CN110241878A - A kind of digging canal vehicle of detectable soil hardness - Google Patents
A kind of digging canal vehicle of detectable soil hardness Download PDFInfo
- Publication number
- CN110241878A CN110241878A CN201910555684.4A CN201910555684A CN110241878A CN 110241878 A CN110241878 A CN 110241878A CN 201910555684 A CN201910555684 A CN 201910555684A CN 110241878 A CN110241878 A CN 110241878A
- Authority
- CN
- China
- Prior art keywords
- linear motor
- canal
- feeler arm
- motor
- detection
- 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
- 239000002689 soil Substances 0.000 title claims abstract description 33
- 230000001809 detectable Effects 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 112
- 210000000481 Breast Anatomy 0.000 claims description 9
- 241001272996 Polyphylla fullo Species 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 239000010985 leather Substances 0.000 claims description 4
- 230000000284 resting Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000001429 stepping Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/08—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with digging wheels turning round an axis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
Abstract
The invention discloses a kind of digging canal vehicles of detectable soil hardness, including pedestal, it is characterized in that, the pedestal side of resting on the ground, detection agency is equipped with above pedestal, Wa Qu mechanism is equipped with above testing agency, walking mechanism is equipped with below pedestal, detection agency includes detection arm mechanism, detect needle mechanism, Wa Qu mechanism includes digging canal telescoping mechanism, Wa Qulun mechanism, controller and battery case are respectively equipped with above pedestal, the power input of controller and the power output end of battery case are electrically connected, the power output end of controller respectively with feeler arm linear motor, detect needle rotating stepper motor, feeler arm linear motor, detect needle force sensor, flexible linear motor, dig the flexible linear motor of canal, dig canal motor, stepper motor of walking is electrically connected, the signal output end of controller respectively with feeler arm linear motor, detect needle rotation Turn stepper motor, feeler arm linear motor, the linear motor that stretches, the flexible linear motor of digging canal, dig canal motor, walking stepper motor electric connection, the signal input part of controller is electrically connected with needle force sensor is detected.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to hydraulic engineering apparatus field, especially a kind of digging canal vehicle of detectable soil hardness.
Background technique
Tradition digs the excavator that canal uses and hand fit excavates, and on the excessively wet soil in soil, easily occurs
The case where excavator mires down in mud causes great risk to construction cost.
Summary of the invention
The purpose of the present invention is to solve the above problems, devise a kind of digging canal vehicle of detectable soil hardness.
Realize above-mentioned purpose the technical scheme is that, a kind of digging canal vehicle of detectable soil hardness, including pedestal,
The pedestal side of resting on the ground, the pedestal top are equipped with detection agency, are equipped with Wa Qu mechanism, institute above the testing agency
It states and is equipped with walking mechanism below pedestal,
The detection agency includes detection arm mechanism, detects needle mechanism,
The detection arm mechanism includes the feeler arm pedestal being fixedly connected above pedestal, is mounted on feeler arm pedestal
Feeler arm pedestal bearing, be inserted on feeler arm pedestal bearing detection arm axle, with the feeler arm of feeler arm axis connection, installation
Feeler arm linear motor fixing end mounting rack on pedestal, the detection being inlaid on feeler arm linear motor fixing end mounting rack
The feeler arm linear motor fixing end that arm linear motor is fixed end bearing, is inserted into the fixed end bearing of feeler arm linear motor
Axis is connect with the feeler arm linear motor of feeler arm linear motor fixing end axis connection, with feeler arm linear motor telescopic end
Feeler arm linear motor telescopic end axis, the feeler arm linear motor telescopic end axis being sleeved on feeler arm linear motor telescopic end axis
The feeler arm linear motor telescopic end mounting rack for holding, being connect respectively with the flexible end bearing of feeler arm linear motor and feeler arm,
The detection needle mechanism includes the detection needle rotating stepper motor mounting rack being located on feeler arm, is mounted on detection needle
Detection needle rotating stepper motor on rotating stepper motor mounting rack, the detection being connect with detection needle rotating stepper motor round end
Upright arm, the detection upright arm gravity sensor being mounted on detection upright arm and detection needle linear motor mounting rack are mounted on
The detection needle installation for detecting the detection needle linear motor on needle linear motor mounting rack, being connect with detection needle linear motor telescopic end
Frame, the detection needle force sensor being mounted on detection needle mounting rack, the detection needle being mounted on detection needle force sensor,
The Wa Qu mechanism includes digging canal telescoping mechanism, Wa Qulun mechanism,
It is described dig canal telescoping mechanism include the digging canal that is mounted on the base stretch linear motor mounting rack, be mounted on and dig canal and stretch
Digging canal on contracting linear motor mounting rack stretch linear motor, with dig canal and stretch the digging canal wheel installation that linear motor telescopic end connect
Frame.
