CN108590181A - A kind of environment protection architecture operation robot - Google Patents
A kind of environment protection architecture operation robot Download PDFInfo
- Publication number
- CN108590181A CN108590181A CN201810441701.7A CN201810441701A CN108590181A CN 108590181 A CN108590181 A CN 108590181A CN 201810441701 A CN201810441701 A CN 201810441701A CN 108590181 A CN108590181 A CN 108590181A
- Authority
- CN
- China
- Prior art keywords
- rack
- gear
- shaft
- rail
- tool
- 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.)
- Pending
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of environment protection architecture operation robots, including rack, the rack is equipped with running gear, the running gear includes that movable motor and six groups of walkings have enough, the movable motor is set in rack, there are three rack rails disposed in parallel for setting in the rack, the rack rail is set in same level, the length direction of the rack rail is identical as the direction of advance of running gear, one group of walking is respectively provided in the front and back position of each rack rail enough to have, the walking foot tool includes the vertical slide guide rail being arranged along rack rail sliding and the rail brackets being fixedly installed on above rack rail.The running gear of the present invention can steadily walk, it is only necessary to which the alternating movement of six support legs can be realized in a movable motor, to realize walking function, smart structural design.The packaging device of the present invention can realize the capacity of adjustment packing in real time, and realize automation packing by simple mechanical mechanism, have practicability.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of environment protection architecture operation robot.
Background technology
The robot architecture of the prior art is complicated, needs multiple motor cooperations that could take action, needs to improve；In addition in rack
The packaging device of setting cannot realize the demand for adjusting packing capacity in real time and realizing automation packing, it is also desirable to improve；It is existing
The design of digging apparatus structure it is complicated, manufacturing cost is high.
Invention content
Technical problem to be solved by the invention is to provide a kind of environment protection architecture operation robots, to solve the prior art
Middle robot architecture is complicated, needs multiple motor cooperations that could take action, the packaging device being in addition arranged in rack cannot realize reality
When adjust packing capacity and realize that the demand of automation packing and the design of existing digging apparatus structure are complicated, be manufactured into
This high technical problem.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of environment protection architecture operation robot, including machine
Frame, the rack are equipped with running gear, and the running gear includes that movable motor and six groups of walkings have enough, the movable motor
It is set in rack, there are three rack rails disposed in parallel, the rack rail to be set to same level for setting in the rack
On face, the length direction of the rack rail is identical as the direction of advance of running gear, the anteroposterior position of each rack rail
It sets and is respectively provided with one group of walking tool enough, the walking foot tool includes the vertical slide guide rail being arranged along rack rail sliding and fixation
The rail brackets being set to above rack rail, on the rail brackets rotation be equipped with foot tool shaft, the one of the foot tool shaft
End is fixedly connected with belt wheel, and the other end is fixedly connected with foot tool crank, the other end rotation connection foot tool gear of the foot tool crank, institute
It states and is also fixed with gear ring on rail brackets, the gear ring is coaxial arrangement with foot tool shaft, and the foot tool gear is set to tooth
It is meshed in circle and with gear ring, the lateral surface of the foot tool gear is installed with a foot tool connecting rod, and one end of the foot tool connecting rod is solid
Set on the circle centre position of the foot tool gear, the other end is rotatably connected to foot tool guide rod, and the lower end of the foot tool guide rod is fixed to be had
Ground portion, in the slider guide for being provided with horizontal sliding on the rack rail, the slider guide is equipped with the vertical chute, and the foot tool is led
Bar is slideably positioned in the vertical chute, driving wheel there are three settings on the output shaft of the movable motor, on same rack rail
Front and back position on each belt wheel and a driving wheel by same tension band be tensioned link；
Digging device is additionally provided in the rack, the digging device includes the slippage slot being fixed in rack
And the rotating wheel in rack is rotationally connected with by rotation axis, the slippage slot is horizontally disposed, on the slippage slot
It is slidably fitted with sliding rack, the eccentric position of the rotating wheel is equipped with first connecting rod shaft, and the sliding rack is equipped with second and connects
Bar shaft, is equipped with second connecting rod between the first connecting rod shaft and second connecting rod shaft, the slippage slot is equipped with vertical lead
