CN108571007A - A kind of greenbelt construction robot - Google Patents
A kind of greenbelt construction robot Download PDFInfo
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- CN108571007A CN108571007A CN201810310552.0A CN201810310552A CN108571007A CN 108571007 A CN108571007 A CN 108571007A CN 201810310552 A CN201810310552 A CN 201810310552A CN 108571007 A CN108571007 A CN 108571007A
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- stock chest
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- redundancy
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- 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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- 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
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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
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Paleontology (AREA)
- General Engineering & Computer Science (AREA)
- Toys (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The present invention relates to a kind of greenbelts to build robot, including stock chest, agitating device, adjustable discharge device, redundancy four-degree-of-freedom shake table, fixing device, running gear and track, agitating device is located inside stock chest, adjustable discharge device is located at immediately below the rectangular leak at the medium position of stock chest lower end, redundancy four-degree-of-freedom shake table is located at four vertex of stock chest, and redundancy four-degree-of-freedom shake table is mounted on by fixing device on stock chest lateral wall；Running gear is located at immediately below redundancy four-degree-of-freedom shake table, and running gear upper end is connected with redundancy four-degree-of-freedom shake table lower end, and the installation of running gear lower end is in orbit.The present invention integrates study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walk, one-machine-multi-function, and mechanical intelligent degree is high, effectively raises efficiency and quality that urban green belts retaining wall pours construction.
Description
The application is application No. is 2016105604702, and the applying date is on 07 14th, 2016, and invention and created name is
A kind of divisional application of the patent of " redundancy four-degree-of-freedom Municipal greenbelt construction intelligent robot ".
Technical field
The present invention relates to Municipal Construction Machinery fields, and specifically a kind of redundancy four-degree-of-freedom Municipal is green
Change band and builds intelligent robot.
Background technology
Urban afforestation is exactly to plant trees in city, plant grass and kind flower, and certain covered ground has either been decorateeed
Come, urban afforestation is serike to improve the activity of urban environment, and urban afforestation is as the reduction group in urban ecological system
It knits, urban ecological system has by external interference and destruction restorable ability, the urban ecology being just known as
The restoring function of system；It is the work due to afforestation ecological environment in city that urban ecological system, which has the main reason for restoring function,
With seeking to make full use of urban afforestation ecological environment that urban ecological system is made to have also the research of urban afforestation ecological environment
Former function can improve life of urban resident environmental quality this critical nature, also influence the fame in a city.Urban afforestation
Band, which is built, typically first sets plantation flower bed shape, is then manually built with concrete masonry units and meets corresponding greenbelt shape
The retaining wall of shape finally fills soil in respective shapes retaining wall and carries out vegetation plantation；It is green that construction city is manually poured at present
Change band retaining wall and is primarily present problems with：
(1) a large amount of labour is occupied, and labor intensity is big；
(2) urban green belts retaining wall manually pour construction be usually first after mixing plant stirs concrete, after pass through
Transport vehicle is transported to construction site, is then manually poured, and centre takes long, the easy slagging knot of concrete after stirring
Block, and be not easy to be again stirring for before pouring, seriously affect the quality of urban green belts construction；
(3) all it is artificial progress filler when urban green belts retaining wall manually pours construction, amount of filler and filler speed are equal
It is not easy to control, it causes to build out-of-flatness or uneven by laying bricks or stones；
(4) urban green belts retaining wall manually pour build construction equipment intelligence degree it is low, functionalization is single, work effect
Rate is low, and construction cost is high.
In view of the above deficiency, the present invention provides a kind of redundancy four-degree-of-freedom Municipal greenbelts to build intelligence machine
People.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of construction of redundancy four-degree-of-freedom Municipal greenbelt
Intelligent robot.
The present invention to be solved its technical problem and be realized using following technical scheme.