The Wa Qulun mechanism includes being mounted on the digging canal motor dug on canal wheel mounting rack, connecting with digging canal motor round end
Digging canal wheel, several be evenly distributed on dig canal wheel on digging canals shovel.
The walking mechanism includes two walking stepper motor mounting racks being located at below pedestal, is mounted on walking stepping electricity
Walking stepper motor on machine mounting rack, the walking driver gear being connect with walking stepper motor round end, two be mounted on pedestal
The walker of lower section, several walking bearings being mounted on walker, be inserted into walking axle chengshan to walking axle, be sleeved on
Walking passive gear, two leather crawler belts being set on walking driver gear and walking passive gear in walking axle.
Controller and battery case are respectively equipped with above the pedestal.
The power input of the controller and the power output end of battery case are electrically connected,
The power output end of the controller respectively with feeler arm linear motor, detection needle rotating stepper motor, feeler arm
Linear motor, flexible linear motor, digs the flexible linear motor of canal, digs canal motor, walking stepper motor detection needle force sensor
It is electrically connected,
The signal output end of the controller respectively with feeler arm linear motor, detection needle rotating stepper motor, feeler arm
Linear motor, flexible linear motor, the flexible linear motor of digging canal, digging canal motor, walking stepper motor are electrically connected,
The signal input part and detection needle force sensor of the controller are electrically connected.
The battery case possesses charge function.
The controller possesses reception of wireless signals sending function.
The controller possesses capacitance touch screen.
Dustproof and waterproof shell is cased with outside the controller.
The MCU model ARM series monolithic of the controller.
Using a kind of digging canal vehicle of detectable soil hardness of technical solution of the present invention production, pass through before digging canal
Probe in detecting soil hardness, carries out digging canal again when density touches the mark when soil, can prevent during equipment from emboging, and can
Prevent digging canal equipment from causing to damage because soil is really up to the mark.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the digging canal vehicle of detectable soil hardness of the present invention；
Fig. 2 is the schematic diagram of detection arm mechanism of the present invention；
Fig. 3 is the schematic diagram of detection needle mechanism of the present invention；
Fig. 4 is the schematic diagram of Wa Qu mechanism of the present invention；
Fig. 5 is the schematic diagram of walking mechanism of the present invention；
In figure, 1, pedestal；2, feeler arm pedestal；3, feeler arm pedestal bearing；4, arm axle is detected；5, feeler arm；6, it detects
Arm linear motor fixing end mounting rack；7, the fixed end bearing of feeler arm linear motor；8, feeler arm linear motor fixing end axis；9,
Feeler arm linear motor；10, feeler arm linear motor telescopic end axis；11, the flexible end bearing of feeler arm linear motor；12, it detects
Arm linear motor telescopic end mounting rack；13, needle rotating stepper motor mounting rack is detected；14, needle rotating stepper motor is detected；15,
Detect upright arm；16, upright arm gravity sensor is detected；17, needle linear motor mounting rack is detected；18, needle linear motor is detected；
19, needle mounting rack is detected；20, needle force sensor is detected；21, needle is detected；22, the flexible linear motor mounting rack of canal is dug；23, it digs
Canal stretches linear motor；24, digging canal wheel mounting rack；25, canal motor is dug；26, canal wheel is dug；27, canal shovel is dug；28, walking stepping
Motor mounting rack；29, walking stepper motor；30, walking driver gear；31, walker；32, walking bearing；33, walking axle；34,
Walking passive gear；35, controller；36, battery case；37, leather crawler belt.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, as shown in Figs. 1-5, a kind of digging of detectable soil hardness
Canal vehicle, including pedestal 1,1 side of resting on the ground of pedestal are equipped with detection agency above the pedestal 1, in the testing agency
Side is equipped with Wa Qu mechanism, and walking mechanism is equipped with below the pedestal 1, and the detection agency includes detection arm mechanism, detection needle machine