Xiang Kong, on the pilot hole sliding be equipped with guide rod, the lower end of the guide rod is fixed with tool mounting bracket, on the guide rod
Equipped with compression spring, the compression spring lower face is resisted against tool mounting bracket upper surface, and the compression spring upper surface is resisted against sliding rack, described
Tool mounting bracket has hollow straight slot, also rotates to be equipped in the second connecting rod shaft and supports bar, the outer end for supporting bar is supported
The upper surface of hollow straight slot is peaked at, the bar of supporting mutually is fixed with second connecting rod, and the lower end of the tool mounting bracket, which is equipped with, cuts the earth
Power tool；
Be additionally provided with cantilever boom hoisting in the rack, the cantilever boom hoisting include Rotary cloumn, cantilever, driving,
Lifting motor, translation motor, electric rotating machine, suspension hook and the pedestal in rack, the Rotary cloumn are rotatably installed in
It is driven on the pedestal and by the electric rotating machine and is rotated, the cantilever is crossed out from the top of the Rotary cloumn, described
Horizontal concrete chute is formed in cantilever, the translation motor is mounted in the driving and drives the driving along the horizontal concrete chute
Sliding, the lifting motor being mounted in the driving drive the hook lifting with hoisting heavy.
Packaging device and throwing device are additionally provided in the rack, the packaging device includes point that rotation is set in rack
Fill shaft, rotation is set to the first rotating shaft in rack, rotation is set to the adjustment gear in rack and sliding is set in rack
The lower end of adjustable column, the packing shaft is installed with first gear, and the first rotating shaft is connected with partial gear, described endless
All gear is meshed with first gear, and the first disk body is fixed at the top of the packing shaft, is covered in the middle part of the packing shaft
Equipped with guide sleeve, the guide sleeve top is connected with the second disk body, and first disk body lower surface is arranged with two the first material leakage cylinders,
Second disk body lower surface is arranged with two the second material leakage cylinders, and the second material leakage cylinder is socketed on first material leakage one by one
On cylinder, the guide sleeve lower part is equipped with annular groove, and the adjustable column and packing shaft are arranged in parallel, and the adjustable column is equipped with rack
Portion, the adjustment gear are meshed with tooth-strip part to drive adjustable column to move up and down, and the adjustment gear is driven by regulation motor,
The top of the adjustable column is equipped with semicircle ring portion and slide guide circle, and the semicircle ring portion is placed in annular groove and matches with annular groove
Sliding is closed, the slide guide circle is located at below the second disk body, and the lower surface of the slide guide circle, which is equipped with, lacks block portion, the second material leakage cylinder
Lower sidewalls on be hinged with cover board, the cover board side is extended with jacking block, and the jacking block is connected to the lower surface of slide guide circle, institute
When stating the rotation of the second disk body, the jacking block periodically abuts or leaves the scarce block portion of slide guide circle, so that cover board is periodically beaten
The second material leakage cylinder is opened or is closed to, first disk body upper surface is equipped with charging box, and it is effective that the charging box bottom is equipped with connection
It is formed and is slidingly sealed in connection the first material leakage cylinder of interval, between the connecting tube and the first disk body, the charging box and slide guide
The scarce block portion of circle is located at the both sides of packing shaft；The throwing device includes the first runner and rotation that rotation is set in rack
Bar of jettisoninging in rack, the center of rotation of the bar of jettisoninging are located at the top of the first runner, the outer rim of first runner
Place is equipped with driving lever, and the bar of jettisoninging is equipped with short slot, and first runner rotates so that driving lever is periodically stirred bar of jettisoninging and turned
It is dynamic, and at a setting position, the driving lever slips over the short slot, and baffle, the baffle and bar of jettisoninging are additionally provided in the rack
Between be equipped with tension spring, the outer end of the bar of jettisoninging is equipped with splicing groove.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
The running gear of the present invention can steadily walk, it is only necessary to which the alternating fortune of six support legs can be realized in a movable motor
It is dynamic, to realize walking function, smart structural design.The digging device of the present invention makes shoveling by simple mechanical structure
Power tool generates the movement locus of ellipse, it can be achieved that digging.The packaging device of the present invention can realize adjustment point in real time
Dressing amount, and automation packing is realized by simple mechanical mechanism, there is practicability.
