degree low, functionalization is single, work effect
Rate is low, and construction cost is high.
In view of above not enough, the invention provides a kind of redundancy four-degree-of-freedom Municipal greenbelt and build intelligent machine
People.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of redundancy four-degree-of-freedom Municipal greenbelt and build
Intelligent robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of redundancy four-degree-of-freedom Municipal greenbelt builds intelligent robot, including stock chest, agitating device, adjustable
Formula drawing mechanism, redundancy four-degree-of-freedom vibration table, fixing device, running gear and track；Described stock chest is cross shell
Body structure, and stock chest upper end open, the left and right sides, stock chest lower end is provided with inclined floor, and inclined floor is conducive to stock chest
Interior concrete is discharged by square leak, offers square leak at the medium position of stock chest lower end；Described agitating device
Being positioned at inside stock chest, adjustable discharge device quantity is two, and adjustable discharge device is positioned at the medium position of stock chest lower end
Square leak immediately below, and adjustable discharge device is respectively symmetrically layout along stock chest longitudinal center axis；Described redundancy
Four-degree-of-freedom vibration table quantity is four, and redundancy four-degree-of-freedom vibration table lays respectively at four drift angles of stock chest, and redundancy four selfs
It is arranged on stock chest lateral wall by fixing device by degree vibration table；Described running gear quantity is four, running gear position
Immediately below redundancy four-degree-of-freedom vibration table, and running gear upper end is connected with redundancy four-degree-of-freedom vibration table lower end, walking
Device lower end is arranged in orbit.
Further, described agitating device includes that shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；
Described shaft is positioned at inside stock chest, and shaft two ends are fixed on stock chest front-rear side walls by rolling bearing units respectively,
Stirring hooks pawl and is the most linearly arranged on shaft, and stirring hooks and is provided with, in the middle part of pawl, the snap ring matched with shaft, stirring
Hook and be evenly arranged with arc shape stirrer gear, electric rotating machine main shaft and shaft one end phase along the central axis stirring hook pawl outside pawl
Connecting, and electric rotating machine is fixed on stock chest front end outer side wall by electric machine support, electric machine support front end is provided with and rotates
The retainer ring that motor matches, electric machine support rear end is evenly arranged with locking post；Shaft is driven by the rotation of electric rotating machine
Rotation, thus drive stirring hook pawl rotation in stock chest, reached in stock chest store concrete carry out secondary
The function of stirring, it is therefore prevented that concrete is the problem of easy slagging scorification caking after lasting a period of time, improves city to a certain extent
Greenbelt retaining wall manually pours the quality of construction.
Described redundancy four-degree-of-freedom vibration table includes fixed platform, moving platform, the first side chain and the second side chain；Described determines
Platform and moving platform are disc-shaped structure, and moving platform is positioned at directly over fixed platform；The first described side chain and the second side chain
Quantity be two, the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the first side chain and the second side chain
Two ends are connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；Institute
The first side chain stated includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connection post and the first vibration
Spring；The first described ear mount is fixed on fixed platform upper surface, uses tiger between the first ear mount and the first electric pushrod lower end
Gram hinge is attached, and the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge connects post by first to be fixed
On the lower surface of moving platform, the first vibrating spring is around being enclosed within the first electric pushrod；Both direction can be carried out by Hooke's hinge
Rotation, the rotation in three directions can be carried out by the first spherical hinge, can be moved up and down by the first electric pushrod, first
Side chain uses the form of 2-UPS parallel institution, and adds jitter during first chain movement by the first vibrating spring, carries
The high effect of batch mixing discharging of the present invention；The second described side chain include the second ear mount, rotational pin, the second electric pushrod, second
Spherical hinge, the second connection post and the second vibrating spring；The second described ear mount is fixed on fixed platform upper surface, the second ear mount with
Using rotational pin to be attached between second electric pushrod lower end, the second electric pushrod upper end is connected with the second spherical hinge, the
Two spherical hinges connect post by second and are fixed on the lower surface of moving platform, and the second vibrating spring is around being enclosed within the second electric pushrod
On；The rotation in a direction can be carried out by rotational pin, the rotation in three directions can be carried out by the second spherical hinge, by second
Electric pushrod can move up and down, and the second side chain uses the form of 2-RPS parallel institution, and is increased by the second vibrating spring
Jitter during second chain movement, improves the effect of batch mixing discharging of the present invention；By fixed platform, moving platform, first
Chain and the second side chain constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, its energy
Realize moving and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis along X-axis and Z axis, and four degree of freedom are equal
Independent, by four degree of freedom can also co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, and motion is flat
Surely, motion is flexibly so that the present invention is while being stirred concrete, and the principle also by vibration mixing adds coagulation
The effect of soil uniform secondary mixing, beneficially urban green belts builds smooth stability and the Quality advance of construction by laying bricks or stones；Vibrate simultaneously
The speed of frequency decides the speed of discharging of the present invention.
