CN109335989A - Dam runner inspection platform with mechanical arm - Google Patents
Dam runner inspection platform with mechanical arm Download PDFInfo
- Publication number
- CN109335989A CN109335989A CN201811378002.9A CN201811378002A CN109335989A CN 109335989 A CN109335989 A CN 109335989A CN 201811378002 A CN201811378002 A CN 201811378002A CN 109335989 A CN109335989 A CN 109335989A
- Authority
- CN
- China
- Prior art keywords
- platform
- mechanical arm
- vehicle frame
- hoistable platform
- groups
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Abstract
The present invention relates to a kind of dam runner inspection platform with mechanical arm, solving the problems, such as existing inspection platform, structure is complicated, flexibility and bad adaptability, the cost of overhaul are high.Technical solution includes the vehicle frame with wheel, and self-balancing hoistable platform is equipped in the middle part of the vehicle frame, and the self-balancing hoistable platform includes the hoistable platform that preceding elevator, rear elevator and two elevators on vehicle frame support jointly；At least one front mechanical arm and preceding tension assembly are housed on the hoistable platform, the preceding tension assembly includes being respectively equipped with left and right two pieces of expandable bottom plates in the upper and lower slideway of hoistable platform bottom, with the left and right two groups of tensioner arm groups being located on hoistable platform, the telescopic arm of left and right two groups of tensioner arms is connect with respectively corresponding with left and right two pieces of expandable bottom plates.The configuration of the present invention is simple, operation adaptability are good, functional reliability is good, easy to operate, and testing cost is low, and overhaul efficiency is high.
Description
Technical field
The present invention relates to machinery fields, and in particular to a kind of dam runner inspection platform with mechanical arm.
Background technique
High-velocity flow can continuous denudation surfaces concrete since the cavitation of water flow acts on by the concrete surface of runner.
And high-velocity & sediment-laden flow constantly will rush grinding concrete surface, can also damage to runner.(therefore need often to runner into
Row maintenance), since the runner gradient is big, height is high, service personnel needs mobile distance remote in maintenance, and physical demands is big and scarce
Few protection, is easy to happen danger, needs a kind of novel dam runner inspection platform now to solve the above problems.
Dam runner in maintenance, due to being limited and overhauling the restriction of environment by maintenance condition, lead to by great work intensity
Inspection platform is set up frequently with large area and starts upkeep operation again.
It needs more people to participate in using above method maintenance, consumes a large amount of manpower, financial resources, and with the increasing of flow channel length
Add, project amount can further increase, and cause the increase of the cost of overhaul.Inspection platform needs are set up using large area simultaneously to be fixed on
It in runner, is removed again in the completed in this way, destruction can be generated to the quality of runner bottom plate, be not easy to subsequent use.
Summary of the invention
The purpose of the present invention is to solve above-mentioned technical problem, provide that a kind of structure is simple, easy to remove and maintenance, makees
Industry adaptability is good, functional reliability is good, easy to operate, and testing cost is low, the high dam runner with mechanical arm of overhaul efficiency
Inspection platform.
Technical solution includes the vehicle frame with wheel, is equipped with self-balancing hoistable platform, the self-balancing in the middle part of the vehicle frame
Hoistable platform includes the hoistable platform that preceding elevator, rear elevator and two elevators on vehicle frame support jointly；Institute
It states equipped at least one front mechanical arm and preceding tension assembly on hoistable platform, the preceding tension assembly includes being located at hoistable platform bottom
Left and right two pieces of expandable bottom plates in the upper and lower slideway in portion and the left and right two groups of tensioner arm groups being located on hoistable platform, it is described it is left,
The telescopic arm of right two groups of tensioner arms is connect with respectively corresponding with left and right two pieces of expandable bottom plates.
The rear end of the vehicle frame is additionally provided with rear job platform, it is described after job platform be equipped at least one rear mechanical arm and
Tension assembly afterwards, the rear tension assembly are identical as the structure of preceding tension assembly.
The front-end and back-end of the vehicle frame are respectively equipped with forward and backward expanding pulley.
The front end of the vehicle frame is equipped with hawser carry mechanism.
The vehicle frame is equipped with cable tightening device and safety rope storing unit.
(self-balancing) hoistable platform is equipped with the attitude transducer for detecting hoistable platform horizontality.
The utility model has the advantages that
(1) front mechanical arm is arranged by (certainly) balance lifting platform on vehicle frame, makes front mechanical arm in (certainly) balance lifting
It can vertically move, meet in runner to the job requirements under different height region on vehicle frame under the drive of platform；Appearance
State sensor can detect the horizontality of hoistable platform, and signal is fed back to the control device of balance lifting platform (certainly), with
Control hoistable platform is in horizontality, has and utilizes runner operation.
