CN108560376B - Masonry robot - Google Patents
Masonry robot Download PDFInfo
- Publication number
- CN108560376B CN108560376B CN201810312750.0A CN201810312750A CN108560376B CN 108560376 B CN108560376 B CN 108560376B CN 201810312750 A CN201810312750 A CN 201810312750A CN 108560376 B CN108560376 B CN 108560376B
- Authority
- CN
- China
- Prior art keywords
- storage tank
- seat
- stirring
- walking
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/50—Removable forms or shutterings for road-building purposes; Devices or arrangements for forming individual paving elements, e.g. kerbs, in situ
- E01C19/508—Devices or arrangements for forming individual paving elements in situ, e.g. by sectioning a freshly-laid slab
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/50—Removable forms or shutterings for road-building purposes; Devices or arrangements for forming individual paving elements, e.g. kerbs, in situ
- E01C19/502—Removable forms or shutterings, e.g. side forms; Removable supporting or anchoring means therefor, e.g. stakes
- E01C19/506—Removable forms or shutterings, e.g. side forms; Removable supporting or anchoring means therefor, e.g. stakes for kerbs, gutters or similar structures, e.g. raised portions, median barriers
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Structures (AREA)
- Road Paving Machines (AREA)
Abstract
The invention relates to a masonry robot which comprises a storage tank, a stirring device, an adjustable discharging device, six-degree-of-freedom parallel vibrating tables, a fixing device, a traveling device and a track, wherein the stirring device is positioned inside the storage tank, the adjustable discharging device is positioned right below a square leak at the middle position of the lower end of the storage tank, the six-degree-of-freedom parallel vibrating tables are respectively positioned at four vertex angles of the storage tank, the six-degree-of-freedom parallel vibrating tables are installed on the outer side wall of the storage tank through the fixing device, the number of the traveling devices is four, the traveling device is positioned right below the six-degree-of-freedom parallel vibrating tables, the upper ends of the traveling devices are connected with the lower ends of the six-degree-of. The invention integrates the functions of secondary concrete stirring, vibration mixing, adjustable discharging and automatic walking, has multiple functions, has high mechanical intelligence degree, and effectively improves the efficiency and the quality of the edgewise building of the road.
Description
The application is a divisional application of a patent with the application number of 2016105511981 and the application date of 2016, 07 and 14, and the invention creates a patent named as an intelligent robot for building a track type road along a side.
Technical Field
The invention relates to the field of intelligent road and bridge construction equipment, in particular to a rail type intelligent robot for edge building of roads.
Background
The road is generally a general name of various roads for land transportation service, passing various motor vehicles, man-powered vehicles, carrying livestock and pedestrians; the roads are divided into urban roads, highways, industrial and mining roads, rural roads, forest roads and the like according to the use properties, and the urban expressway and expressway are special roads for automobiles with controlled traffic access and high-speed driving; in recent years, with the rapid development of social economy and science and technology, the traffic industry in China has also been developed unprecedentedly, roads are used as infrastructure projects of the traffic industry, the current national traffic roads are all-around, newly-increased construction and ordinary maintenance work of the traffic roads are increasingly frequent every year, the traffic road construction comprises road surfaces, road beds, road edges, traffic signs and the like, the road edges are that strip-shaped bases are built on the left side and the right side of the roads, the road edges play a role in limiting the width of the roads on one hand, and pedestrians or livestock are prevented from entering the roads, so that the normal operation of the traffic is hindered, and on the other hand, when a traffic accident occurs, vehicles can be effectively prevented from rushing out of the roads, so that the interception effect is achieved, and the severity and the hazard of the traffic safety accident are reduced; at present, the construction of road edges is mainly formed by artificial masonry of concrete, and the following problems mainly exist:
(1) a large amount of labor is occupied, and the labor intensity is high;
(2) the construction of the road edge generally comprises the steps of firstly stirring concrete in a stirring station, then transporting the concrete to a construction site through a transport vehicle, and then manually pouring, wherein the time consumption in the middle is long, the stirred concrete is easy to slag and agglomerate, and the concrete is inconvenient to stir again before pouring, so that the pouring quality of the edge is seriously influenced;
(3) when the edge is built, the edge is manually filled, the filling amount and the filling speed are not easy to control, and the building is not flat or uneven;
(4) the intelligent degree of road edgewise construction equipment is low, and the functionalization is single, and work efficiency is low, and construction cost is high.