Structure, the detection arm mechanism include the feeler arm pedestal 2 being fixedly connected above pedestal 1, are mounted on feeler arm pedestal 2
Feeler arm pedestal bearing 3, the detection arm axle 4 being inserted on feeler arm pedestal bearing 3, with detection arm axle 4 connect feeler arm 5,
The feeler arm linear motor fixing end mounting rack 6 that is mounted on pedestal 1 is inlaid in feeler arm linear motor fixing end mounting rack 6
On the fixed end bearing 7 of feeler arm linear motor, the feeler arm straight-line electric that is inserted into the fixed end bearing 7 of feeler arm linear motor
Machine fixing end axis 8, the feeler arm linear motor 9 being connect with feeler arm linear motor fixing end axis 8 and feeler arm linear motor 9
The feeler arm linear motor telescopic end axis 10 of telescopic end connection, the feeler arm being sleeved on feeler arm linear motor telescopic end axis 10
Stretch end bearing 11, the feeler arm that end bearing 11 and feeler arm 5 are connect that stretches respectively with feeler arm linear motor of linear motor is straight
Line motor flexible end mounting rack 12, the detection needle mechanism include the detection needle rotating stepper motor installation on feeler arm 5
Frame 13, the detection needle rotating stepper motor 14 being mounted on detection needle rotating stepper motor mounting rack 13 are walked with detection needle rotation
The detection upright arm 15 connected into 14 round end of motor, the detection upright arm gravity sensor 16 being mounted on detection upright arm 15
With detection needle linear motor mounting rack 17, be mounted on detection needle linear motor mounting rack 17 on detection needle linear motor 18, with
The detection needle mounting rack 19 of detection 18 telescopic end of needle linear motor connection, the detection needle force being mounted on detection needle mounting rack 19
Sensor 20, the detection needle 21 being mounted on detection needle force sensor 20, the Wa Qu mechanism include digging canal telescoping mechanism, digging
Qu Lun mechanism, the canal telescoping mechanism that digs include the flexible linear motor mounting rack 22 of digging canal being mounted on pedestal 1, are mounted on digging
The flexible linear motor 23 of the digging canal that canal stretches on linear motor mounting rack 22 stretches what 23 telescopic end of linear motor was connect with digging canal
Dig canal wheel mounting rack 24；The Wa Qulun mechanism includes being mounted on the digging canal motor 25 dug on canal wheel mounting rack 24 and digging canal electricity
The digging canal wheel 26 of 25 round end of machine connection, several digging canals being evenly distributed on digging canal wheel shovel 27；The walking mechanism includes
Two walking steps for being located at the walking stepper motor mounting rack 28 of 1 lower section of pedestal, being mounted on walking stepper motor mounting rack 28
Into motor 29, walking driver gear 30, two walkers being mounted below pedestal 1 being connect with walking 29 round end of stepper motor
31, several walking bearings 32 being mounted on walker 31, be inserted into walking 32 mountain of bearing to walking axle 33, suit be expert at
Walk 34, two leather crawler belts being set on walking driver gear 30 and walking passive gear 34 of walking passive gear on axis 33
37；Controller 35 and battery case 36 are respectively equipped with above the pedestal 1；The power input of the controller and the electricity of battery case
Source output terminal is electrically connected, and the power output end of the controller is electric with feeler arm linear motor, detection needle rotation stepping respectively
Machine, detection needle force sensor, flexible linear motor, digs the flexible linear motor of canal, digs canal motor, row feeler arm linear motor
Stepping electrical connection of motor is walked, the signal output end of the controller rotates stepping with feeler arm linear motor, detection needle respectively
Motor, feeler arm linear motor, flexible linear motor, the flexible linear motor of digging canal, digging canal motor, walking stepper motor electrically connect
It connects, the signal input part and detection needle force sensor of the controller are electrically connected；The battery case 36 possesses charge function；
The controller 35 possesses reception of wireless signals sending function；The controller 35 possesses capacitance touch screen；The controller 35
Outside is cased with dustproof and waterproof shell；The MCU model ARM series monolithic of the controller 35.