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 shake table, fixing device, running gear and track；The stock chest is in cross shell
Body structure, and stock chest upper end opening, the stock chest lower end left and right sides are provided with inclined floor, and inclined floor is conducive to stock chest
Interior concrete is discharged by rectangular leak, and rectangular leak is offered at the medium position of stock chest lower end；The agitating device
Inside stock chest, adjustable discharge device quantity is two, and adjustable discharge device is located at the medium position of stock chest lower end
Rectangular leak immediately below, and adjustable discharge device is symmetrically arranged along stock chest longitudinal center axis；The redundancy
Four-degree-of-freedom shake table quantity is four, and redundancy four-degree-of-freedom shake table is located at four vertex of stock chest, and redundancy four selfs
It is mounted on stock chest lateral wall by fixing device by degree shake table；The running gear quantity is four, running gear position
Immediately below redundancy four-degree-of-freedom shake table, and running gear upper end is connected with redundancy four-degree-of-freedom shake table lower end, walking
Device lower end is mounted in orbit.
Further, the agitating device includes agitating shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；
The agitating shaft is located inside stock chest, and agitating shaft both ends are fixed on by rolling bearing units on stock chest front-rear side walls respectively,
Stirring hooks pawl and is linearly arranged on agitating shaft successively, and stirring hooks to be provided with and the matched snap ring of agitating shaft, stirring in the middle part of pawl
It hooks the central axis on the outside of pawl along stirring hook pawl and is evenly arranged with arc shape stirrer gear, electric rotating machine main shaft and one end of the mixing shaft phase
Connection, and electric rotating machine is fixed on by electric machine support on stock chest front end outer side wall, electric machine support front end is provided with and rotates
The matched fixed ring of motor, electric machine support rear end are evenly arranged with locking post；Agitating shaft is driven by the rotation of electric rotating machine
Rotation, to drive stirring to hook rotation of the pawl in stock chest, reached the concrete stored in stock chest is carried out it is secondary
The function of stirring, it is therefore prevented that concrete is easy the problem of slagging caking after lasting a period of time, improve city to a certain extent
Greenbelt retaining wall manually pours the quality of construction.
The redundancy four-degree-of-freedom shake table includes fixed platform, moving platform, the first branch and the second branch；Described determines
Platform and moving platform are disc-shaped structure, and moving platform is located at right over fixed platform；First branch and the second branch
Quantity be two, the first branch and the second branch are respectively positioned between fixed platform and moving platform, the first branch and the second branch
Both ends are respectively connected with fixed platform and moving platform, and the horizontal installation angle of the first branch and the second branch is 90 degree；Institute
The first branch stated includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the first vibration
Spring；First ear mount is fixed on fixed platform upper surface, using 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 is fixed by the first connecting pole
On the lower face of moving platform, the first vibrating spring is around being sleeved on 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
Branch uses the form of 2-UPS parallel institutions, and jitter when increasing by the first vibrating spring first chain movement, carries
The high effect of batch mixing discharging of the present invention；Second branch includes the second ear mount, rotational pin, the second electric pushrod, second
Spherical hinge, the second connecting pole and the second vibrating spring；Second ear mount is fixed on fixed platform upper surface, the second ear mount with
It being attached using rotational pin between second electric pushrod lower end, the second electric pushrod upper end is connected with the second spherical hinge, the
Two spherical hinges are fixed on by the second connecting pole on the lower face of moving platform, and the second vibrating spring is around being sleeved on the second electric pushrod
On；The rotation that a direction can be carried out by rotational pin can carry out the rotation in three directions by the second spherical hinge, pass through second
Electric pushrod can move up and down, and the second branch uses the form of 2-RPS parallel institutions, and is increased by the second vibrating spring
Jitter when second chain movement improves the effect of batch mixing discharging of the present invention；By fixed platform, moving platform, first
Chain and the second branch constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, energy
Realize the movement for rotating totally four freedom degree directions moved along X-axis and Z axis and around X-axis and around Y-axis, and four degree of freedom are equal
It is independent, by four degree of freedom can also co-ordination, along the curvilinear motion of predetermined space, movement is flat for the moving platform track made
Surely, movement is flexible so that the present invention increases coagulation while being stirred to concrete, also by the principle for vibrating mixed
The effect of native uniform secondary mixing, is conducive to smooth stability and Quality advance that urban green belts build construction by laying bricks or stones；It vibrates simultaneously
The speed of frequency decides the speed that the present invention discharges.