Description of the drawings
Fig. 1 is the structural diagram of the present invention, and figure section line part is rack.
Fig. 2 is the structure chart of the running gear of the present invention.
Fig. 3 is the part-structure figure one of the running gear of the present invention.
Fig. 4 is the part-structure figure two of the running gear of the present invention, is shown in one group of walking and has enough.
Fig. 5 is the part-structure explosive view of the running gear of the present invention, is shown as one group of walking and has enough.
Fig. 6 is the part-structure figure three of the running gear of the present invention, is shown as the position relationship of six foot tool cranks.
Fig. 7 is the part-structure figure four of the running gear of the present invention, is shown as the position relationship of six foot tool connecting rods.
Fig. 8 is the stereogram of the digging device of the present invention.
Fig. 9 is the exploded view of the digging device of the present invention.
Figure 10 is the part-structure figure of the digging device of the present invention.
Figure 11 is the movement locus figure of the digging device of the present invention.
Figure 12 is the structure chart of the packaging device of the present invention.
Figure 13 is the explosive view of the packaging device of the present invention.
Figure 14 is the structure chart of the throwing device of the present invention.
Figure 15 is the structure chart of the cantilever boom hoisting of the present invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before right direction is in Fig. 1, front end, front, direction of advance, left direction be after, rear end, after
Portion, direction of retreat.
As shown in Figures 1 to 7, the embodiment of the present invention provides a kind of environment protection architecture operation robot, including rack 100,
The rack is equipped with running gear 10, and the running gear 10 includes that movable motor 11 and six groups of walkings have enough, the walking
Motor 11 is set in rack 100, and there are three rack rails 12 disposed in parallel, the rack to lead for setting in the rack 100
Rail 12 is set in same level, and the length direction of the rack rail 12 is identical as the direction of advance of running gear, Mei Gesuo
It states and is respectively provided with one group of walking tool enough in the front and back position of rack rail 12, tool includes being set along the sliding of rack rail 12 enough for the walking
The vertical slide guide rail 13 set and the rail brackets 14 for being fixedly installed on 12 top of rack rail rotate on the rail brackets 14
Has shaft 15 equipped with foot, one end of the foot tool shaft 15 is fixedly connected with belt wheel 16, and the other end is fixedly connected with foot tool crank 17, institute
The other end rotation connection foot tool gear 18 of foot tool crank 17 is stated, gear ring 19 is also fixed on the rail brackets 14, it is described
Gear ring 19 is coaxial arrangement with foot tool shaft 15, and the foot tool gear 18 is set in gear ring 19 and is meshed with gear ring 19, institute
The lateral surface for stating foot tool gear 18 is installed with a foot tool connecting rod 20, and one end of the foot tool connecting rod 20 is fixedly arranged on the foot tool gear
18 circle centre position, the other end are rotatably connected to foot tool guide rod 21, and the lower end of the foot tool guide rod 21 is installed with landing part 22, described
In the slider guide 25 for being provided with horizontal sliding on rack rail 12, the slider guide 25 is equipped with the vertical chute, the foot tool guide rod
21 are slideably positioned in the vertical chute, and there are three driving wheels 23, same rack to lead for setting on the output shaft of the movable motor 11
Each belt wheel 16 and a driving wheel 23 in front and back position on rail 12 are tensioned by same tension band 24 to link, by same tensioning
A driving wheel and two belt wheels with tensioning are in the same plane.
Belt wheel 16 is rotated with action spot tool crank 17, and foot has crank 17 and transported along 19 inside edge of gear ring with action spot tool gear 18
Dynamic, foot has the rotation direction of crank 17 and foot tool connecting rod 20 on the contrary, foot tool connecting rod 20 is to be rotated with the center of circle of foot tool gear 18,
Again as the planetary gear type of foot tool gear 18 moves and displacement spatially occurs, then conduct to foot tool guide rod 21 to drive
Complete walking motion in landing part 22.