In view of the defects, the invention provides the track type intelligent robot for the edgewise masonry of the road.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides a track type intelligent robot for building the border of a road.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
An intelligent robot for building a rail-type road along a side comprises a storage tank, a stirring device, an adjustable discharging device, a six-degree-of-freedom parallel vibration table, a fixing device, a walking device and a rail; the storage tank is of a cross-shaped shell structure, the upper end of the storage tank is open, the left side and the right side of the lower end of the storage tank are provided with inclined bottom plates, the inclined bottom plates are beneficial to discharging concrete in the storage tank through square leakage openings, and the middle position of the lower end of the storage tank is provided with the square leakage openings; the stirring device is positioned in the storage tank, the number of the adjustable discharging devices is two, the adjustable discharging devices are positioned right below the square leak at the middle position of the lower end of the storage tank, and the adjustable discharging devices are respectively and symmetrically arranged along the longitudinal central axis of the storage tank; the six-degree-of-freedom parallel connection vibration tables are respectively positioned at four vertex angles of the storage tank, and are arranged on the outer side wall of the storage tank through a fixing device; the number of the traveling devices is four, the traveling devices are located right below the six-degree-of-freedom parallel vibrating table, the upper end of each traveling device is connected with the lower end of the six-degree-of-freedom parallel vibrating table, and the lower end of each traveling device is installed on the track.
Further, the stirring device comprises a stirring shaft, a stirring hook claw, a bearing with a seat, a rotating motor and a motor bracket; the stirring shaft is positioned in the storage tank, two ends of the stirring shaft are respectively fixed on the front side wall and the rear side wall of the storage tank through belt seat bearings, the stirring hook claws are sequentially and linearly arranged on the stirring shaft, the middle parts of the stirring hook claws are provided with snap rings matched with the stirring shaft, arc-shaped stirring teeth are uniformly arranged on the outer sides of the stirring hook claws along the central axis of the stirring hook claws, a main shaft of a rotating motor is connected with one end of the stirring shaft, the rotating motor is fixed on the outer side wall of the front end of the storage tank through a motor support, the front end of the motor support is provided with a fixing ring matched with the rotating motor; the rotation through rotating electrical machines drives the rotation of (mixing) shaft to drive the rotation of stirring hook claw in the stock chest, reached and carried out the function of secondary stirring to the concrete that stores in the stock chest, prevented that the concrete from lasting the easy slagging scorification caking problem of back a period, improved the quality that road border was built by laying bricks or stones to a certain extent.
Further, the six-degree-of-freedom parallel vibrating table comprises a fixed platform, a movable platform, a lower triangular seat, an upper triangular seat, a ball hinge, a sleeve, a telescopic rod and a limiting spring, wherein the number of the lower triangular seat and the upper triangular seat is three, the number of the ball hinge, the sleeve and the limiting spring is twelve, and the number of the telescopic rod is six; the lower triangular seats are arranged on the upper end surface of the fixed platform and are arranged in regular triangle positions on the fixed platform, the upper triangular seats are arranged on the lower end surface of the movable platform, the mounting positions between the upper triangular seats and the lower triangular seats are staggered in pairs, the lower triangular seats are in regular triangle cylinder structures, the lower triangular seats are respectively and symmetrically provided with inclined planes along the vertical center line of the lower triangular seats, mounting threaded holes matched with external threads at the lower ends of the ball hinges are formed in the inclined planes, and the structures of the upper triangular seats are the same as those of the lower triangular seats; the ball hinge is respectively arranged on the lower triangular seat and the upper triangular seat, one end of the sleeve is connected with the ball hinge, the other end of the sleeve is connected with the telescopic rod, the limiting spring is wound on the telescopic rod in a sleeved mode, the telescopic rod is a bidirectional telescopic rod, and the telescopic rod is an electric push rod, a pneumatic push rod or a hydraulic rod; the six-freedom-degree parallel vibration table adopts a 6-SPS Stewart parallel mechanism, has high rigidity, stable structure, strong bearing capacity and high micro-motion precision compared with a serial mechanism, can carry out three-translation and three-rotation motions in six freedom directions in space, has small motion space, high motion speed and good motion flexibility, drives the whole storage tank to carry out three-translation and three-rotation motions in six freedom directions in space by the six-freedom-degree parallel vibration table, applies the characteristics of high motion flexibility and strong bearing capacity of the six-freedom-degree parallel mechanism to the invention, ensures that the invention can stir concrete, the effect of uniform secondary mixing of concrete is improved by the vibration mixing principle, and smooth stability and quality improvement of the edgewise building of the road are facilitated; meanwhile, the speed of the vibration frequency determines the discharging speed of the invention.