The characteristics of the present embodiment, is, including pedestal, the pedestal side of resting on the ground, and detection is equipped with above the pedestal
Mechanism, the testing agency top are equipped with Wa Qu mechanism, and walking mechanism is equipped with below the pedestal, and the detection agency includes spy
Test arm mechanism, detection needle mechanism, the detection arm mechanism include the feeler arm pedestal being fixedly connected above pedestal, are mounted on
Feeler arm pedestal bearing on feeler arm pedestal, the detection arm axle being inserted on feeler arm pedestal bearing, with feeler arm axis connection
Feeler arm, be mounted on the base feeler arm linear motor fixing end mounting rack, be inlaid in feeler arm linear motor fixing end
The fixed end bearing of feeler arm linear motor on mounting rack, the feeler arm being inserted into the fixed end bearing of feeler arm linear motor are straight
Line motor fixing end axis and the feeler arm linear motor of feeler arm linear motor fixing end axis connection and feeler arm linear motor
The feeler arm linear motor telescopic end axis of telescopic end connection, the feeler arm straight line being sleeved on feeler arm linear motor telescopic end axis
Motor flexible end bearing, the feeler arm linear motor connecting respectively with the flexible end bearing of feeler arm linear motor and feeler arm are flexible
Mounting rack is held, the detection needle mechanism includes the detection needle rotating stepper motor mounting rack being located on feeler arm, is mounted on detection
Detection needle rotating stepper motor on needle rotating stepper motor mounting rack, the spy being connect with detection needle rotating stepper motor round end
Survey upright arm, the detection upright arm gravity sensor being mounted on detection upright arm and detection needle linear motor mounting rack, installation
Pacify in the detection needle for detecting the detection needle linear motor on needle linear motor mounting rack, being connect with detection needle linear motor telescopic end
The detection needle force sensor shelve, being mounted on detection needle mounting rack, the detection needle being mounted on detection needle force sensor,
The Wa Qu mechanism includes digging canal telescoping mechanism, Wa Qulun mechanism, and the digging canal telescoping mechanism includes the digging being mounted on the base
Canal stretch linear motor mounting rack, be mounted on dig canal stretch linear motor mounting rack on digging canal stretch linear motor, with dig canal
The digging canal wheel mounting rack of flexible linear motor telescopic end connection.By probe in detecting soil hardness before digging canal, work as soil
Digging canal is carried out when density touches the mark again, can be prevented during equipment from emboging, and can prevent from digging canal equipment due to soil is really up to the mark
Cause to damage.
In the present embodiment, excavation speed is set by touch screen, opens cell phone application and is connected by internet and controller
It connects, pedestal is moved to by mobile phone control walking stepper motor and needs construction site, it will by control feeler arm linear motor
Whether detection needle is down to proper height, during which horizontal by detection upright arm gravity sensor detection detection upright arm, and passes through
Detection needle rotating stepper motor is adjusted, and control detection needle linear motor is down to needle is detected inside soil, and passes through detection
Needle force sensor detects its resistance, judges soil wettability by resistance, and when soil wettability qualification, canal motor is dug in control
The flexible linear motor of control digging canal, which drops to digging canal shovel below soil, after rotation digs out soil, and cooperates walking mechanism in soil
On dig out irrigation canals and ditches.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of digging canal vehicle of detectable soil hardness, including pedestal (1), which is characterized in that the pedestal (1) is located at ground
Top, pedestal (1) top are equipped with detection agency, and Wa Qu mechanism, pedestal (1) lower section are equipped with above the testing agency
Equipped with walking mechanism,
The detection agency includes detection arm mechanism, detects needle mechanism,
The detection arm mechanism includes the feeler arm pedestal (2) being fixedly connected above pedestal (1), is mounted on feeler arm pedestal
(2) feeler arm pedestal bearing (3) on, the detection arm axle (4) being inserted on feeler arm pedestal bearing (3), with detection arm axle (4)
The feeler arm (5) of connection, the feeler arm linear motor fixing end mounting rack (6) being mounted on pedestal (1), to be inlaid in feeler arm straight
Feeler arm linear motor on line motor fixing end mounting rack (6) fixed end bearing (7) is inserted into feeler arm linear motor and fixes
Feeler arm linear motor fixing end axis (8) in end bearing (7), the detection being connect with feeler arm linear motor fixing end axis (8)