Further, the adjustable discharge device includes discharge door, turning joint, No.1 ear mount, No.1 shaft, discharging
Telescopic rod, No. two ear mounts, No. two shafts and supporting rod；The discharge door is in the U-shaped structure to stand upside down, discharge door rear and front end card
It is sleeved on before and after stock chest on two lateral walls, is attached by turning joint between discharge door and stock chest lateral wall, No.1 ear
Seat is mounted at discharge door bottom face medium position, and discharging telescopic rod front end is mounted on by No.1 shaft in No.1 ear mount, is gone out
The flexible rod rear end of material is connected by No. two shafts with No. two ear mounts, and No. two ear mounts are fixed on supporting bar top, supporting rod bottom end
It is fixed on stock chest bottom face；The closing and unlatching of discharge door, discharging is driven to stretch by the stretching, extension and contraction of the telescopic rod that discharges
The length of contracting bar directly decides the angle that discharge door opens, to decide the load of the invention to discharge, adjustable discharge
Device is mainly used for the adjusting of load when present invention discharging.
Further, the fixing device includes fixed plate and clamping screw, the T-shaped structure of fixed plate, and fixed plate is located at
Stock chest vertex, and fixed plate is mounted on by clamping screw on stock chest lateral wall.
Further, the running gear includes lifting stud, jacking sleeve, walking seat, walking shaft and traveling wheel；Institute
External screw thread is provided on the lifting stud lateral wall stated, jacking sleeve is in the hollow cylindrical structure of both ends open, jacking sleeve
It is provided on madial wall and is mounted on lifting with the matched internal thread of external screw thread on lifting stud lateral wall, lifting stud lower end
Sleeve inner, jacking sleeve lower end are fixed on walking seat, and walking seat passes through shaft of walking in the U-shaped structure to stand upside down, traveling wheel
Mounted on walking seat lower position, traveling wheel is in I-shaped structure；Lifting stud by rotation drives lifting stud lifting
Up and down motion in sleeve is convenient for the urban green belts retaining wall of different height for adjusting the whole height of the present invention
Build by laying bricks or stones, when specifically used, determine the width of road urban green belts retaining wall, by track lay it is green to the city built by laying bricks or stones in advance
Change at left and right sides of band retaining wall, traveling wheel is placed on track, it can be achieved that the effect built by laying bricks or stones that discharges while walking, 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 present invention has the following advantages：
(1) it is more to integrate study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walk, a machine by the present invention
Can, and mechanical intelligent degree is high, effectively raises efficiency and quality that urban green belts retaining wall pours construction.
(2) present invention can carry out secondary agitation by agitating device to concrete, it is therefore prevented that concrete lasts a period of time
The problem of being easy slagging caking afterwards.
(3) adjustable angle that adjustable discharge device of the present invention opens, load when being built by laying bricks or stones to the adjustable present invention.
(4) present invention constitutes four-degree-of-freedom symmetric parallel machine by fixed platform, moving platform, the first branch and the second branch
Structure, and it uses the parallel institution form of 2-UPS-2-RPS, can realize and be moved along X-axis and Z axis and around X-axis and around Y-axis
The movement of rotation totally four freedom degree directions, and four degree of freedom are independent, by four degree of freedom can also co-ordination, make
Moving platform track along the curvilinear motion of predetermined space, stable movement, movement is flexible so that the present invention is stirred to concrete
While mixing, the effect that concrete uniform secondary mixes is increased also by mixed principle is vibrated, is conducive to urban green belts
Build the smooth stability and Quality advance of construction by laying bricks or stones；The speed of vibration frequency decides the speed that the present invention discharges simultaneously.