Further, described adjustable discharge device includes discharge door, turning joint, ear mount, rotating shaft, a discharging
Expansion link, No. two ear mount, No. two rotating shafts and support bar；Described discharge door is in the U-shape structure stood upside down, discharge door rear and front end card
It is enclosed within before and after stock chest on two lateral walls, is attached by turning joint between discharge door and stock chest lateral wall, an ear
Seat is arranged at discharge door bottom face medium position, and discharging expansion link front end is arranged in an ear mount by a rotating shaft, goes out
Material expansion link rear end is connected with No. two ear mount by No. two rotating shafts, and No. two ear mount are fixed on supporting bar top, support bar bottom
It is fixed on stock chest bottom face；Driven closedown and the unlatching of discharge door by the stretching, extension of discharging expansion link and shrinking, discharging is stretched
The length of contracting bar directly decides the angle that discharge door opens, thus decides the load of discharging of the present invention, adjustable discharge
Device is mainly used in the regulation of load during discharging of the present invention.
Further, described fixing device includes fixed plate and clamping screw, and the T-shaped structure of fixed plate, fixed plate is positioned at
At stock chest drift angle, and fixed plate is arranged on stock chest lateral wall by clamping screw.
Further, described running gear includes lifting stud, jacking sleeve, walking seat, walking rotating shaft and road wheel；Institute
Being provided with external screw thread on the lifting stud lateral wall stated, jacking sleeve is the hollow cylindrical structure of both ends open, jacking sleeve
The female thread that the external screw thread being provided with on medial wall and lift on stud lateral wall matches, lifting stud lower end is arranged on lifting
Sleeve inner, jacking sleeve lower end is fixed on walking seat, and walking seat is in the U-shape structure stood upside down, and road wheel is by walking rotating shaft
Being arranged on walking seat lower position, road wheel is I-shaped structure；Drive lifting stud in lifting by rotating lifting stud
Up and down motion in sleeve, thus for regulating the whole height of the present invention, it is simple to the urban green belts retaining wall of differing heights
Build by laying bricks or stones, time specifically used, determine the width of road urban green belts retaining wall, track lay is green to the city built by laying bricks or stones in advance
Changing the band retaining wall left and right sides, road wheel is placed on track, the effect that the discharging that can realize walking is built by laying bricks or stones, Er Qieji
Tool degree is high, and improve that urban green belts retaining wall manually pours construction builds efficiency by laying bricks or stones.
Compared with prior art, the invention have the advantages that
(1) present invention collects study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walks in one, and a machine is many
Can, and mechanical intelligent degree is high, effectively raises urban green belts retaining wall and pours efficiency and the quality of construction.
(2) present invention can carry out secondary stirring to concrete by agitating device, it is therefore prevented that concrete lasts a period of time
The problem of rear easily slagging scorification caking.
(3) adjustable angle that adjustable discharge device of the present invention opens, thus load when adjustable invention is built by laying bricks or stones.
(4) present invention constitutes four-degree-of-freedom symmetric parallel machine by fixed platform, moving platform, the first side chain and the second side chain
Structure, and it uses the parallel institution form of 2-UPS-2-RPS, it can realize moving along X-axis and Z axis and around X-axis with around Y-axis
Rotate the motion in totally four degree of freedom directions, and four degree of freedom be all independent, by four degree of freedom can also co-ordination, make
Moving platform track along the curvilinear motion of predetermined space, stable movement, motion is flexibly so that concrete is being stirred by the present invention
While mixing, the principle also by vibration mixing adds the effect that concrete uniform secondary mixes, beneficially urban green belts
Build smooth stability and the Quality advance of construction by laying bricks or stones；The speed of frequency of vibration decides the speed of discharging of the present invention simultaneously.