The walking movement of running gear is as follows, is the initial position of running gear, six institutes as shown in Fig. 2, Fig. 6 and Fig. 7
It states foot tool crank 17 and is respectively designated as previous crank 171, the first two crank 172, first three crank 173, latter crank 174, rear two song
Handle 175, rear three crank 176, the first two described crank 172 are set between previous crank 171 and first three crank 173, and described rear two is bent
Handle 175 is set between latter crank 174 and rear three crank 176, and the previous crank 171, latter crank 174 are located at same flat
Face, first three described crank 173, rear three crank 176 are generally aligned in the same plane, the previous crank 171, the first two crank 172, first three song
The angle of rotation angle that handle 173 mutually forms is 120 °, and the latter crank 174, rear two crank 175, rear three crank 176 are mutual
The angle of rotation angle of formation is 120 °, the first two described crank 172,175 initial position having the same of rear two crank, before described
One crank 171,176 initial position having the same of rear three crank, first three described crank 173, latter crank 174 are having the same
Initial position, the previous crank 171 drive forwards in (direction that i.e. drive wheel running gear advances) along driving wheel 25
The initial position that rotation direction is rotated further after 120 ° just with the latter crank 174 coincides.Initial position refers to walking
When motor 11 is stopped, each foot tool the location of crank relationship, i.e. position shown in Fig. 6, at this point, each foot tool connects
Bar is located along the same line with corresponding foot tool crank, and the outer end of each foot tool connecting rod has the center of rotation of crank far from corresponding foot.
Since the initial position of Fig. 2, Fig. 6 and Fig. 7, movable motor drives driving wheel to rotate counterclockwise, therefore foot tool gear is along tooth
Circle rotates counterclockwise, and clockwise rotation occurs for the foot tool connecting rod being connected with foot tool gear again as space occurs for foot tool gear
On movement.As shown in Fig. 2, phase on the first two crank 172 at this time, first three crank 173, latter crank 174, rear two crank 175
Landing part even is contacted to earth simultaneously, and the landing part being connected on previous crank 171 and rear three crank 176 is liftoff and is in extreme higher position
Place；The landing part moved beneath facing forward being connected on subsequent time, previous crank 171 and rear three crank 176, the first two 172 He of crank
The landing part upper direction facing forward being connected on two cranks 175 afterwards, the landing part being connected on first three crank 173 and latter crank 174
Holding is contacted to earth state；Subsequent time again, previous crank 171 start to contact to earth with the landing part being connected on rear three crank 176, first three
The landing part being connected on crank 173 and latter crank 174 starts liftoff.
As shown in Fig. 1, Fig. 8 to Figure 11, digging device 60, the digging dress are additionally provided in the rack 100
60 are set to include the slippage slot 61 that is fixed in rack 100 and be rotationally connected with the rotating wheel in rack 100 by rotation axis 601
62, the slippage slot 61 is horizontally disposed, and sliding rack 63 is slidably fitted on the slippage slot 61, the rotating wheel 62
Eccentric position is equipped with first connecting rod shaft 602, and the sliding rack 63 is equipped with second connecting rod shaft 603, and the first connecting rod turns
Second connecting rod 64 is equipped between axis 602 and second connecting rod shaft 603, the both ends of second connecting rod 64 are rotation connection, the cunning
It moves slot 61 and is equipped with vertical pilot hole 605, sliding is equipped with guide rod 65, the lower end of the guide rod 65 on the pilot hole 605
It is fixed with tool mounting bracket 66, the guide rod 65 is equipped with compression spring 67, and 67 lower face of the compression spring is resisted against tool mounting bracket
66 upper surfaces, 67 upper surface of the compression spring are resisted against sliding rack 63, and the tool mounting bracket 66 has hollow straight slot 606, described
Also rotation is equipped with and supports bar 68 in second connecting rod shaft 603, and the outer end for supporting bar 68 is resisted against the upper table of hollow straight slot 606
Face, the bar 68 of supporting are fixed with 64 phase of second connecting rod, and the lower end of the tool mounting bracket 66 is equipped with digging tool 69, digs
Native power tool 69 is vertically arranged.The vertical position height of first connecting rod shaft is high higher than the vertical position of second connecting rod shaft
Degree, from horizontal direction on position for, digging tool is between first connecting rod shaft and second connecting rod shaft.Such as figure
Shown in 11, when the digging device works, rotating wheel rotates counterclockwise, and drives sliding rack in slippage slot by second connecting rod
On do the reciprocating motion of horizontal direction, to make tool mounting bracket tool, there are one the reciprocating motions of horizontal direction, while passing through cunning
The guide rod moved on frame does the reciprocating motion of vertical direction, the digging work on such tool mounting bracket with power driven tools mounting bracket
Tool will produce an oval movement locus, form a shoveling action.