(2) job platform after the setting of vehicle frame rear end meets the requirement of multiple spot construction, raising for mechanical arm after installing
Working efficiency；
(3) the forward and backward mechanical arm configuration is identical, can completely or partially substitute artificial progress constructing operation, the tensioning
The telescopic arm of arm is connected with corresponding expandable bottom plate, and in width of flow path variation, the telescopic arm by controlling left and right tensioner arm is stretched
It drives left and right expansion plate to be unfolded out, withstands on telescopic arm end on runner two sidewalls, form tension effects, expand operation
Space guarantees the stability of job platform；
(4) front-end and back-end of the vehicle frame are respectively equipped with the forward and backward expanding pulley with Telescopic, are encountering exhaust
When ditch, forward and backward expanding pulley is extended to be crossed exhaust ditch and supports downwards, guarantees that inspection platform can be normal through.
(5) (certainly) balance lifting platform and before and the controllable retracted position of flexible operation basket and forward and backward expanding pulley,
It can be at contraction state under non-job state or when lifting disengaging runner, guarantee vehicle minimum volume, improve security reliability.
(6) the configuration of the present invention is simple, work efficiency is high, production, assembly and easy to maintenance, operation adapt to, be flexible,
The quality of runner bottom plate, good reliability, easy to operate is not influenced, can adapt to the dam runner service work under complex environment,
Improve overhaul efficiency.
Detailed description of the invention
Fig. 1 is assembly figure of the present invention.
Fig. 2 is the local scheme of installation of front mechanical arm.
Fig. 3 is the local scheme of installation of rear mechanical arm.
Fig. 4 is the installation diagram of forward and backward expanding pulley.
Wherein, elevator after elevator, 2.2- before 1- vehicle frame, 2- self-balancing hoistable platform, 2.1-, 2.3- hoistable platform,
It is the left expandable bottom plate of tension assembly, 3.1- before 3-, the right expandable bottom plate of 3.2-, the left tensioner arm of 3.3-, the right tensioner arm of 3.4-, sliding on 4-
Expanding pulley after tension assembly, 8- front stretching wheel, 9- after job platform, 7- after road, 5- glide path, 6-, 10- hawser carry mechanism,
Mechanical arm after 11- cable tightening device, 12- safety rope storing unit, 13- attitude transducer, 14- front mechanical arm, 15-.
Specific embodiment
Explanation is further explained to the present invention with reference to the accompanying drawing:
Referring to Fig. 1,1 bottom of vehicle frame sets wheel, is equipped with self-balancing hoistable platform 2, the self-balancing liter in the middle part of the vehicle frame 1
Drop platform 2 supports jointly including preceding elevator 2.1, rear elevator 2.2 and two elevators that bottom is fixed on vehicle frame 1
Hoistable platform 2.3, hoistable platform 2.3 are equipped with the attitude transducer 13 for detecting hoistable platform horizontality,；Referring to fig. 2,
The hoistable platform 2.3 is equipped with preceding tension assembly 3 and two front mechanical arms 14, and the preceding tension assembly 3 includes left and right two pieces
Expandable bottom plate 3.1,3.2 and left and right two groups of tensioner arms 3.3,3.4, left and right two pieces of expandable bottom plates 3.1,3.2 are located at
It in the upper and lower slideway 4,5 of hoistable platform bottom 2.3, can be slided in corresponding slideway, slideway is that the flexible of expandable bottom plate provides branch
Support force and guiding, left and right two groups of tensioner arms 3.3,3.4 are fixed on the hoistable platform 2.3, and its telescopic arm with it is corresponding
Expandable bottom plate connection.Referring to Fig. 3, the back segment of the vehicle frame 1 is additionally provided with rear job platform 6, and the rear job platform 6 is equipped with
Mechanical arm 15 after tension assembly 7 and two afterwards, it is described after tension assembly 7 structure it is identical as the structure of preceding tension assembly 3, herein
Do not make to sew to state.
The front-end and back-end of the vehicle frame 1 are respectively equipped with forward and backward expanding pulley 8,9, when encountering exhaust ditch, front stretching wheel
8, which stretch 9 with rear expanding pulley, goes out, and crosses exhaust and ditch and supports downwards, guarantees that vehicle can be normal through.The front end of the vehicle frame 1 is set
There is hawser carry mechanism 10, is used for and work car carry.It is additionally provided with cable tightening device 11 on the vehicle frame 1, inside sets hoist engine,
Facilitate the automatic deploying and retracting of cable, is each equipment power supply of platform of the present invention；The vehicle frame 1 is equipped with safety rope storing unit 12, together
It sets the folding and unfolding of the convenient and safe rope of hoist engine in sample, guarantees the stabilization of platform of the present invention in runner.Elevator in platform of the present invention,
Tight arm and expanding pulley etc. can control for complete automatically controlled or electric hydaulic or other control driving methods, those skilled in the art can roots
According to needing to reasonably select.
Before operation, each component of dam runner inspection platform of the present invention is in contraction state, by the traction rope of tractor with
Platform of the present invention is dragged to by the runner of setting, is then hung with crane by 10 carry of hawser carry mechanism on vehicle frame, tractor
To runner；Safety rope storing unit 12 discharges safety rope and is fixed.