(5) whole height of running gear adjustable of the present invention invention, it is simple to the urban green belts gear soil of differing heights
Building by laying bricks or stones of wall, the effect that the discharging that simultaneously can realize walking is built by laying bricks or stones, and also mechanization degree is high, improves urban afforestation
The efficiency of construction is built by laying bricks or stones with retaining wall.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view after the present invention removes running gear and track；
Fig. 3 is that perspective view when stock chest of the present invention, agitating device and the cooperation of adjustable discharge device is (from upper
Look down)；
Fig. 4 is that perspective view when stock chest of the present invention, agitating device and the cooperation of adjustable discharge device is (under from
Look up)；
Fig. 5 is the perspective view of agitating device of the present invention；
Fig. 6 is the perspective view of redundancy four-degree-of-freedom vibration table of the present invention；
Fig. 7 is perspective view when running gear of the present invention and the cooperation of redundancy four-degree-of-freedom vibration table；
Fig. 8 is perspective view when running gear of the present invention and track cooperation.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of redundancy four-degree-of-freedom Municipal greenbelt builds intelligent robot, including storing
Groove 1, agitating device 2, adjustable discharge device 3, redundancy four-degree-of-freedom vibration table 4, fixing device 5, running gear 6 and track 7；
Described stock chest 1 is in cross shell structure, and stock chest 1 upper end open, and the left and right sides, stock chest 1 lower end is provided with inclination
Base plate, inclined floor is conducive to the concrete in stock chest 1 to be discharged by square leak, opens at the medium position of stock chest 1 lower end
It is provided with square leak；Described agitating device 2 is positioned at that stock chest 1 is internal, and adjustable discharge device 3 quantity is two, adjustable go out
Material device 3 is positioned at immediately below the square leak at the medium position of stock chest 1 lower end, and adjustable discharge device 3 is indulged along stock chest 1
It is respectively symmetrically layout to central axis；Described redundancy four-degree-of-freedom vibration table 4 quantity is four, redundancy four-degree-of-freedom vibration table 4
Lay respectively at 1 four drift angles of stock chest, and redundancy four-degree-of-freedom vibration table 4 is arranged on outside stock chest 1 by fixing device 5
On wall；Described running gear 6 quantity is four, and running gear 6 is positioned at immediately below redundancy four-degree-of-freedom vibration table 4, and walking dress
Putting 6 upper ends to be connected with redundancy four-degree-of-freedom vibration table 4 lower end, running gear 6 lower end is arranged on track 7.
As it is shown in figure 5, described agitating device 2 includes that shaft 21, stirring hook pawl 22, rolling bearing units 23, electric rotating machine
24 and electric machine support 25；It is internal that described shaft 21 is positioned at stock chest 1, and shaft 21 two ends are solid by rolling bearing units 23 respectively
Being scheduled on stock chest 1 front-rear side walls, stirring hooks pawl 22 and is the most linearly arranged on shaft 21, and stirring hooks and arranges in the middle part of pawl 22
There are the snap ring matched with shaft 21, stirring to hook outside pawl 22 and are evenly arranged with arc shape along the central axis stirring hook pawl 22
Stirrer gear, electric rotating machine 24 main shaft is connected with shaft 21 one end, and electric rotating machine 24 is fixed on storage by electric machine support 25
On hopper 1 front end outer side wall, electric machine support 25 front end is provided with the retainer ring matched with electric rotating machine 24, after electric machine support 25
End is evenly arranged with locking post；By the rotation rotating drive shaft 21 of electric rotating machine 24, thus stirring is driven to hook pawl 22
Rotation in stock chest 1, has reached to carry out the concrete stored in stock chest 1 function of secondary stirring, it is therefore prevented that coagulation
Soil last a period of time after the problem of easy slagging scorification caking, improve urban green belts retaining wall to a certain extent and manually pour and build
The quality made.