(5) whole height of the present invention is adjusted in running gear of the present invention, is convenient for the urban green belts earth-retaining of different height
Wall is built by laying bricks or stones, while can realize the effect for discharging and building by laying bricks or stones while walking, and mechanization degree is high, improves urban afforestation
Build the efficiency of construction by laying bricks or stones with retaining wall.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram after present invention removal running gear and track；
Fig. 3 is dimensional structure diagram when stock chest of the present invention, agitating device and adjustable discharge device coordinate (from upper
It looks down)；
Fig. 4 is dimensional structure diagram when stock chest of the present invention, agitating device and adjustable discharge device coordinate (under
It looks up)；
Fig. 5 is the dimensional structure diagram of agitating device of the present invention；
Fig. 6 is the dimensional structure diagram of redundancy four-degree-of-freedom shake table of the present invention；
Dimensional structure diagram when Fig. 7 is running gear of the present invention and the cooperation of redundancy four-degree-of-freedom shake table；
Dimensional structure diagram when Fig. 8 is running gear and track cooperation of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 8, a kind of redundancy four-degree-of-freedom Municipal greenbelt builds intelligent robot, including storing
Slot 1, agitating device 2, adjustable discharge device 3, redundancy four-degree-of-freedom shake table 4, fixing device 5, running gear 6 and track 7；
The stock chest 1 is in cross shell structure, and 1 upper end opening of stock chest, 1 lower end of the stock chest left and right sides are provided with inclination
Bottom plate, inclined floor are conducive to the concrete in stock chest 1 and are discharged by rectangular leak, are opened at 1 lower end medium position of stock chest
Equipped with rectangular leak；The agitating device 2 is located inside stock chest 1,3 quantity of adjustable discharge device be two, it is adjustable go out
Material device 3 is located at immediately below the rectangular leak at 1 lower end medium position of stock chest, and adjustable discharge device 3 is vertical along stock chest 1
It is symmetrically arranged to central axis；4 quantity of redundancy four-degree-of-freedom shake table is four, redundancy four-degree-of-freedom shake table 4
1 four vertex of stock chest are located at, and redundancy four-degree-of-freedom shake table 4 is mounted on 1 outside of stock chest by fixing device 5
On wall；6 quantity of running gear is four, and running gear 6 is located at immediately below redundancy four-degree-of-freedom shake table 4, and dress of walking
It sets 6 upper ends with 4 lower end of redundancy four-degree-of-freedom shake table to be connected, 6 lower end of running gear is mounted on track 7.
As shown in figure 5, the agitating device 2 includes agitating shaft 21, stirring hook pawl 22, rolling bearing units 23, electric rotating machine
24 and electric machine support 25；The agitating shaft 21 is located inside stock chest 1, and 21 both ends of agitating shaft are solid by rolling bearing units 23 respectively
It is scheduled on 1 front-rear side walls of stock chest, stirring hooks pawl 22 and is linearly arranged on agitating shaft 21 successively, and stirring hooks 22 middle part setting of pawl
Have and hooks 22 outside of pawl with 21 matched snap ring of agitating shaft, stirring and be evenly arranged with arc shape along the central axis for hooking pawl 22 is stirred
Stirrer gear, 24 main shaft of electric rotating machine is connected with 21 one end of agitating shaft, and electric rotating machine 24 is fixed on storage by electric machine support 25
On 1 front end outer side wall of hopper, 25 front end of electric machine support be provided with 24 matched fixed ring of electric rotating machine, after electric machine support 25
End is evenly arranged with locking post；The rotation that agitating shaft 21 is driven by the rotation of electric rotating machine 24, to drive stirring to hook pawl 22
Rotation in stock chest 1 has reached the function that secondary agitation is carried out to the concrete stored in stock chest 1, it is therefore prevented that coagulation
Soil is easy the problem of slagging caking after lasting a period of time, improve urban green belts retaining wall to a certain extent and manually pour and build
The quality made.