As shown in Fig. 1, Figure 12, Figure 13 and Figure 14, packaging device 30 and throwing device 50 are additionally provided in the rack 100,
The packaging device 30 includes that rotation is set to the first rotating shaft of the packing shaft 31 in rack 100, rotation in rack 100
32, rotation is set to the adjustable column 34 of the adjustment gear 33 in rack 100 and sliding in rack 100, the packing shaft
31 lower end is installed with first gear 35, and the first rotating shaft 32 is connected with partial gear 36, the partial gear 36 with
First gear 35 is meshed, and the top of the packing shaft 31 is fixed with the first disk body 37,31 middle part set of the packing shaft
Equipped with guide sleeve 38,38 top of the guide sleeve is connected with the second disk body 39, and 37 lower surface of the first disk body is arranged with two
One material leakage cylinder 371,39 lower surface of the second disk body are arranged with two the second material leakage cylinders 391, the second material leakage cylinder 391 1
One is socketed on the first material leakage cylinder 371, the cylinder that the first material leakage cylinder 371 and the second material leakage cylinder 391 lead in being,
38 lower part of the guide sleeve is equipped with annular groove 381, and the adjustable column 34 and packing shaft 31 are arranged in parallel, are set on the adjustable column 34
There are tooth-strip part 341, the adjustment gear 33 to be meshed with tooth-strip part 341 to drive adjustable column 34 to move up and down, the adjusting tooth
For wheel 33 by regulation motor driving (not shown), the top of the adjustable column 34 is equipped with semicircle ring portion 40 and slide guide circle 41, and described half
Annular portion 40 is placed in annular groove 381 and matches sliding with annular groove 381, and the slide guide circle 41 is located under the second disk body
Side, the lower surface of the slide guide circle 41, which is equipped with, lacks block portion 411, and cover board is hinged in the lower sidewalls of the second material leakage cylinder 391
42,42 side of the cover board is extended with jacking block 421 (i.e. at 39 center of the second disk body of direction), and the jacking block 421 is connected to slide guide
The lower surface of circle 41, when second disk body 39 rotates, the jacking block 421 periodically abuts or leaves the scarce block of slide guide circle 41
Portion 411, so that 42 periodic open or close of cover board, in the second material leakage cylinder 391,37 upper surface of the first disk body is equipped with dress
Hopper 43,43 bottom of the charging box are equipped with the first material leakage of connection cylinder 371 that connecting tube 431 is used for interval, the connecting tube 431
It is formed and is slidingly sealed between the first disk body 37, the scarce block portion 411 of the charging box 43 and slide guide circle 41 is located at packing shaft 31
Both sides.The lifting of adjustable column can make the volume of the room of the second material leakage cylinder and the first material leakage cylinder composition change, therefore can
Change the material of packing number, and do not influence to dispense the operating of shaft in adjustment process, partial gear periodically drives
First gear rotates, to make the periodically rotation of the first disk body and stop, so that material smoothly can enter the from charging box
In one material leakage cylinder.