As shown in Figure 6, described redundancy four-degree-of-freedom vibration table 4 includes fixed platform 41, moving platform the 42, first side chain 43 and
Second side chain 44；Described fixed platform 41 and moving platform 42 are disc-shaped structure, and moving platform 42 is positioned at fixed platform 41 and just goes up
Side；The first described side chain 43 and the quantity of the second side chain 44 are two, and the first side chain 43 and the second side chain 44 are respectively positioned on and allocate
Between platform 41 and moving platform 42, the first side chain 43 is connected with fixed platform 41 and moving platform 42 respectively with the two ends of the second side chain 44
Connect, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；The first described side chain 43 includes the first ear mount
431, Hooke's hinge the 432, first electric pushrod the 433, first spherical hinge 434, first connects post 435 and the first vibrating spring 436；Institute
The first ear mount 431 stated is fixed on fixed platform 41 upper surface, adopts between the first ear mount 431 and the first electric pushrod 433 lower end
Being attached with Hooke's hinge 432, the first electric pushrod 433 upper end is connected with the first spherical hinge 434, and the first spherical hinge 434 leads to
Crossing the first connection post 435 to be fixed on the lower surface of moving platform 42, the first vibrating spring 436 is around being enclosed within the first electric pushrod 433
On；The rotation of both direction can be carried out by Hooke's hinge 434, the rotation in three directions can be carried out by the first spherical hinge 434, logical
Crossing the first electric pushrod 433 can move up and down, the first side chain 43 uses the form of 2-UPS parallel institution, and by first
Vibrating spring 436 adds jitter when the first side chain 43 moves, and improves the effect of batch mixing discharging of the present invention；Described
Two side chains 44 include that the second ear mount 441, rotational pin the 442, second electric pushrod the 443, second spherical hinge 444, second connect post 445
With the second vibrating spring 446；The second described ear mount 441 is fixed on fixed platform 41 upper surface, the second ear mount 441 and the second electricity
Using rotational pin 442 to be attached between dynamic push rod 443 lower end, the second electric pushrod 443 upper end is connected with the second spherical hinge 444
Connecing, the second spherical hinge 444 is fixed on the lower surface of moving platform 42 by the second connection post 445, and the second vibrating spring 446 is around set
On the second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, can be carried out by the second spherical hinge 444
The rotation in three directions, can be moved up and down by the second electric pushrod 443, and the second side chain 44 uses 2-RPS parallel institution
Form, and add jitter when the second side chain 44 moves by the second vibrating spring 446, improve batch mixing of the present invention and go out
The effect of material；Four-degree-of-freedom symmetric parallel machine is constituted by fixed platform 41, moving platform the 42, first side chain 43 and the second side chain 44
Structure, and it uses the parallel institution form of 2-UPS-2-RPS, it can realize moving along X-axis and Z axis and around X-axis with around Y-axis
Rotate the motion in totally four degree of freedom directions, and four degree of freedom be all independent, by four degree of freedom can also co-ordination, make
Moving platform 42 track along the curvilinear motion of predetermined space, stable movement, motion is flexibly so that concrete is being carried out by the present invention
While stirring, the principle also by vibration mixing adds the effect that concrete uniform secondary mixes, beneficially urban afforestation
Smooth stability and the Quality advance of construction built by laying bricks or stones by band；The speed of frequency of vibration decides the speed of discharging of the present invention simultaneously.
As shown in Figure 4, described adjustable discharge device 3 includes discharge door 31,32, ear mount 33, of turning joint
Number rotating shaft 34,36, No. two rotating shafts 37 of 35, No. two ear mount of discharging expansion link and support bar 38；Described discharge door 31 is in the U stood upside down
Type structure, discharge door 31 rear and front end is fastened in before and after stock chest 1 on two lateral walls, discharge door 31 and stock chest 1 lateral wall it
Between be attached by turning joint 32, an ear mount 33 is arranged at discharge door 31 bottom face medium position, discharging expansion link
35 front ends are arranged in an ear mount 33 by a rotating shaft 34, and No. two rotating shafts 37 and No. two ears are passed through in discharging expansion link 35 rear end
Seat 36 is connected, and No. two ear mount 36 are fixed on support bar 38 top, and support bar 38 bottom is fixed on stock chest 1 bottom face；Logical
Crossing the stretching, extension of discharging expansion link 35 and shrink closedown and the unlatching driving discharge door 31, the length of discharging expansion link 35 directly determines
The angle that discharge door 31 opens, thus decide the load of discharging of the present invention, adjustable discharge device 3 is mainly used in this
The regulation of load during bright discharging.
As in figure 2 it is shown, described fixing device 5 includes fixed plate 51 and clamping screw 52, the T-shaped structure of fixed plate 51,
Fixed plate 51 is positioned at stock chest 1 drift angle, and fixed plate 51 is arranged on stock chest 1 lateral wall by clamping screw 52.