Furthermore, the adjustable discharging device comprises a discharging door, a rotating hinge, a first lug seat, a first rotating shaft, a discharging telescopic rod, a second lug seat, a second rotating shaft and a supporting rod; the discharging door is of an inverted U-shaped structure, the front end and the rear end of the discharging door are clamped and sleeved on the front outer side wall and the rear outer side wall of the storage tank, the discharging door is connected with the outer side walls of the storage tank through a rotating hinge, the first lug seat is installed at the middle position of the bottom end face of the discharging door, the front end of the discharging telescopic rod is installed on the first lug seat through a first rotating shaft, the rear end of the discharging telescopic rod is connected with the second lug seat through a second rotating shaft, the second lug seat is fixed at the top end of a supporting rod, and the bottom end of the supporting rod is; the adjustable discharging device is mainly used for adjusting the discharging amount during discharging.
Further, fixing device include fixed plate and locking bolt, the fixed plate is T type structure, the fixed plate is located storage tank apex angle department, and the fixed plate passes through locking bolt to be installed on the storage tank lateral wall.
Furthermore, the walking device comprises a lifting stud, a lifting sleeve, a walking seat, a walking rotating shaft and a walking wheel; the outer side wall of the lifting stud is provided with external threads, the lifting sleeve is of a hollow cylindrical structure with openings at two ends, the inner side wall of the lifting sleeve is provided with internal threads matched with the external threads on the outer side wall of the lifting stud, the lower end of the lifting stud is installed inside the lifting sleeve, the lower end of the lifting sleeve is fixed on the walking seat, the walking seat is of an inverted U-shaped structure, the walking wheel is installed at the position below the walking seat through a walking rotating shaft, and the walking wheel is of an I-shaped structure; the lifting stud is driven to move up and down in the lifting sleeve by rotating the lifting stud, so that the whole height of the lifting stud can be adjusted, the building of road edges with different heights is facilitated, the width of the road edge is determined when the lifting stud is used, the tracks are laid on the left side and the right side of the road edge to be built in advance, the walking wheels are placed on the tracks, the effect of discharging and building while walking can be achieved, the degree of mechanization is high, and the building efficiency of the road edge is improved.
Compared with the prior art, the invention has the following advantages:
(1) the invention integrates the functions of secondary concrete stirring, vibration mixing, adjustable discharging and automatic walking, has multiple functions, has high mechanical intelligence degree, and effectively improves the efficiency and the quality of the edgewise building of the road.
(2) The stirring device can be used for stirring the concrete for the second time, so that the problem that the concrete is easy to slag and agglomerate after a period of time.
(3) The opening angle of the adjustable discharging device is adjustable, so that the discharging amount of the adjustable discharging device can be adjusted when the edge of a road is built.
(4) The Stewart parallel mechanism of the 6-SPS is applied to a six-freedom-degree parallel vibrating table, the whole storage tank can be driven to move in six freedom-degree directions in three translations and three rotations in space, and the characteristics of high movement flexibility and strong bearing capacity of the Stewart parallel mechanism of the 6-SPS are fully utilized, so that the concrete is stirred, the uniform secondary mixing effect of the concrete is improved by the vibration mixing principle, and the smooth stability and the quality of the building along the road are favorably improved; meanwhile, the speed of the vibration frequency determines the discharging speed of the invention.