As shown in Fig. 1 and Figure 14, the throwing device 50 includes the first runner 51 that rotation is set in rack 100 and turns
The dynamic bar 52 of jettisoninging in rack 100, the center of rotation of the bar 52 of jettisoninging are located at the top of the first runner 51, and are located at the
On the inside of the outer rim of one runner 51, driving lever 53 is equipped at the outer rim of first runner 51, the bar 52 of jettisoninging is equipped with short slot 54,
First runner 51 rotates so that driving lever 53 periodically stirs the rotation of bar 52 of jettisoninging, and the driving lever at a setting position
53 slip over the short slot 54, and baffle 56 is additionally provided in the rack, and tension spring 55 is equipped between the baffle 56 and bar of jettisoninging, described
Jettisoning bar 52 outer end be equipped with splicing groove 57.The driving lever 53 is stirred jettisoning bar 52 after, reach setting position when, splicing groove 57
Be directed at the position of the second material leakage cylinder 391, at this time the cover board of the second material leakage cylinder 391 in opened condition, the object in the second material leakage cylinder 391
Material enters in splicing groove 57, and after driving lever 53 is rotated further, driving lever 53 slides at 54 position of short slot, and bar 52 of jettisoninging is by tension spring 55
The effect of pulling force is dished out material outward, and is stopped at 56 position of baffle.
As shown in Fig. 1 and Figure 15, cantilever boom hoisting 70, the cantilever boom hoisting 70 are additionally provided in the rack 100
Including Rotary cloumn 71, cantilever 72, driving 73, lifting motor 74, translation motor 75, electric rotating machine 76, suspension hook 77 and it is set to machine
Pedestal 78 on frame 100, the Rotary cloumn 71 are rotatably installed on the pedestal 78 and are driven by the electric rotating machine 76
Dynamic rotation, the cantilever 72 are crossed out from the top of the Rotary cloumn 71, and horizontal concrete chute, institute are formed in the cantilever 72
It states translation motor 75 to be mounted in the driving 73 and the driving 73 is driven to slide along the horizontal concrete chute, is mounted on the row
The lifting motor 74 on vehicle 73 drives the lifting of the suspension hook 77 with hoisting heavy.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of environment protection architecture operation robot, including rack, which is characterized in that the rack is equipped with running gear, institute
It includes that movable motor and six groups of walkings have enough to state running gear, and the movable motor is set in rack, is arranged in the rack
There are three rack rail disposed in parallel, the rack rail is set in same level, the length direction of the rack rail
It is identical as the direction of advance of running gear, it is respectively provided with one group of walking in the front and back position of each rack rail and has enough, it is described
Walking foot tool includes the vertical slide guide rail being arranged along rack rail sliding and the guide rail branch being fixedly installed on above rack rail
Frame, on the rail brackets rotation be equipped with foot tool shaft, one end of the foot tool shaft is fixedly connected with belt wheel, and the other end, which is fixed, to be connected
Foot tool crank is connect, the other end of the foot tool crank is rotatablely connected foot tool gear, gear ring is also fixed on the rail brackets,
The gear ring is coaxial arrangement with foot tool shaft, and the foot tool gear is set in gear ring and is meshed with gear ring, the foot tool
The lateral surface of gear is installed with a foot tool connecting rod, and one end of the foot tool connecting rod is fixedly arranged on the circle centre position of the foot tool gear, separately
One end is rotatably connected to foot tool guide rod, and the lower end of the foot tool guide rod is installed with landing part, is being provided on the rack rail
The slider guide of level sliding, the slider guide are equipped with the vertical chute, and the foot tool guide rod is slideably positioned in the vertical chute, described
Setting is there are three driving wheel on the output shaft of movable motor, each belt wheel in front and back position on same rack rail and one
Driving wheel is tensioned by same tension band and is linked；
Be additionally provided with digging device in the rack, the digging device include the slippage slot being fixed in rack and
It is rotationally connected with the rotating wheel in rack by rotation axis, the slippage slot is horizontally disposed, is slided on the slippage slot
Sliding rack is installed, the eccentric position of the rotating wheel is equipped with first connecting rod shaft, and the sliding rack turns equipped with second connecting rod
Axis is equipped with second connecting rod between the first connecting rod shaft and second connecting rod shaft, the slippage slot is equipped with vertical pilot hole,
Sliding is equipped with guide rod on the pilot hole, and the lower end of the guide rod is fixed with tool mounting bracket, and the guide rod is equipped with
Compression spring, the compression spring lower face are resisted against tool mounting bracket upper surface, and the compression spring upper surface is resisted against sliding rack, the tool
Mounting bracket has hollow straight slot, also rotates to be equipped in the second connecting rod shaft and supports bar, the outer end for supporting bar is resisted against
The upper surface of hollow straight slot, the bar of supporting mutually are fixed with second connecting rod, and the lower end of the tool mounting bracket is equipped with digging
Tool；
Cantilever boom hoisting is additionally provided in the rack, the cantilever boom hoisting includes Rotary cloumn, cantilever, driving, lifting
Motor, translation motor, electric rotating machine, suspension hook and the pedestal in rack, the Rotary cloumn are rotatably installed in described
It is driven on pedestal and by the electric rotating machine and is rotated, the cantilever is crossed out from the top of the Rotary cloumn, the cantilever
In be formed with horizontal concrete chute, the translation motor is mounted in the driving and the driving is driven to be slided along the horizontal concrete chute
It moves, the lifting motor being mounted in the driving drives the hook lifting with hoisting heavy.