As shown in Figure 7 and Figure 8, described running gear 6 includes lifting stud 61, jacking sleeve 62, walking seat 63, walking
Rotating shaft 64 and road wheel 65；Being provided with external screw thread on described lifting stud 61 lateral wall, jacking sleeve 62 is in both ends open
Hollow cylindrical structure, jacking sleeve 62 medial wall is provided with interior with what the external screw thread lifted on stud 61 lateral wall matched
Screw thread, it is internal that lifting stud 61 lower end is arranged on jacking sleeve 62, and jacking sleeve 62 lower end is fixed on walking seat 63, seat of walking
63 in the U-shape structure stood upside down, and road wheel 65 is arranged on walking seat 63 lower position by walking rotating shaft 64, and road wheel 65 is in work
Font structure；Drive the lifting stud 61 up and down motion in jacking sleeve 62 by rotating lifting stud 61, thus be used for adjusting
The whole height of abridged edition invention, it is simple to building by laying bricks or stones of the urban green belts retaining wall of differing heights, time specifically used, determines road
The width of urban green belts retaining wall, by track 7 lay to the urban green belts retaining wall left and right sides built by laying bricks or stones in advance, road wheel 65
It is placed on track 7, the effect that the discharging that can realize walking is built by laying bricks or stones, and mechanization degree is high, improves city green
That changes that band retaining wall manually pours construction builds efficiency by laying bricks or stones.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (4)
1. a redundancy four-degree-of-freedom Municipal greenbelt builds intelligent robot, it is characterised in that: include stock chest, stirring
Device, adjustable discharge device, redundancy four-degree-of-freedom vibration table, fixing device, running gear and track；Described stock chest in
Cross shell structure, and stock chest upper end open, the left and right sides, stock chest lower end is provided with inclined floor, in stock chest lower end
Position, portion offers square leak；Described agitating device is positioned at inside stock chest, and adjustable discharge device quantity is two, can
Mode drawing mechanism is positioned at immediately below the square leak at the medium position of stock chest lower end, and adjustable discharge device is along stock chest
Longitudinal center's axis is respectively symmetrically layout；Described redundancy four-degree-of-freedom vibration table quantity is four, redundancy four-degree-of-freedom vibration table
Lay respectively at four drift angles of stock chest, and redundancy four-degree-of-freedom vibration table is arranged on stock chest lateral wall by fixing device
On；Described running gear quantity is four, and running gear is positioned at immediately below redundancy four-degree-of-freedom vibration table, and running gear upper end
Being connected with redundancy four-degree-of-freedom vibration table lower end, running gear lower end is installed in orbit；Wherein:
Described agitating device includes that shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；Described stirring
Axle is positioned at inside stock chest, and shaft two ends are fixed on stock chest front-rear side walls by rolling bearing units respectively, and stirring hooks pawl and depends on
Secondary being linearly arranged on shaft, stirring hooks and is provided with the snap ring matched with shaft in the middle part of pawl, and stirring hooks edge outside pawl
Stirring hooks the central axis of pawl and is evenly arranged with arc shape stirrer gear, and electric rotating machine main shaft is connected with shaft one end, and rotation
Rotating motor is fixed on stock chest front end outer side wall by electric machine support, and electric machine support front end is provided with matches with electric rotating machine
Retainer ring, electric machine support rear end is evenly arranged with locking post；
Described redundancy four-degree-of-freedom vibration table includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform
It is disc-shaped structure with moving platform, and moving platform is positioned at directly over fixed platform；The first described side chain and the number of the second side chain
Amount is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the first side chain and the two ends of the second side chain
It is connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；Described
First side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connection post and the first vibrating spring；
The first described ear mount is fixed on fixed platform upper surface, uses Hooke's hinge to enter between the first ear mount and the first electric pushrod lower end
Row connects, and the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge connects post by first and is fixed on dynamic flat
On the lower surface of platform, the first vibrating spring is around being enclosed within the first electric pushrod；
Described adjustable discharge device include discharge door, turning joint, ear mount, rotating shaft, discharging expansion link, No. two
Ear mount, No. two rotating shafts and support bar；Described discharge door is in the U-shape structure stood upside down, and discharge door rear and front end is fastened in stock chest
Front and back on two lateral walls, being attached by turning joint between discharge door and stock chest lateral wall, an ear mount is arranged on out
At bin gate bottom face medium position, discharging expansion link front end is arranged in an ear mount by a rotating shaft, after discharging expansion link
End is connected with No. two ear mount by No. two rotating shafts, and No. two ear mount are fixed on supporting bar top, and support bar bottom is fixed on storing
On bottom land end face.