(5) The walking device can adjust the overall height of the invention, is convenient for building the road edges with different heights, can realize the effect of discharging and building while walking, has high degree of mechanization and improves the building efficiency of the road edges.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention with the running gear and track removed;
FIG. 3 is a schematic perspective view (from top to bottom) of a material storage tank, a stirring device and an adjustable discharging device of the present invention;
FIG. 4 is a schematic perspective view (from bottom to top) of a material storage tank, a stirring device and an adjustable discharging device of the present invention;
FIG. 5 is a schematic perspective view of a stirring device of the present invention;
FIG. 6 is a schematic perspective view of a six-DOF parallel vibrating table according to the present invention; FIG. 7 is a schematic perspective view of the walking device of the present invention;
fig. 8 is a schematic perspective view of the running gear of the present invention engaged with a rail.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
As shown in fig. 1 to 8, the rail-mounted intelligent robot for the roadside masonry of the road comprises a storage tank 1, a stirring device 2, an adjustable discharging device 3, a six-degree-of-freedom parallel vibration table 4, a fixing device 5, a walking device 6 and a rail 7; the storage tank 1 is of a cross-shaped shell structure, the upper end of the storage tank 1 is open, the left side and the right side of the lower end of the storage tank 1 are provided with inclined bottom plates, the inclined bottom plates are beneficial to discharging concrete in the storage tank 1 through square leakage openings, and the middle position of the lower end of the storage tank 1 is provided with the square leakage openings; the stirring device 2 is positioned in the storage tank 1, the number of the adjustable discharging devices 3 is two, the adjustable discharging devices 3 are positioned right below a square leak at the middle position of the lower end of the storage tank 1, and the adjustable discharging devices 3 are respectively and symmetrically arranged along the longitudinal central axis of the storage tank 1; the number of the six-degree-of-freedom parallel vibration tables 4 is four, the six-degree-of-freedom parallel vibration tables 4 are respectively positioned at four vertex angles of the stock chest 1, and the six-degree-of-freedom parallel vibration tables 4 are arranged on the outer side wall of the stock chest 1 through a fixing device 5; the number of the traveling devices 6 is four, the traveling devices 6 are located right below the six-degree-of-freedom parallel vibration table 4, the upper end of each traveling device 6 is connected with the lower end of the six-degree-of-freedom parallel vibration table 4, and the lower end of each traveling device 6 is installed on the track 7.
As shown in fig. 5, the stirring device 2 includes a stirring shaft 21, a stirring claw 22, a bearing with a seat 23, a rotating motor 24 and a motor bracket 25; the stirring shaft 21 is positioned in the storage tank 1, two ends of the stirring shaft 21 are respectively fixed on the front side wall and the rear side wall of the storage tank 1 through a bearing with a seat 23, the stirring hook claws 22 are sequentially and linearly arranged on the stirring shaft 21, the middle parts of the stirring hook claws 22 are provided with snap rings matched with the stirring shaft 21, the outer sides of the stirring hook claws 22 are uniformly provided with arc-shaped stirring teeth along the central axis of the stirring hook claws 22, the main shaft of a rotating motor 24 is connected with one end of the stirring shaft 21, the rotating motor 24 is fixed on the outer side wall of the front end of the storage tank 1 through a motor support 25, the front end of the motor support 25 is provided with a fixed ring matched with the rotating motor; the rotation through rotating electrical machines 24 drives the rotation of (mixing) shaft 21 to drive the rotation of stirring hook 22 in stock chest 1, reached and carried out the function that the secondary stirred to the concrete of storing in the stock chest 1, prevented that the concrete from lasting the easy slagging scorification caking problem of back a period, improved the quality that road border was built by laying bricks or stones to a certain extent.