When operation, control self-balancing hoistable platform 2, which rises to, needs height, and in uphill process, when attitude transducer 13 supervises in fact
Survey the horizontality of hoistable platform 2.3, and when will test signal and be sent to control device, forward and backward lifting is controlled by control device
The rate of climb and posture are adjusted in fact when machine 2.1,2.2, so that hoistable platform 2.3 keeps horizontality, then control left and right two groups
Tight arm 3.3,3.4 stretches out, until left and right two groups of tensioner arms 3.5,3.6 withstand the two sidewalls of runner, expands upkeep operation sky
Between, front mechanical arm 14 can carry out Job Operations.Similarly, rear job platform 6 can also carry out aforesaid operations as needed.
Claims (6)
1. a kind of dam runner inspection platform with mechanical arm, the vehicle frame including having wheel, it is characterised in that, the vehicle frame
Middle part is equipped with self-balancing hoistable platform, the self-balancing hoistable platform include preceding elevator on the vehicle frame, rear elevator, with
And the hoistable platform that two elevators support jointly；At least one front mechanical arm and preceding tensioning group are housed on the hoistable platform
Part, the preceding tension assembly include left and right two pieces of expandable bottom plates in the upper and lower slideway in hoistable platform bottom and are located at liter
Left and right two groups of tensioner arm groups on platform are dropped, the telescopic arm of left and right two groups of tensioner arms and are respectively corresponded and left and right two pieces
Expandable bottom plate connection.
2. having the dam runner inspection platform of mechanical arm as described in claim 1, which is characterized in that the rear end of the vehicle frame
It is additionally provided with rear job platform, the rear job platform is equipped at least one rear mechanical arm and rear tension assembly, is tensioned after described
Component is identical as the structure of preceding tension assembly.
3. having the dam runner inspection platform of mechanical arm as claimed in claim 1 or 2, which is characterized in that the vehicle frame
Front-end and back-end are respectively equipped with forward and backward expanding pulley.
4. having the dam runner inspection platform of mechanical arm as claimed in claim 1 or 2, which is characterized in that the vehicle frame
Front end is equipped with hawser carry mechanism.
5. having the dam runner inspection platform of mechanical arm as claimed in claim 1 or 2, which is characterized in that on the vehicle frame
Equipped with cable tightening device and safety rope storing unit.
6. having the dam runner inspection platform of mechanical arm as described in claim 1, which is characterized in that the self-balancing lifting
Platform is equipped with the attitude transducer for detecting hoistable platform horizontality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811378002.9A CN109335989B (en) | 2018-11-19 | 2018-11-19 | Dam runner maintenance platform with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811378002.9A CN109335989B (en) | 2018-11-19 | 2018-11-19 | Dam runner maintenance platform with mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109335989A true CN109335989A (en) | 2019-02-15 |
| CN109335989B CN109335989B (en) | 2020-07-14 |
Family
ID=65316135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811378002.9A Active CN109335989B (en) | 2018-11-19 | 2018-11-19 | Dam runner maintenance platform with mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109335989B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111075476A (en) * | 2020-01-07 | 2020-04-28 | 安徽理工大学 | Machine-mounted roof fall processing robot of coal mining machine and construction method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103648730A (en) * | 2011-04-29 | 2014-03-19 | 雷斯昂公司 | Teleoperated robotic system |
| CN105580560A (en) * | 2014-11-16 | 2016-05-18 | 张桂春 | Apple harvesting robot |
| CN106002918A (en) * | 2016-06-13 | 2016-10-12 | 徐光武 | Small self-balance delivery robot |
| CN106493709A (en) * | 2016-12-26 | 2017-03-15 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN107140396A (en) * | 2017-06-06 | 2017-09-08 | 桂林电子科技大学 | A kind of multifunctional intellectual carrying platform |
| CN107264831A (en) * | 2017-04-17 | 2017-10-20 | 闵好年 | A kind of modularization airplane synthetic maintenance platform |
-
2018
- 2018-11-19 CN CN201811378002.9A patent/CN109335989B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103648730A (en) * | 2011-04-29 | 2014-03-19 | 雷斯昂公司 | Teleoperated robotic system |
| CN105580560A (en) * | 2014-11-16 | 2016-05-18 | 张桂春 | Apple harvesting robot |
| CN106002918A (en) * | 2016-06-13 | 2016-10-12 | 徐光武 | Small self-balance delivery robot |
| CN106493709A (en) * | 2016-12-26 | 2017-03-15 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type electric power overhaul robot of vehicle body liftable rotation |
| CN107264831A (en) * | 2017-04-17 | 2017-10-20 | 闵好年 | A kind of modularization airplane synthetic maintenance platform |
| CN107140396A (en) * | 2017-06-06 | 2017-09-08 | 桂林电子科技大学 | A kind of multifunctional intellectual carrying platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111075476A (en) * | 2020-01-07 | 2020-04-28 | 安徽理工大学 | Machine-mounted roof fall processing robot of coal mining machine and construction method thereof |
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| Publication number | Publication date |
|---|---|
| CN109335989B (en) | 2020-07-14 |
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