2. environment protection architecture operation according to claim 1 robot, which is characterized in that be additionally provided with packing in the rack
Device and throwing device, the packaging device include that rotation is set to first of the packing shaft in rack, rotation in rack
Shaft, rotation are set to the adjustable column of the adjustment gear in rack and sliding in rack, and the lower end of the packing shaft is solid
Equipped with first gear, the first rotating shaft is connected with partial gear, and the partial gear is meshed with first gear, described
It is fixed with the first disk body at the top of packing shaft, is arranged with guide sleeve in the middle part of the packing shaft, the guide sleeve top is connected with
Second disk body, first disk body lower surface are arranged with two the first material leakage cylinders, and second disk body lower surface is arranged with
Two the second material leakage cylinders, the second material leakage cylinder are socketed on one by one on the first material leakage cylinder, and the guide sleeve lower part is equipped with annular
Slot, the adjustable column and packing shaft are arranged in parallel, and the adjustable column is equipped with tooth-strip part, the adjustment gear and tooth-strip part phase
To drive adjustable column to move up and down, the adjustment gear is driven by regulation motor for engagement, and the top of the adjustable column is equipped with semicircle
Ring portion and slide guide circle, the semicircle ring portion are placed in annular groove and are matched with annular groove sliding, and the slide guide circle is positioned at the
Below two disk bodies, the lower surface of the slide guide circle, which is equipped with, lacks block portion, and cover board is hinged in the lower sidewalls of the second material leakage cylinder,
The cover board side is extended with jacking block, and the jacking block is connected to the lower surface of slide guide circle, when second disk body rotates, the top
The abutting of block period or the scarce block portion for leaving slide guide circle, so that the periodic open or close of cover board is in the second material leakage cylinder, institute
It states the first disk body upper surface and is equipped with charging box, the charging box bottom is equipped with connection the first material leakage cylinder that connecting tube is used for interval,
It is formed and is slidingly sealed between the connecting tube and the first disk body, the scarce block portion of the charging box and slide guide circle is located at packing shaft
Both sides；The throwing device includes that rotation is set to the bar of jettisoninging of the first runner in rack and rotation in rack, described
The center of rotation of bar of jettisoninging is located at the top of the first runner, and driving lever is equipped at the outer rim of first runner, described to jettisoning on bar
Equipped with short slot, first runner rotates so that driving lever periodically stirs bar rotation of jettisoninging, and at a setting position described in
Driving lever slips over the short slot, and baffle is additionally provided in the rack, and tension spring, the bar of jettisoninging are equipped between the baffle and bar of jettisoninging
Outer end be equipped with splicing groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810441701.7A CN108590181A (en) | 2018-05-10 | 2018-05-10 | A kind of environment protection architecture operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810441701.7A CN108590181A (en) | 2018-05-10 | 2018-05-10 | A kind of environment protection architecture operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108590181A true CN108590181A (en) | 2018-09-28 |
Family
ID=63636843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810441701.7A Pending CN108590181A (en) | 2018-05-10 | 2018-05-10 | A kind of environment protection architecture operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108590181A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112408215A (en) * | 2020-12-05 | 2021-02-26 | 侯继贵 | Emergency carrying device for road rescue |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2069438U (en) * | 1990-05-25 | 1991-01-16 | 周高斌 | Dual purpose machine with rammer and excavating function |