As shown in fig. 6, the six-degree-of-freedom parallel vibration table 4 includes a fixed platform 41, a movable platform 42, a lower triangular seat 43, an upper triangular seat 44, a ball hinge 45, a sleeve 46, an expansion link 47 and a limit spring 48, wherein the number of the lower triangular seat 43 and the upper triangular seat 44 is three, the number of the ball hinge 45, the number of the sleeve 46 and the number of the limit spring 48 are twelve, and the number of the expansion link 47 is six; the fixed platform 41 and the movable platform 42 are both in a circular structure, the lower triangular seats 43 are arranged on the upper end face of the fixed platform 41, the lower triangular seats 43 are arranged on the fixed platform 41 in a regular triangle position, the upper triangular seats 44 are arranged on the lower end face of the movable platform 42, the mounting positions between the upper triangular seats 44 and the lower triangular seats 43 are staggered in pairs, the lower triangular seats 43 are in a regular triangle cylinder structure, the lower triangular seats 43 are respectively and symmetrically provided with inclined faces along the vertical center line thereof, the inclined faces are provided with mounting threaded holes matched with the external threads at the lower end of the ball hinge 45, and the structure of the upper triangular seats 44 is the same as that of the lower triangular seats 43; the ball hinge 45 is respectively arranged on the lower triangular seat 43 and the upper triangular seat 44, one end of the sleeve 46 is connected with the ball hinge 45, the other end of the sleeve 46 is connected with the telescopic rod 47, the limiting spring 48 is wound on the telescopic rod 47, the telescopic rod 47 is a bidirectional telescopic rod, and the telescopic rod 47 is an electric push rod, a pneumatic push rod or a hydraulic rod; the up-and-down bidirectional telescopic motion of the telescopic rod 47 drives the up-and-down reciprocating motion of the movable platform 42, the jitter property of the movable platform 42 is increased through the limit spring 48, the vibration effect of the six-degree-of-freedom parallel vibration table 4 is improved, the six-degree-of-freedom parallel vibration table 4 adopts a 6-SPS Stewart parallel mechanism, compared with a serial mechanism, the six-degree-of-freedom parallel vibration table has the advantages of large rigidity, stable structure, strong bearing capacity and high fine motion precision, the six-degree-of-freedom parallel vibration table 4 can carry out three-translation three-rotation motion in six-degree-of-freedom directions in space, the motion space is small, the motion speed is high, and the motion flexibility is good, in the invention, the whole material storage tank 1 is driven by the six-degree-of-freedom parallel vibration table 4 to carry out three-translation three-rotation motion in six-degree-of-, the invention can increase the effect of uniform secondary mixing of concrete by the vibration mixing principle while stirring the concrete, thereby being beneficial to the smooth stability and quality improvement of the edgewise building of the road; meanwhile, the speed of the vibration frequency determines the discharging speed of the invention.
As shown in fig. 4, the adjustable discharging device 3 includes a discharging door 31, a rotating hinge 32, a first ear seat 33, a first rotating shaft 34, a discharging telescopic rod 35, a second ear seat 36, a second rotating shaft 37 and a supporting rod 38; the discharge door 31 is of an inverted U-shaped structure, the front end and the rear end of the discharge door 31 are clamped and sleeved on the front outer side wall and the rear outer side wall of the storage tank 1, the discharge door 31 is connected with the outer side walls of the storage tank 1 through a rotating hinge 32, the first lug seat 33 is installed in the middle of the bottom end face of the discharge door 31, the front end of the discharge telescopic rod 35 is installed on the first lug seat 33 through a first rotating shaft 34, the rear end of the discharge telescopic rod 35 is connected with a second lug seat 36 through a second rotating shaft 37, the second lug seat 36 is fixed at the top end of the supporting rod 38, and the bottom end of the supporting rod 38 is fixed; the extension and contraction of the discharging telescopic rod 35 drives the discharging door 31 to be closed and opened, the length of the discharging telescopic rod 35 directly determines the opening angle of the discharging door 31, so that the discharging amount of the discharging device is determined, and the adjustable discharging device 3 is mainly used for adjusting the discharging amount during discharging.
As shown in fig. 2, the fixing device 5 includes a fixing plate 51 and a locking bolt 52, the fixing plate 51 is of a T-shaped structure, the fixing plate 51 is located at a top corner of the storage tank 1, and the fixing plate 51 is mounted on an outer side wall of the storage tank 1 through the locking bolt 52.