A kind of redundancy four-degree-of-freedom Municipal greenbelt the most according to claim 1 builds intelligent robot, its feature
Being: described fixing device includes fixed plate and clamping screw, the T-shaped structure of fixed plate, fixed plate is positioned at stock chest drift angle
Locate, and fixed plate is arranged on stock chest lateral wall by clamping screw.
A kind of redundancy four-degree-of-freedom Municipal greenbelt the most according to claim 1 builds intelligent robot, its feature
It is: described running gear includes lifting stud, jacking sleeve, walking seat, walking rotating shaft and road wheel；Described lifting spiral shell
Being provided with external screw thread on post lateral wall, jacking sleeve is the hollow cylindrical structure of both ends open, and jacking sleeve sets on medial wall
The female thread that the external screw thread being equipped with and lift on stud lateral wall matches, lifting stud lower end is arranged on inside jacking sleeve,
Jacking sleeve lower end is fixed on walking seat, and walking seat is in the U-shape structure stood upside down, and road wheel is arranged on walking by walking rotating shaft
Seat lower position, road wheel is I-shaped structure.
A kind of redundancy four-degree-of-freedom Municipal greenbelt the most according to claim 1 builds intelligent robot, its feature
It is: the second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, second connects post and the
Two vibrating springs；The second described ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
Employing rotational pin is attached, and the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge is by the second connection
Post is fixed on the lower surface of moving platform, and the second vibrating spring is around being enclosed within the second electric pushrod.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560470.2A CN106150096B (en) | 2016-07-14 | 2016-07-14 | A kind of redundancy four-degree-of-freedom Municipal greenbelt construction intelligent robot |
| CN201810310552.0A CN108571007A (en) | 2016-07-14 | 2016-07-14 | A kind of greenbelt construction robot |
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| CN201610560470.2A CN106150096B (en) | 2016-07-14 | 2016-07-14 | A kind of redundancy four-degree-of-freedom Municipal greenbelt construction intelligent robot |
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| CN106150096A true CN106150096A (en) | 2016-11-23 |
| CN106150096B CN106150096B (en) | 2018-08-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107711198A (en) * | 2017-11-24 | 2018-02-23 | 广西宝树金花茶有限公司 | A kind of quickly breeding device for being used for precious tree golden camellia |
| CN108316242A (en) * | 2018-01-10 | 2018-07-24 | 金华美诺机电有限公司 | A kind of automation environmental protection construction equipment |
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| CN102359275A (en) * | 2011-09-30 | 2012-02-22 | 石家庄铁道大学 | Concrete pouring fast construction method |
| CN102359276A (en) * | 2011-09-30 | 2012-02-22 | 石家庄铁道大学 | Concrete pouring fast construction method |
| CN103643618A (en) * | 2013-12-24 | 2014-03-19 | 江苏华通动力重工有限公司（中外合资） | High speed railway supporting layer corner finishing template |
| CN104911980A (en) * | 2015-06-01 | 2015-09-16 | 济南城建集团有限公司 | Concrete pavement casting vibration device and construction method thereof |
| US20160083914A1 (en) * | 2014-01-15 | 2016-03-24 | Shaw & Sons, Inc. | Concrete dowel system |
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- 2016-07-14 CN CN201810310552.0A patent/CN108571007A/en not_active Withdrawn
- 2016-07-14 CN CN201610560470.2A patent/CN106150096B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102359275A (en) * | 2011-09-30 | 2012-02-22 | 石家庄铁道大学 | Concrete pouring fast construction method |
| CN102359276A (en) * | 2011-09-30 | 2012-02-22 | 石家庄铁道大学 | Concrete pouring fast construction method |
| CN103643618A (en) * | 2013-12-24 | 2014-03-19 | 江苏华通动力重工有限公司（中外合资） | High speed railway supporting layer corner finishing template |
| US20160083914A1 (en) * | 2014-01-15 | 2016-03-24 | Shaw & Sons, Inc. | Concrete dowel system |
| CN104911980A (en) * | 2015-06-01 | 2015-09-16 | 济南城建集团有限公司 | Concrete pavement casting vibration device and construction method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107711198A (en) * | 2017-11-24 | 2018-02-23 | 广西宝树金花茶有限公司 | A kind of quickly breeding device for being used for precious tree golden camellia |
| CN108316242A (en) * | 2018-01-10 | 2018-07-24 | 金华美诺机电有限公司 | A kind of automation environmental protection construction equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108571007A (en) | 2018-09-25 |
| CN106150096B (en) | 2018-08-17 |
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