As shown in fig. 6, the redundancy four-degree-of-freedom shake table 4 includes fixed platform 41, moving platform 42,43 and of the first branch
Second branch 44；The fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 be located at fixed platform 41 just on
Side；The quantity of first branch 43 and the second branch 44 is two, and the first branch 43 and the second branch 44 are respectively positioned on and allocate
Between platform 41 and moving platform 42, the both ends of the first branch 43 and the second branch 44 are respectively connected with fixed platform 41 and moving platform 42
It connects, and the horizontal installation angle of the first branch 43 and the second branch 44 is 90 degree；First branch 43 includes the first ear mount
431, Hooke's hinge 432, the first electric pushrod 433, the first spherical hinge 434, the first connecting pole 435 and the first vibrating spring 436；Institute
The first ear mount 431 stated is fixed on 41 upper surface of fixed platform, and the first ear mount 431 and the first electric pushrod are adopted between 433 lower end
It is attached with Hooke's hinge 432,433 upper end of the first electric pushrod is connected with the first spherical hinge 434, and the first spherical hinge 434 is logical
It crosses the first connecting pole 435 to be fixed on the lower face of moving platform 42, the first vibrating spring 436 is around being sleeved on the first electric pushrod 433
On；The rotation that both direction can be carried out by Hooke's hinge 434 can carry out the rotation in three directions by the first spherical hinge 434, lead to
Crossing the first electric pushrod 433 can move up and down, and the first branch 43 uses the form of 2-UPS parallel institutions, and passes through first
Vibrating spring 436 increases the jitter when movement of the first branch 43, improves the effect of batch mixing discharging of the present invention；Described
Two branches 44 include the second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting pole 445
With the second vibrating spring 446；Second ear mount 441 is fixed on 41 upper surface of fixed platform, the second ear mount 441 and the second electricity
It is attached using rotational pin 442 between dynamic 443 lower end of push rod, 443 upper end of the second electric pushrod is connected with the second spherical hinge 444
It connects, the second spherical hinge 444 is fixed on by the second connecting pole 445 on the lower face of moving platform 42, and the second vibrating spring 446 is around set
On the second electric pushrod 443；The rotation that 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 branch 44 uses 2-RPS parallel institutions
Form, and by the second vibrating spring 446 increase the second branch 44 movement when jitter, 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 42, the first branch 43 and the second branch 44
Structure, and it uses the parallel institution form of 2-UPS-2-RPS, can realize and be moved along X-axis and Z axis and around X-axis and around Y-axis
The movement of rotation totally four freedom degree directions, and four degree of freedom are independent, by four degree of freedom can also co-ordination, make
42 track of moving platform along the curvilinear motion of predetermined space, stable movement, movement is flexible so that the present invention is carried out to concrete
While stirring, the effect that concrete uniform secondary mixes is increased also by mixed principle is vibrated, is conducive to urban afforestation
Band builds the smooth stability and Quality advance of construction by laying bricks or stones；The speed of vibration frequency decides the speed that the present invention discharges simultaneously.
As shown in figure 4, the adjustable discharge device 3 includes discharge door 31, turning joint 32, No.1 ear mount 33, one
Number shaft 34, the discharging shaft 37 of ear mount 36, two of telescopic rod 35, two and supporting rod 38；The discharge door 31 is in the U to stand upside down
Type structure, 31 rear and front end of discharge door are fastened in before and after stock chest 1 on two lateral walls, discharge door 31 and 1 lateral wall of stock chest it
Between be attached by turning joint 32, No.1 ear mount 33 be mounted on 31 bottom face medium position of discharge door at, discharge telescopic rod
35 front ends are mounted on by No.1 shaft 34 in No.1 ear mount 33, and discharging 35 rear end of telescopic rod passes through No. two shafts 37 and No. two ears
Seat 36 is connected, and No. two ear mounts 36 are fixed on 38 top of supporting rod, and 38 bottom end of supporting rod is fixed on 1 bottom face of stock chest；It is logical
It crosses the stretching, extension of discharging telescopic rod 35 and shrinks the closing and unlatching for driving discharge door 31, the length of discharging telescopic rod 35 directly determines
The angle for the opening of discharge door 31, to decide that the load of the invention to discharge, adjustable discharge device 3 are mainly used for this hair
The adjusting of load when bright discharging.
As shown in Fig. 2, the fixing device 5 includes fixed plate 51 and clamping screw 52,51 T-shaped structure of fixed plate,
Fixed plate 51 is located at 1 vertex of stock chest, and fixed plate 51 is mounted on by clamping screw 52 on 1 lateral wall of stock chest.