As shown in fig. 7 and 8, the walking device 6 includes a lifting stud 61, a lifting sleeve 62, a walking base 63, a walking shaft 64 and a walking wheel 65; the outer side wall of the lifting stud 61 is provided with external threads, the lifting sleeve 62 is of a hollow cylindrical structure with openings at two ends, the inner side wall of the lifting sleeve 62 is provided with internal threads matched with the external threads on the outer side wall of the lifting stud 61, the lower end of the lifting stud 61 is installed inside the lifting sleeve 62, the lower end of the lifting sleeve 62 is fixed on the walking seat 63, the walking seat 63 is of an inverted U-shaped structure, the walking wheel 65 is installed at a position below the walking seat 63 through a walking rotating shaft 64, and the walking wheel 65 is of an I-shaped structure; the lifting stud 61 is driven to move up and down in the lifting sleeve 62 by rotating the lifting stud 61, so that the whole height of the device is adjusted, the building of road edges with different heights is facilitated, the width of the road edges is determined when the device is used, the rails 7 are laid on the left side and the right side of the road edges to be built in advance, the walking wheels 65 are placed on the rails 7, the effect of discharging and building while walking can be achieved, the mechanical degree is high, and the building efficiency of the road edges is improved.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A masonry robot is characterized in that: comprises a storage tank, a stirring device, an adjustable discharging device, a six-degree-of-freedom parallel vibration table, a walking device and a track; the upper end of the storage tank is open, the left side and the right side of the lower end of the storage tank are provided with inclined bottom plates, and the middle position of the lower end of the storage tank is provided with a leakage opening; the stirring device is positioned above the leakage opening, the number of the adjustable discharging devices is two, the adjustable discharging devices are positioned under the leakage opening, and the adjustable discharging devices are respectively and symmetrically arranged along the longitudinal central axis of the storage tank; the six-degree-of-freedom parallel vibrating tables are four in number, the six-degree-of-freedom parallel vibrating tables are respectively positioned at four vertex angles of the storage tank, and the six-degree-of-freedom parallel vibrating tables are arranged on the storage tank; the number of the walking devices is four, the walking devices are positioned under the six-degree-of-freedom parallel vibration table, the upper end of each walking device is connected with the lower end of the six-degree-of-freedom parallel vibration table, and the lower end of each walking device is arranged on the track;
the six-degree-of-freedom parallel vibration table comprises a fixed platform, a movable platform, a lower triangular seat, an upper triangular seat, a spherical hinge, a sleeve, a telescopic rod and a limiting spring, wherein the number of the lower triangular seat and the upper triangular seat is three, the number of the spherical hinge, the sleeve and the limiting spring is twelve, and the number of the telescopic rod is six; the fixed platform and the movable platform are both in circular structures, the lower triangular seats are arranged on the upper end surface of the fixed platform and are arranged in regular triangle positions on the fixed platform, the upper triangular seats are arranged on the lower end surface of the movable platform, and the mounting positions between the upper triangular seats and the lower triangular seats are staggered in pairs; the ball hinge is respectively arranged on the lower triangular seat and the upper triangular seat, one end of the sleeve is connected with the ball hinge, the other end of the sleeve is connected with the telescopic rod, the limiting spring is wound on the telescopic rod in a sleeved mode, the telescopic rod is a bidirectional telescopic rod, and the telescopic rod is an electric push rod, a pneumatic push rod or a hydraulic rod;
the adjustable discharging device comprises a discharging door, a rotating hinge, a first lug seat, a first rotating shaft, a discharging telescopic rod, a second lug seat, a second rotating shaft and a supporting rod; the discharging door is of an inverted U-shaped structure, the front end and the rear end of the discharging door are clamped and sleeved on the front outer side wall and the rear outer side wall of the storage tank, the discharging door is connected with the outer side walls of the storage tank through a rotating hinge, the first lug seat is installed at the middle position of the bottom end face of the discharging door, the front end of the discharging telescopic rod is installed on the first lug seat through a first rotating shaft, the rear end of the discharging telescopic rod is connected with the second lug seat through a second rotating shaft, the second lug seat is fixed at the top end of a supporting rod, and the bottom end of the supporting rod is;
the stirring device comprises a stirring shaft, a stirring claw, a bearing with a seat, a rotating motor and a motor bracket; the stirring shaft is positioned in the storage tank, two ends of the stirring shaft are respectively fixed on the front side wall and the rear side wall of the storage tank through bearings with seats, the stirring hook claw is arranged on the stirring shaft, a main shaft of a rotating motor is connected with one end of the stirring shaft, the rotating motor is fixed on the outer side wall of the front end of the storage tank through a motor support, the front end of the motor support is provided with a fixing ring matched with the rotating motor, and the rear end of the motor support is uniformly provided with locking columns; the walking device comprises a lifting stud, a lifting sleeve, a walking seat, a walking rotating shaft and a walking wheel; the lifting stud outer side wall on be provided with the external screw thread, the lifting sleeve is both ends open-ended hollow cylinder structure, be provided with on the lifting sleeve inside wall with the lifting stud lateral wall on external screw thread matched with internal thread, the lifting stud lower extreme is installed inside the lifting sleeve, the lifting sleeve lower extreme is fixed on the walking seat, the walking seat is the U type structure of standing upside down, the walking wheel is installed in walking seat below position department through the walking pivot, the walking wheel is the I type structure.