Arm linear motor (9), the feeler arm linear motor telescopic end axis (10) being connect with feeler arm linear motor (9) telescopic end, suit
Feeler arm linear motor on feeler arm linear motor telescopic end axis (10) stretches end bearing (11), respectively with feeler arm straight line
The feeler arm linear motor telescopic end mounting rack (12) of motor flexible end bearing (11) and feeler arm (5) connection,
The detection needle mechanism includes the detection needle rotating stepper motor mounting rack (13) being located on feeler arm (5), is mounted on spy
Detection needle rotating stepper motor (14) and detection needle rotating stepper motor (14) on stylus rotating stepper motor mounting rack (13)
Round end connection detection upright arm (15), be mounted on detection upright arm (15) on detection upright arm gravity sensor (16) and
Detection needle linear motor mounting rack (17), the detection needle linear motor being mounted in detection needle linear motor mounting rack (17)
(18), with detection needle linear motor (18) telescopic end connect detection needle mounting rack (19), be mounted on detect needle mounting rack (19)
On detection needle force sensor (20), be mounted on detection needle force sensor (20) on detection needle (21),
The Wa Qu mechanism includes digging canal telescoping mechanism, Wa Qulun mechanism,
The canal telescoping mechanism that digs includes that the digging canal being mounted on pedestal (1) stretches linear motor mounting rack (22), is mounted on digging
The digging canal that canal stretches on linear motor mounting rack (22) stretches linear motor (23), stretch linear motor (23) telescopic end with digging canal
The digging canal wheel mounting rack (24) of connection.
2. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the digging canal turbine
Structure includes the digging canal wheel for being mounted on the digging canal motor (25) dug on canal wheel mounting rack (24), connecting with digging canal motor (25) round end
(26), several are evenly distributed on the digging canal shovel (27) dug on canal wheel.
3. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the walking mechanism
Including two walking stepper motor mounting racks (28) being located at below pedestal (1), it is mounted on walking stepper motor mounting rack (28)
On walking stepper motor (29), with walking stepper motor (29) round end connect walking driver gear (30), two be mounted on
Walker (31) below pedestal (1), is inserted into walking bearing at several walking bearings (32) being mounted on walker (31)
(32) mountain is given walking axle (33), the walking passive gear (34) being sleeved on walking axle (33), two be set in walking master
Leather crawler belt (37) on driving wheel (30) and walking passive gear (34).
4. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the pedestal (1)
Top is respectively equipped with controller (35) and battery case (36).
5. a kind of digging canal vehicle of detectable soil hardness according to claim 4, which is characterized in that the controller
The power output end of power input and battery case is electrically connected,
The power output end of the controller respectively with feeler arm linear motor, detection needle rotating stepper motor, feeler arm straight line
Motor, detection needle force sensor, flexible linear motor, the flexible linear motor of digging canal, digging canal motor, walking stepper motor are electrical
Connection,
The signal output end of the controller respectively with feeler arm linear motor, detection needle rotating stepper motor, feeler arm straight line
Motor, flexible linear motor, the flexible linear motor of digging canal, digging canal motor, walking stepper motor are electrically connected,
The signal input part and detection needle force sensor of the controller are electrically connected.
6. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the battery case
(36) possess charge function.
7. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the controller
(35) possess reception of wireless signals sending function.
8. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the controller
(35) possess capacitance touch screen.
9. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the controller
(35) external to be cased with dustproof and waterproof shell.
10. a kind of digging canal vehicle of detectable soil hardness according to claim 1, which is characterized in that the controller
(35) MCU model ARM series monolithic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555684.4A CN110241878A (en) | 2019-06-25 | 2019-06-25 | A kind of digging canal vehicle of detectable soil hardness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555684.4A CN110241878A (en) | 2019-06-25 | 2019-06-25 | A kind of digging canal vehicle of detectable soil hardness |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110241878A true CN110241878A (en) | 2019-09-17 |
Family
ID=67889534
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910555684.4A Pending CN110241878A (en) | 2019-06-25 | 2019-06-25 | A kind of digging canal vehicle of detectable soil hardness |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110241878A (en) |
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