| CN1363789A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm', accurate linear driver unit and clutch |
| CN2536493Y (en) * | 2001-08-10 | 2003-02-19 | 武汉人天工贸有限公司 | Multifunctional duplex packaging apparatus |
| EP1421980A1 (en) * | 2002-11-25 | 2004-05-26 | Kwok, Kee-Man | Electric toy adapted to carry a user and to mimic walking movement |
| CN205387440U (en) * | 2016-03-24 | 2016-07-20 | 中国神华能源股份有限公司 | Cantilever hoisting accessory |
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
| CN107896595A (en) * | 2017-11-28 | 2018-04-13 | 赣州牛研科技有限公司 | A kind of hydraulic engineering is jettisoninged equipment with farmland water channel hydro powered fertilizer |
-
2018
- 2018-05-10 CN CN201810441701.7A patent/CN108590181A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2069438U (en) * | 1990-05-25 | 1991-01-16 | 周高斌 | Dual purpose machine with rammer and excavating function |
| CN1363789A (en) * | 2001-01-01 | 2002-08-14 | 熊介良 | 'Menneimasi pendulum arm', accurate linear driver unit and clutch |
| CN2536493Y (en) * | 2001-08-10 | 2003-02-19 | 武汉人天工贸有限公司 | Multifunctional duplex packaging apparatus |
| EP1421980A1 (en) * | 2002-11-25 | 2004-05-26 | Kwok, Kee-Man | Electric toy adapted to carry a user and to mimic walking movement |
| CN205387440U (en) * | 2016-03-24 | 2016-07-20 | 中国神华能源股份有限公司 | Cantilever hoisting accessory |
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
| CN107896595A (en) * | 2017-11-28 | 2018-04-13 | 赣州牛研科技有限公司 | A kind of hydraulic engineering is jettisoninged equipment with farmland water channel hydro powered fertilizer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112408215A (en) * | 2020-12-05 | 2021-02-26 | 侯继贵 | Emergency carrying device for road rescue |
| CN112408215B (en) * | 2020-12-05 | 2021-12-07 | 张瀚洋 | Emergency carrying device for road rescue |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106829059B (en) | Automatic packaging machine and working method | |
| CN110153838B (en) | Upper swinging type lens grinder | |
| CN108556955A (en) | A kind of single motor walking robot device illuminated | |
| CN101415391B (en) | Device for filling at least one dosing chamber | |
| CN207618430U (en) | Conveying sack sewing machine | |
| CN207013901U (en) | A kind of electric welding plant equipment suitable for large-scale workshop | |
| CN209396407U (en) | A kind of conveying device of the circulating packaging production line of packed food | |
| CN108313160A (en) | A kind of energy-efficient environment-friendly multifunctional implement for building | |
| CN108407920A (en) | A kind of energy conservation and environmental protection has the walking robot device of photovoltaic | |
| CN105442195A (en) | Sewing machine | |
| CN108590181A (en) | A kind of environment protection architecture operation robot | |
| CN108678055A (en) | A kind of intelligent building operation machinery equipment | |
| CN108502046A (en) | The sufficient single motor walking robot device of one kind six | |
| CN108589812A (en) | A kind of environment-friendly type building implement | |
| CN206316720U (en) | The conical tooth shaft feeding device of hay mover head section kludge | |
| CN107972759A (en) | A kind of afforestation walking robot | |
| CN108674517A (en) | A kind of environmentally protective multi-function operation equipment for building | |
| CN108032293A (en) | A kind of afforestation robot | |
| CN107717946A (en) | Multi-function robot | |
| CN108643271A (en) | A kind of intelligent environment protection constructions work machinery equipment | |
| CN108590183A (en) | A kind of environment protection architecture operation machinery equipment | |
| CN108589813A (en) | A kind of energy conservation and environmental protection constructions work robot | |
| CN110065702A (en) | Auxiliary device is used in a kind of electromechanical installation | |
| CN108622227A (en) | A kind of environmental protection walking robot | |
| CN106862883B (en) | The bearing feeder structure of grass trimmer head section kludge |
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 |