2. A masonry robot according to claim 1, characterised in that: the storage tank is of a cross-shaped shell structure, and a leak opening formed in the middle of the lower end of the storage tank is square.
3. A masonry robot according to claim 1, characterised in that: the masonry robot further comprises a fixing device, and the six-degree-of-freedom parallel vibration table is installed on the outer side wall of the storage tank through the fixing device.
4. A masonry robot according to claim 1, characterised in that: the stirring colludes the claw and is the sharp setting on the (mixing) shaft in proper order, and the stirring colludes the claw middle part be provided with (mixing) shaft matched with snap ring, the stirring colludes the claw outside and evenly is provided with arc form stirring tooth along the central axis of stirring colluding the claw.
5. A masonry robot according to claim 3, characterised in that: fixing device include fixed plate and locking bolt, the fixed plate is T type structure, the fixed plate is located storage tank apex angle department, and the fixed plate passes through the locking bolt to be installed on the storage tank lateral wall.
6. A masonry robot according to claim 1, characterised in that: the lower triangular seat is of a regular triangular cylinder structure, inclined planes are symmetrically arranged on the lower triangular seat along the vertical center line of the lower triangular seat, mounting threaded holes matched with the external threads at the lower end of the ball hinge are formed in the inclined planes, and the structure of the upper triangular seat is the same as that of the lower triangular seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312750.0A CN108560376B (en) | 2016-07-14 | 2016-07-14 | Masonry robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312750.0A CN108560376B (en) | 2016-07-14 | 2016-07-14 | Masonry robot |
| CN201610551198.1A CN106120518B (en) | 2016-07-14 | 2016-07-14 | A kind of strip road builds intelligent robot by laying bricks or stones along side |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610551198.1A Division CN106120518B (en) | 2016-07-14 | 2016-07-14 | A kind of strip road builds intelligent robot by laying bricks or stones along side |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108560376A CN108560376A (en) | 2018-09-21 |
| CN108560376B true CN108560376B (en) | 2020-12-08 |
Family
ID=57283187
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810312750.0A Active CN108560376B (en) | 2016-07-14 | 2016-07-14 | Masonry robot |
| CN201610551198.1A Active CN106120518B (en) | 2016-07-14 | 2016-07-14 | A kind of strip road builds intelligent robot by laying bricks or stones along side |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610551198.1A Active CN106120518B (en) | 2016-07-14 | 2016-07-14 | A kind of strip road builds intelligent robot by laying bricks or stones along side |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108560376B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108917847B (en) * | 2018-07-29 | 2020-09-04 | 合肥市智信汽车科技有限公司 | Detection device for vulnerable road and use method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2527586Y (en) * | 2002-01-31 | 2002-12-25 | 雷新宇 | Small type asphalt breakstone blending machine |
| CN201291125Y (en) * | 2008-10-28 | 2009-08-19 | 潘宏伟 | Electromagnetic induction heating type stirrer |
| CN202460569U (en) * | 2012-03-21 | 2012-10-03 | 张家港万兴塑料制品有限公司 | Improved mixer |
| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN103741574A (en) * | 2014-01-24 | 2014-04-23 | 长安大学 | Concrete pavement paving device and method based on weaving mechanism |
| CN103921353A (en) * | 2014-04-29 | 2014-07-16 | 安徽兴宇轨道装备有限公司 | Orbit concrete mixer with mobile feeding device |
| CN104608246A (en) * | 2015-02-15 | 2015-05-13 | 长安大学 | Intermittent stirrer and intermittent stirring method |
| CN204585557U (en) * | 2015-05-06 | 2015-08-26 | 李远居 | A kind of Vibreting concrete mixer |
| CN204819929U (en) * | 2015-07-13 | 2015-12-02 | 皖西学院 | High -efficient mixer is used in construction |
| CN205380784U (en) * | 2015-12-28 | 2016-07-13 | 广西盛鸿混凝土有限公司 | Novel concrete mixing equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102359276B (en) * | 2011-09-30 | 2013-06-12 | 石家庄铁道大学 | Concrete pouring fast construction method |