As shown in Figure 7 and Figure 8, the running gear 6 includes lifting stud 61, jacking sleeve 62, walking seat 63, walking
Shaft 64 and traveling wheel 65；External screw thread is provided on 61 lateral wall of lifting stud, jacking sleeve 62 is in both ends open
Hollow cylindrical structure, be provided on 62 madial wall of jacking sleeve with the external screw thread on lifting 61 lateral wall of stud it is matched in
Screw thread, 61 lower end of lifting stud are mounted on inside jacking sleeve 62, and 62 lower end of jacking sleeve is fixed on walking seat 63, seat of walking
63 are mounted on walking 63 lower position of seat in the U-shaped structure to stand upside down, traveling wheel 65 by shaft 64 of walking, and traveling wheel 65 is in work
Font structure；Stud 61 is lifted by rotation and drives up and down motion of the lifting stud 61 in jacking sleeve 62, for adjusting
The whole height of abridged edition invention, builds by laying bricks or stones convenient for the urban green belts retaining wall of different height, when specifically used, determines road
The width of urban green belts retaining wall lays track 7 at left and right sides of the urban green belts retaining wall built by laying bricks or stones in advance, traveling wheel 65
It is placed on track 7, it can be achieved that the effect built by laying bricks or stones that discharges while walking, and mechanization degree is high, and it is green to improve city
Change manually pour construction with retaining wall build efficiency by laying bricks or stones.
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 (10)
1. a kind of greenbelt builds robot, it is characterised in that：Including stock chest, agitating device, adjustable discharge device, redundancy
Four-degree-of-freedom shake table, running gear and track；The stock chest upper end opening, the stock chest lower end left and right sides are provided with inclination
Bottom plate offers leak at the medium position of stock chest lower end；The agitating device is located at the top of leak, adjustable discharge dress
It is two to set quantity, and adjustable discharge device is located at immediately below leak, and adjustable discharge device is along stock chest longitudinal center axis
It is symmetrically arranged；The redundancy four-degree-of-freedom shake table quantity is four, and redundancy four-degree-of-freedom shake table is located at storing
Four vertex of slot, and redundancy four-degree-of-freedom shake table is mounted on stock chest；The running gear quantity is four, walking dress
Immediately below redundancy four-degree-of-freedom shake table, and running gear upper end is connected with redundancy four-degree-of-freedom shake table lower end,
The installation of running gear lower end is in orbit.
2. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The stock chest is in cross shell
Body structure, the leak that stock chest lower end middle part opens up are rectangular.
3. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The greenbelt builds robot
Further include fixing device, redundancy four-degree-of-freedom shake table is mounted on by fixing device on the lateral wall of stock chest.
4. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The agitating device includes stirring
Mix axis, stirring hooks pawl, rolling bearing units, electric rotating machine and electric machine support；The agitating shaft is located inside stock chest, agitating shaft two
End is fixed on by rolling bearing units on stock chest front-rear side walls respectively, and stirring hooks pawl and is arranged on agitating shaft, electric rotating machine main shaft
It is connected with one end of the mixing shaft, and electric rotating machine is fixed on by electric machine support on stock chest front end outer side wall, before electric machine support
End be provided with the matched fixed ring of electric rotating machine, electric machine support rear end is evenly arranged with locking post.
5. a kind of greenbelt according to claim 4 builds robot, it is characterised in that：Stirring hooks pawl and linearly sets successively
It sets on agitating shaft, stirring hooks to be provided in the middle part of pawl and hooks with the matched snap ring of agitating shaft, stirring and hook pawl along stirring on the outside of pawl
Central axis is evenly arranged with arc shape stirrer gear.
6. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The redundancy four-degree-of-freedom shakes
Dynamic platform includes fixed platform, moving platform, the first branch and the second branch；The fixed platform and moving platform is disc-shaped structure,
And moving platform is located at right over fixed platform；The quantity of first branch and the second branch is two, the first branch and second
Branch is respectively positioned between fixed platform and moving platform, the both ends of the first branch and the second branch respectively with fixed platform and moving platform phase
Connection, and the horizontal installation angle of the first branch and the second branch is 90 degree；First branch includes the first ear mount, Hooke
Hinge, the first electric pushrod, the first spherical hinge, the first connecting pole and the first vibrating spring；First ear mount, which is fixed on, to be allocated
It on platform upper surface, is attached using Hooke's hinge between the first ear mount and the first electric pushrod lower end, the first electric pushrod upper end
It is connected with the first spherical hinge, the first spherical hinge is fixed on by the first connecting pole on the lower face of moving platform, the first vibration bullet
Spring is around being sleeved on the first electric pushrod.
7. a kind of greenbelt according to claim 6 builds robot, it is characterised in that：Second branch includes the
Two ear mounts, rotational pin, the second electric pushrod, the second spherical hinge, the second connecting pole and the second vibrating spring；Second ear mount
It is fixed on fixed platform upper surface, is attached using rotational pin between the second ear mount and the second electric pushrod lower end, the second electricity
Dynamic push rod upper end is connected with the second spherical hinge, and the second spherical hinge is fixed on by the second connecting pole on the lower face of moving platform,
Second vibrating spring is around being sleeved on the second electric pushrod.
8. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The adjustable discharge device
Including discharge door, turning joint, No.1 ear mount, No.1 shaft, discharging telescopic rod, No. two ear mounts, No. two shafts and supporting rod；Institute
In the U-shaped structure to stand upside down, discharge door rear and front end is fastened in before and after stock chest on two lateral walls the discharge door stated, discharge door and storage
It is attached by turning joint between hopper lateral wall, No.1 ear mount is mounted at discharge door bottom face medium position, discharging
Telescopic rod front end is mounted on by No.1 shaft in No.1 ear mount, and the flexible rod rear end that discharges passes through No. two shafts and No. two ear mount phases
Connection, No. two ear mounts are fixed on supporting bar top, and supporting rod bottom end is fixed on stock chest bottom face.
9. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The fixing device includes solid
Fixed board and clamping screw, the T-shaped structure of fixed plate, fixed plate is located at stock chest vertex, and fixed plate is pacified by clamping screw
On stock chest lateral wall.
10. a kind of greenbelt according to claim 1 builds robot, it is characterised in that：The running gear includes
Lift stud, jacking sleeve, walking seat, walking shaft and traveling wheel；It is provided with external screw thread on the lifting stud lateral wall,
Jacking sleeve is in the hollow cylindrical structure of both ends open, is provided with and is lifted on stud lateral wall on jacking sleeve madial wall
The matched internal thread of external screw thread, lifting stud lower end are mounted on inside jacking sleeve, and jacking sleeve lower end is fixed on walking seat
On, walking seat is mounted on walking seat lower position in the U-shaped structure to stand upside down, traveling wheel by shaft of walking, and traveling wheel is in work
Font structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810310552.0A CN108571007A (en) | 2016-07-14 | 2016-07-14 | A kind of greenbelt construction robot |
Applications Claiming Priority (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 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610560470.2A Division CN106150096B (en) | 2016-07-14 | 2016-07-14 | A kind of redundancy four-degree-of-freedom Municipal greenbelt construction intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108571007A true CN108571007A (en) | 2018-09-25 |
Family
ID=58059747
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810310552.0A Withdrawn CN108571007A (en) | 2016-07-14 | 2016-07-14 | A kind of greenbelt construction robot |
| CN201610560470.2A Active CN106150096B (en) | 2016-07-14 | 2016-07-14 | A kind of redundancy four-degree-of-freedom Municipal greenbelt construction intelligent robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610560470.2A Active CN106150096B (en) | 2016-07-14 | 2016-07-14 | A kind of redundancy four-degree-of-freedom Municipal greenbelt construction intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108571007A (en) |
Families Citing this family (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 |
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 CN201810310552.0A patent/CN108571007A/en not_active Withdrawn
- 2016-07-14 CN CN201610560470.2A patent/CN106150096B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106150096A (en) | 2016-11-23 |
| CN106150096B (en) | 2018-08-17 |
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Application publication date: 20180925 |