| CN102359275B (en) * | 2011-09-30 | 2013-06-12 | 石家庄铁道大学 | Concrete pouring fast construction method |
| CN103643618B (en) * | 2013-12-24 | 2016-05-25 | 江苏华通动力重工有限公司（中外合资） | High-speed railway supporting course corner troweling template |
| US20150197898A1 (en) * | 2014-01-15 | 2015-07-16 | 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 |
-
2016
- 2016-07-14 CN CN201810312750.0A patent/CN108560376B/en active Active
- 2016-07-14 CN CN201610551198.1A patent/CN106120518B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2527586Y (en) * | 2002-01-31 | 2002-12-25 | 雷新宇 | Small type asphalt breakstone blending machine |
| CN201291125Y (en) * | 2008-10-28 | 2009-08-19 | 潘宏伟 | Electromagnetic induction heating type stirrer |
| CN202460569U (en) * | 2012-03-21 | 2012-10-03 | 张家港万兴塑料制品有限公司 | Improved mixer |
| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN103741574A (en) * | 2014-01-24 | 2014-04-23 | 长安大学 | Concrete pavement paving device and method based on weaving mechanism |
| CN103921353A (en) * | 2014-04-29 | 2014-07-16 | 安徽兴宇轨道装备有限公司 | Orbit concrete mixer with mobile feeding device |
| CN104608246A (en) * | 2015-02-15 | 2015-05-13 | 长安大学 | Intermittent stirrer and intermittent stirring method |
| CN204585557U (en) * | 2015-05-06 | 2015-08-26 | 李远居 | A kind of Vibreting concrete mixer |
| CN204819929U (en) * | 2015-07-13 | 2015-12-02 | 皖西学院 | High -efficient mixer is used in construction |
| CN205380784U (en) * | 2015-12-28 | 2016-07-13 | 广西盛鸿混凝土有限公司 | Novel concrete mixing equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106120518A (en) | 2016-11-16 |
| CN106120518B (en) | 2018-06-12 |
| CN108560376A (en) | 2018-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112878690A (en) | A vibration device for floor concrete construction | |
| CN106835909B (en) | Support type walking device and integral rotation method thereof | |
| CN108560376B (en) | Masonry robot | |
| CN106012774B (en) | A kind of road based on hybrid connected structure builds intelligent robot by laying bricks or stones along side | |
| CN212956202U (en) | Warning device for construction | |
| CN204023370U (en) | T-shaped three crawler belt slip form pavers | |
| CN106149485B (en) | A kind of railroad rail immobilizing foundation builds intelligent robot | |
| CN209538067U (en) | Novel roadblock projects warning system | |
| CN106003419B (en) | It is a kind of that intelligent robot batch mixer is built by laying bricks or stones along side based on the road of hybrid connected structure | |
| CN207972130U (en) | A kind of adjustable road construction cement mixer | |
| CN211645797U (en) | Urban rail transit complete construction equipment | |
| CN106426559B (en) | A kind of road builds the special multi-dimensional vibration of robot by laying bricks or stones along side and builds device by laying bricks or stones | |
| CN212249253U (en) | A vibration device for floor concrete construction | |
| CN211699215U (en) | Signal lamp equipment for transportation | |
| CN108729376B (en) | Height limiting equipment suitable for roads and bridges | |
| CN106192609B (en) | A kind of railroad rail immobilizing foundation builds intelligent robot vibration mixing device | |
| CN109972462B (en) | Multi-dimensional fine adjustment mechanism for prefabricated ballast bed plate | |
| CN207131420U (en) | A kind of inverted arch fills the improved equipment for leveling of vibrating | |
| CN214996097U (en) | Vibrating beam for concrete production | |
| CN220265055U (en) | Hoisting structure for highway construction | |
| CN216041157U (en) | Movable belt-carrying walking pile driver | |
| CN214245463U (en) | Warning device for expressway construction site | |
| CN221167329U (en) | Water stable base leveling device | |
| CN219731607U (en) | Concrete crushing separator | |
| CN215520012U (en) | Subway station super large area apron roughness controlgear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201124 Address after: 314000 room 307, meihuazhou economic headquarters building, No.3 Sanxing Road, Fengqiao town, Nanhu District, Jiaxing City, Zhejiang Province Applicant after: JIAXING JINHUI CONSTRUCTION Co.,Ltd. Address before: 363999 Room 211, Building 2, Dongsheng Garden, Longwen District, Zhangzhou City, Fujian Province Applicant before: ZHANGZHOU LONGWEN XINCHUANGYOU INDUSTRIAL DESIGN Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |