CN113430903A - Road cutting robot - Google Patents
Road cutting robot Download PDFInfo
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- CN113430903A CN113430903A CN202110753943.1A CN202110753943A CN113430903A CN 113430903 A CN113430903 A CN 113430903A CN 202110753943 A CN202110753943 A CN 202110753943A CN 113430903 A CN113430903 A CN 113430903A
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- milling cutter
- drilling
- driving device
- support frame
- inspection well
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- 238000003801 milling Methods 0.000 claims abstract description 104
- 238000007689 inspection Methods 0.000 claims abstract description 94
- 238000005553 drilling Methods 0.000 claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000009434 installation Methods 0.000 claims description 25
- 230000001939 inductive effect Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000008439 repair process Effects 0.000 description 7
- 241001074085 Scophthalmus aquosus Species 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 239000002699 waste material Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/09—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges
- E01C23/0906—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges
- E01C23/0926—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters
- E01C23/0933—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters rotary, e.g. circular-saw joint cutters
- E01C23/094—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for forming cuts, grooves, or recesses, e.g. for making joints or channels for markings, for cutting-out sections to be removed; for cleaning, treating, or filling cuts, grooves, recesses, or fissures; for trimming paving edges for forming, opening-out, cleaning, drying or heating cuts, grooves, recesses or, excluding forming, cracks, e.g. cleaning by sand-blasting or air-jet ; for trimming paving edges with power-driven tools, e.g. vibrated, percussive cutters rotary, e.g. circular-saw joint cutters about vertical or inclined axes, e.g. for core sampling
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Repair (AREA)
Abstract
The invention relates to the field of road surface maintenance mechanical equipment, in particular to a road cutting robot, which comprises an inspection well mouth self-adaptive support frame, wherein the central axis of the inspection well mouth self-adaptive support frame and the axis of an inspection well mouth are positioned on the same straight line when the inspection well mouth self-adaptive support frame is in a working state, a rotating table is arranged at the center of the inspection well mouth self-adaptive support frame, the rotating table drives a drilling and milling cutter assembly for cutting a road surface to adjust the position, the drilling and milling cutter assembly adopts a drilling and milling cutter to cut the road surface, a position adjusting mechanism is used for adjusting the cutting position of the drilling and milling cutter assembly, a plurality of groups of position sensing mechanisms are arranged on the position adjusting mechanism, and the position sensing mechanism is used for accurately controlling the adjusting distance of the position adjusting mechanism, the technical problem of need not the location nail and also can conveniently and fast confirm inspection shaft mouth centre of a circle position and to the road surface automatic carry out the rectangle apex angle of cutting out after the cutting of different sizes for the easy phenomenon that produces stress concentration of closed angle has been solved to the present case.
Description
Technical Field
The invention relates to the field of pavement maintenance mechanical equipment, in particular to a road cutting robot.
Background
At present, in the road maintenance market of China, the circumference of the inspection well cover for repairing and cutting the road surface is mostly in a saw blade form. However, saw blade style cutting has a number of drawbacks.
For example, when pavement is repaired and cut, the slotted repair pit slot requires the principles of square repair of a round hole and normal repair of an inclined hole according to the traffic part file, so that a rectangular repair pit slot needs to be cut. However, the conventional road surface cutting machine can only cut straight lines due to the limitation of cutting by using a saw blade, and cannot turn during cutting, so that the cut rectangle is necessarily in a shape of a Chinese character 'jing' during cutting, and when a rectangular pattern is formed by performing linear cutting by using a circular saw blade, only the cut sides of the rectangle can be intersected with the side perpendicular to the cutting line, so that the pattern in the shape of the Chinese character 'jing' is formed, and 4 corners of the rectangle are sharp corners. After the repair, due to factors such as repeated rolling friction, thermal expansion and cold contraction of the vehicle, stress concentration will occur at the 4 sharp corners, new cracks are formed, and new road surface damage is caused. And traditional road surface cutting machine adopts artifical handheld mode of carrying out the cutting, because artifical error can often will repair the groove and cut askewly, cuts to one side, causes to repair the groove and is not regular rectangle, and not only pleasing to the eye but also make stress concentration effect increase like this. And traditional inspection shaft lid circumference cutting machine is very inconvenient when carrying out the centre of a circle location, needs the manual work to squeeze into the location nail, still need take out the location nail after having cut, wastes time and energy.
Disclosure of Invention
In order to solve the technical problem, a road cutting robot is provided. The technical problem that stress concentration is easily generated for sharp corners by rectangular top angles which can conveniently and quickly determine the circle center position of the inspection well mouth without a positioning nail and cut out after automatically cutting different sizes of the road surface is solved.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a road cutting robot comprises an inspection well mouth self-adaptive support frame, wherein the inspection well mouth self-adaptive support frame is used for fixing integral equipment at an inspection well mouth, the central axis of the inspection well mouth self-adaptive support frame in a working state is in the same straight line with the axis of the inspection well mouth, a rotary table is installed at the center of the inspection well mouth self-adaptive support frame, the rotary table can rotate on the axis of the inspection well mouth self-adaptive support frame in a single direction by ninety degrees, the rotary table drives a drilling and milling cutter assembly for cutting a road surface to adjust the position, the drilling and milling cutter assembly adopts a drilling and milling cutter to cut the road surface, the drilling and milling cutter assembly is fixedly installed on the rotary table through a position adjusting mechanism, the working end of the position adjusting mechanism can move in a horizontal space and a vertical space, the position adjusting mechanism is used for adjusting the cutting position of the drilling and milling cutter assembly, and a plurality of groups of position sensing mechanisms are arranged on the position adjusting mechanism, the position sensing mechanism is used for accurately controlling the adjusting distance of the position adjusting mechanism.
Preferably, inspection shaft mouth self-adaptation support frame is including the base, and the side of base is provided with a plurality of side installation chambeies, and the side installation chamber is used for the synchronous flexible arm of force of installation, and the top of the flexible arm of force is provided with first mount pad, and first mount pad is used for fixed mounting fixed stay head, and fixed stay head is used for laminating the center axis position that the support base is in the inspection shaft mouth to the lateral wall of inspection shaft mouth.
Preferably, the flexible arm of force is including the first order arm of force, and the spacing installation of the first order arm of force is in the side-mounting intracavity, and the inside cavity of the first order arm of force, first linear drive device are installed to first order arm of force internally mounted, and linear motion is at the extending direction of the first order arm of force to first linear drive device's working end setting, and the second order arm of force of working end fixed connection second level arm of force, second level arm of force cartridge are in the inside of the first order arm of force, the first mount pad of top fixed mounting of the second level arm of force.
Preferably, the front side of the fixed supporting head is provided with a V-shaped opening, the V-shaped opening is used for being in contact with the arc-shaped side wall of the inspection well opening, a fan-shaped supporting plate is arranged above the V-shaped opening and used for being in contact with the opening of the inspection well opening to support, and an anti-skid rubber pad is arranged on the lower portion of the fan-shaped supporting plate.
Preferably, revolving stage fixed mounting is served at the work of first rotary driving device, first rotary driving device fixed mounting is in the central installation cavity that inspection shaft mouth self-adaptation support frame center department set up, and the opening of central installation cavity sets up towards the top, and first rotary driving device's working shaft sets up on the center axis of inspection shaft mouth self-adaptation support frame, and first rotary driving device's work end sets up towards the top and with the bottom of revolving stage spacing connection.
Preferably, the upper surface of inspection shaft mouth self-adaptation support frame is provided with the spacing groove, and the revolving stage cartridge is spacing rotatory in the spacing groove.
Preferably, the position adjusting mechanism comprises two second linear driving devices, the working ends of the second linear driving devices are arranged on the same horizontal straight line and extend outwards, the working ends of the two second linear driving devices are arranged on the same horizontal straight line and move synchronously in opposite directions, a second mounting seat is arranged on the working end of the second linear driving device and used for fixedly mounting a third linear driving device, the working end of the third linear driving device is arranged on the horizontal direction perpendicular to the moving direction of the second linear driving device and moves in the same direction, the moving directions of the working ends of the third linear driving devices on two sides are the same, a fourth linear driving device is fixedly mounted on the working end of the third linear driving device, and the moving direction of the working end of the fourth linear driving device is the same as that of the working end of the third linear driving device, and a working end of the fourth linear driving device is fixedly provided with a fifth linear driving device, the working end of the fifth linear driving device is arranged to move in the vertical direction, and a drilling and milling cutter assembly is fixedly arranged on the working end of the fifth linear driving device.
Preferably, the top of revolving stage is equipped with the mounting panel, and the mounting panel is used for fixed mounting position adjustment mechanism's second linear drive device, is provided with the guide bar that extends towards the rear on second linear drive device's the second mount pad, and the guide bar cartridge is at the guide pin bushing of mounting panel both sides, the revolving stage is still including ring support frame, and the center pin of ring support frame is in on the same straight line with the central axis of revolving stage, and the supporting legs fixed mounting that the ring support frame passes through the below is on inspection shaft mouth self-adaptation support frame, the below of mounting panel is provided with curved spacing spout, spacing installation of spacing spout and ring support frame.
Preferably, the position sensing mechanism is provided with a plurality of groups, a first sensing element of the position sensing mechanism is arranged on a second linear driving device of the position adjusting mechanism, a first sensing unit is arranged at the center of the connecting part of the two second linear driving devices, the working end of the first sensing element is arranged towards the first sensing unit, the first sensing element and the first sensing unit are used for detecting the moving distance of the drilling and milling cutter assembly in the linear direction so as to control the length of a square area to be cut, a second sensing element is arranged at the center of a fifth linear driving device of the position adjusting mechanism, the second sensing unit is arranged at one side of a second mounting seat far away from the fifth linear driving device, the working end of the second sensing element is arranged towards the second sensing unit, the second sensing element and the second sensing unit are used for detecting the cutting distance of the drilling and milling cutter assembly, and a third sensing element is fixedly arranged on the drilling and milling cutter assembly, the working end of the third sensing element is arranged downwards, and the third sensing element is used for detecting the cutting depth of the drilling and milling cutter assembly.
Preferably, the drilling and milling cutter assembly further comprises a spindle motor, a drilling and milling cutter holder is mounted on a work sheet of the spindle motor and used for replacing a drilling and milling cutter, and central shafts of the drilling and milling cutter, the spindle motor and the drilling and milling cutter holder are located on the same straight line.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the center shaft can be accurately arranged at the circle center position of the inspection well mouth through the inspection well mouth self-adaptive support frame, so that the positioning is simple during cutting, and the use of positioning nails is avoided.
2. The fixed support head is driven to contact with the side edge of the inspection well opening by the telescopic force arm which synchronously extends outwards from the base, so that the equipment is fixed at the inspection well opening, and the central axis of the base and the axis of the inspection well opening can be effectively ensured to be on the same straight line.
3. The telescopic force arm is fixedly installed in the side installation cavity through the first-stage force arm and is kept stable, and the extension and the shortening of the telescopic force arm are realized through the linear movement of the working end of the second-stage force arm, so that the telescopic force arm can extend the fixed support head to be in contact with the inspection well openings according to the inspection well openings with different sizes.
4. The fixed support head has a good contact effect with the arc-shaped side face of the inspection well opening through the V-shaped opening arranged on the outer side, the fixed support head is not easy to slide, the anti-skid rubber pad can effectively increase the friction force between the fixed support head and the inspection well opening, the structure of the fixed support head can be effectively protected from being damaged, and the fixed support head plays a role in damping when the drilling and milling cutter assembly works.
5. According to the invention, the first rotary driving device arranged in the central mounting cavity drives the rotary table fixed at the working end of the first rotary driving device to rotate, so that the drilling and milling cutter assembly cuts a complete square slot.
6. According to the invention, the rotating table can stably rotate around the central axis of the inspection well mouth self-adaptive support frame through the limiting groove, so that the stability of the rotating table during the processing of the drilling and milling cutter assembly is ensured, and the cutting quality is improved.
7. According to the invention, the drilling and milling cutter assembly is driven by the position adjusting mechanism to automatically move to the position where the groove needs to be cut, so that the degree of automation is improved, and the labor waste of workers is reduced.
8. The guide rod is inserted into the guide sleeve to ensure the stability of the third linear driving device and the fourth linear driving device when the drilling and milling cutter assembly is processed, and the mounting plate is in limit connection with the circular ring support frame to ensure the integral stability of the position adjusting mechanism.
9. According to the invention, the movement of the drilling and milling cutter assembly is accurately detected through the plurality of groups of position sensing mechanisms, so that the position adjusting mechanism is controlled, the cutting accuracy is improved, and the quality of the cut square groove is ensured.
10. According to the invention, through the tool holder of the drilling and milling cutter, workers can replace the drilling and milling cutters with different models according to different road surfaces, so that a better cutting effect is achieved.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a cross-sectional view taken at A-A of FIG. 4;
FIG. 6 is a perspective view of the fixed support head of the present invention;
FIG. 7 is a first exploded perspective view of the base and turntable according to the present invention;
FIG. 8 is an exploded perspective view of the base and turntable of the present invention
FIG. 9 is a perspective view of the position adjustment mechanism of the present invention;
FIG. 10 is a perspective view of the drilling and milling cutter assembly of the present invention;
the reference numbers in the figures are:
1-self-adaptive support frame of inspection well mouth; 1 a-a base; 1a 1-side mounting cavity; 1a 2-central mounting cavity; 1a 3-limit groove; 1 b-a telescopic arm of force; 1b1 — first mount; 1b 2-first stage moment arm; 1b3 — first linear drive; 1b 4-second stage moment arm; 1 c-fixing the support head; 1c1- "V" shaped opening; 1c 2-sector shaped support plate; 1c 3-anti-skid rubber pad;
2-rotating table; 2 a-a first rotary drive; 2 b-a mounting plate; 2b 1-guide sleeve; 2b 2-limit runner; 2 c-a circular ring support; 2c 1-supporting foot;
3, drilling and milling cutter components; 3 a-drill milling cutter; 3 b-a spindle motor; 3 c-drilling and milling cutter holder;
4-a position adjustment mechanism; 4 a-a second linear drive; 4a1 — second mount; 4a 2-guide bar; 4 b-a third linear drive; 4 c-a fourth linear drive; 4 d-a fifth linear drive;
5-a position sensing mechanism; 5 a-a first inductive element; 5 b-a first sensing unit; 5 c-a second inductive element; 5 d-a second sensing unit; 5 e-a third inductive element.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
In order to solve the technical problem that the center position of the inspection well mouth can be conveniently and quickly determined without a positioning nail, and the phenomenon that stress concentration is easily generated for sharp corners by rectangular vertex angles which are cut after the cutting of different sizes is automatically carried out on a road surface is easily generated, the following technical scheme is provided as shown in figures 1 to 4:
a road cutting robot comprises an inspection well mouth self-adaptive support frame 1, wherein the inspection well mouth self-adaptive support frame 1 is used for fixing integral equipment at an inspection well mouth, the central axis of the inspection well mouth self-adaptive support frame 1 in a working state is in the same straight line with the axis of the inspection well mouth, a rotary table 2 is installed at the center of the inspection well mouth self-adaptive support frame 1, the rotary table 2 can rotate on the axis of the inspection well mouth self-adaptive support frame 1 in a single direction at ninety degrees, the rotary table 2 drives a drilling and milling cutter assembly 3 for cutting a road surface to adjust the position, the drilling and milling cutter assembly 3 adopts a drilling and milling cutter 3a to cut the road surface, the drilling and milling cutter assembly 3 is fixedly installed on the rotary table 2 through a position adjusting mechanism 4, the working end of the position adjusting mechanism 4 can move in a horizontal space and a vertical space, the position adjusting mechanism 4 is used for adjusting the cutting position of the drilling and milling cutter assembly 3, a plurality of sets of position sensing mechanisms 5 are arranged on the position adjusting mechanism 4, and the position sensing mechanisms 5 are used for accurately controlling the adjusting distance of the position adjusting mechanism 4.
Specifically, in the embodiment, the device is fixed in the inspection well mouth through the inspection well mouth self-adaptive support frame 1, so that the cutting device can accurately arrange the central shaft at the position of the circle center of the inspection well mouth, the positioning is simple during the cutting, the inconvenience in the circle center positioning of the traditional inspection well cover circumference cutting machine is avoided, the positioning nail needs to be manually driven, the positioning nail needs to be taken out after the cutting is finished, time and labor are wasted, the drilling and milling cutter component 3 is driven to rotate through the rotary table 2 arranged on the inspection well mouth self-adaptive support frame 1, the device can automatically cut the road surface, the manpower waste is reduced, the drilling and milling cutter component 3 is fixed on the position adjusting mechanism 4, the working end of the position adjusting mechanism 4 can be matched with the position sensing mechanism 5 to adjust the position of the drilling and milling cutter component 3 according to the size required by slotting, and the drilling and milling cutter component 3 can cut according to different requirements, and the cutting is difficult to be askew and oblique to cut, has improved the practical scope and the cutting quality of equipment, bores milling cutter subassembly 3 and adopts and bores milling cutter 3a to cut the road surface, can avoid traditional circular saw bit to carry out when sharp cutting forms the rectangle pattern, only cut out the limit of rectangle and can intersect with line of cut vertically that one side, form 4 angles that a "well" font pattern made the rectangle and be the closed angle, bore milling cutter 3a can make the apex angle department of cutting plane be the fillet.
Further:
in order to solve the technical problem of how to fixedly install inspection shaft mouth self-adaptation support frame 1 at the inspection shaft mouth opening part, as shown in fig. 4 and 5, provide following technical scheme: inspection shaft mouth self-adaptation support frame 1 is including base 1a, and the side of base 1a is provided with a plurality of side installation cavity 1a1, and side installation cavity 1a1 is used for the synchronous flexible arm of force 1b of installation, and the top of flexible arm of force 1b is provided with first mount pad 1b1, and first mount pad 1b1 is used for fixed mounting fixed stay head 1c, and fixed stay head 1c is used for laminating the central axis position that support base 1a is in the inspection shaft mouth to the lateral wall of inspection shaft mouth.
Concretely, inspection shaft mouth self-adaptation support frame 1 drives fixed support head 1c and the side contact of inspection shaft mouth through the synchronous flexible arm of force 1b that stretches out and draws back to the outside from base 1a in this example, fixes equipment in inspection shaft mouth department, because the synchronous flexible length that makes flexible arm of force 1b of flexible arm of force 1b remains the unanimity throughout, the central axis that can effectual assurance base 1a and the axis of inspection shaft mouth are in same straight line to conveniently bore milling cutter subassembly 3 and use the inspection shaft mouth to cut peripheral road surface as the center.
Further:
in order to solve the technical problem of how to stably extend the telescopic force arm 1b to ensure the contact between the fixed supporting head 1c and the inspection well mouth, as shown in fig. 5, the following technical scheme is provided: the telescopic force arm 1b comprises a first-stage force arm 1b2, the first-stage force arm 1b2 is installed in a side installation cavity 1a1 in a limiting mode, the first-stage force arm 1b2 is hollow inside, a first linear driving device 1b3 is installed inside a first-stage force arm 1b2, the working end of the first linear driving device 1b3 is arranged in the extending direction of the first-stage force arm 1b2 to move linearly, the working end of the first linear driving device 1b3 is fixedly connected with a second-stage force arm 1b4, the second-stage force arm 1b4 is inserted into the first-stage force arm 1b2, and the top end of the second-stage force arm 1b4 is fixedly installed with a first installation seat 1b 1.
Specifically, affiliated first linear drive device 1b3 can be for linear cylinder also can be electric putter etc. and flexible arm of force 1b keeps stable in the side installation cavity 1a1 of base 1a through first order arm of force 1b2 fixed mounting, and extension and the shortening of flexible arm of force 1b are realized through the rectilinear movement of first linear drive device 1b3 work end to second order arm of force 1b4 cartridge in first order arm of force 1b2, make flexible arm of force 1b can be directed against the inspection shaft mouth of different sizes will install the fixed support head 1c on second order arm of force 1b4 top and extend to and contact with the inspection shaft mouth.
Further:
in order to solve the technical problem of how to effectively support equipment by the fixed supporting head 1c contacting with the inspection well opening, as shown in fig. 6, the following technical scheme is provided: the front side of the fixed supporting head 1c is provided with a V-shaped opening 1c1, the V-shaped opening 1c1 is used for contacting with an arc-shaped side wall of a manhole opening, a fan-shaped supporting plate 1c2 is arranged above the V-shaped opening 1c1, the fan-shaped supporting plate 1c2 is used for contacting and supporting the opening of the manhole opening, and the lower part of the fan-shaped supporting plate 1c2 is provided with an anti-skid rubber pad 1c 3.
Specifically, when the fixed supporting head 1c is in contact with the side wall of the inspection well opening, a good contact effect is achieved between the V-shaped opening 1c1 arranged on the outer side and the arc-shaped side face of the inspection well opening, the fixed supporting head is not easy to slide, the fan-shaped supporting plate 1c2 on the upper portion of the V-shaped opening 1c1 supports the whole equipment at the opening of the inspection well opening, the anti-skid rubber pad 1c3 arranged below the fan-shaped supporting plate 1c2 can effectively increase the friction force between the fixed supporting head 1c and the inspection well opening, the structure of the fixed supporting head 1c can be effectively protected from being damaged, and the vibration absorption effect is achieved when the drilling and milling cutter assembly 3 works.
Further:
in order to solve the technical problem of how to automatically drive the rotating table 2 to drive the drilling and milling cutter assembly 3 to rotate around the central shaft of the inspection well mouth self-adaptive support frame 1 to adjust the cutting position, as shown in fig. 7 and 8, the following technical scheme is provided: revolving stage 2 fixed mounting is served at the work of first rotary driving device 2a, first rotary driving device 2a fixed mounting is in central installation cavity 1a2 that inspection shaft mouth self-adaptation support frame 1 center department set up, and the opening of central installation cavity 1a2 sets up towards the top, and first rotary driving device 2 a's working shaft sets up on inspection shaft mouth self-adaptation support frame 1's central axis, and first rotary driving device 2 a's working end sets up towards the top and is connected with revolving stage 2's bottom is spacing.
Specifically, affiliated first rotary driving device 2a can be servo motor, but first rotary driving device 2a remote control starts, but first rotary driving device 2a installs and keeps the central axis of working shaft and inspection shaft mouth self-adaptation support frame 1 to be in same straight line in central installation cavity 1a2, and drive the revolving stage 2 of fixing at first rotary driving device 2a working end when first rotary driving device 2a starts and rotate, and every rotation angle is ninety degrees to make drilling and milling cutter subassembly 3 cut out complete square fluting.
Further:
in order to solve the technical problem of how to ensure the rotation stability of the rotating platform 2, as shown in fig. 7, the following technical solutions are provided: the upper surface of inspection shaft mouth self-adaptation support frame 1 is provided with spacing groove 1a3, and revolving stage 2 cartridge is spacing rotatory in spacing groove 1a 3.
Specifically, the limit installation in spacing groove 1a3 through the below of revolving stage 2 can realize revolving stage 2 around the stable rotation of inspection shaft mouth self-adaptation support frame 1 the central axis to guarantee to bore milling cutter subassembly 3 and add the stability of revolving stage 2 in man-hour, improve cutting quality.
Further:
in order to solve the technical problem of how to adjust the cutting position of the drilling and milling cutter assembly 3 by the position adjusting mechanism 4, as shown in fig. 9, the following technical solutions are provided: the position adjusting mechanism 4 comprises a second linear driving device 4a, the number of the second linear driving device 4a is two, the working end of the second linear driving device 4a is arranged on the horizontal direction and extends outwards, the working ends of the two second linear driving devices 4a are arranged on the same horizontal straight line but move synchronously in opposite directions, a second mounting seat 4a1 is arranged on the working end of the second linear driving device 4a, the second mounting seat 4a1 is used for fixedly mounting a third linear driving device 4b, the working end of the third linear driving device 4b is arranged on the horizontal direction perpendicular to the moving direction of the second linear driving device 4a and moves, the moving directions of the working ends of the third linear driving devices 4b on two sides are consistent, a fourth linear driving device 4c is fixedly mounted on the working end of the third linear driving device 4b, and the working end of the fourth linear driving device 4c is consistent with the moving direction of the working end of the third linear driving device 4b, a fifth linear driving device 4d is fixedly installed on the working end of the fourth linear driving device 4c, the working end of the fifth linear driving device 4d moves in the vertical direction, and a drilling and milling cutter assembly 3 is fixedly installed on the working end of the fifth linear driving device 4 d.
Specifically, in this example, the position adjusting mechanism 4 controls the area of the drilling and milling cutter assembly 3 for cutting the square slot through the second linear driving device 4a extending towards two sides of the same straight line, the second linear driving device 4a can be a linear cylinder or an electric push rod, etc., the drilling and milling cutter assembly 3 is moved to the vertex angle position of the square slot to be cut through the third linear driving device 4b and the fourth linear driving device 4c, the third linear driving device 4b and the fourth linear driving device 4c can be a synchronous belt or a screw rod sliding table, etc., the drilling and milling cutter assembly 3 is driven by the fifth linear driving device 4d to move downwards to make the drilling and milling cutter 3a contact with the road surface to start cutting, the third linear driving device 4b and the fourth linear driving device 4c drive the drilling and milling cutter assembly 3 to move horizontally to cut the half-side length of the square slot to be cut, after the rotating table 2 drives the drilling and milling cutter assembly 3 to rotate and reset for four times, the drilling and milling cutter assembly 3 completes the cutting of the square groove.
Further:
in order to solve the technical problem of how to ensure the stability of the position adjusting mechanism 4 when the drilling and milling cutter assembly 3 is used for cutting, as shown in fig. 7 and 8, the following technical solutions are provided: the top of revolving stage 2 is equipped with mounting panel 2b, and mounting panel 2b is used for the second linear drive device 4a of fixed mounting position adjustment mechanism 4, is provided with guide bar 4a2 that extends towards the rear on the second mount pad 4a1 of second linear drive device 4a, and guide bar 4a2 cartridge is at the guide pin bushing 2b1 of mounting panel 2b both sides, revolving stage 2 is still including ring support frame 2c, and the center pin of ring support frame 2c is in on the same straight line with the central axis of revolving stage 2, and ring support frame 2c is through supporting legs 2c1 fixed mounting of below on inspection shaft mouth self-adaptation support frame 1, the below of mounting panel 2b is provided with curved spacing spout 2b2, spacing spout 2b2 and the spacing installation of ring support frame 2 c.
Specifically, in this embodiment, the guide rod 4a2 arranged at the rear side of the second mounting seat 4a1 is inserted into the guide sleeve 2b1 arranged on the mounting plate 2b of the rotary table 2 to ensure the stability of the third linear driving device 4b and the fourth linear driving device 4c when the drilling and milling cutter assembly 3 is processed, the second linear driving device 4a is fixedly mounted on the mounting plate 2b, and the limit chute 2b2 below the mounting plate 2b is in limit connection with the circular ring support frame 2c fixed on the inspection well mouth self-adaptive support frame 1 when the mounting plate 2b rotates, so as to ensure the overall stability of the position adjusting mechanism 4.
Further:
in order to solve the technical problem of how to ensure that the drilling and milling cutter assembly 3 moves to a proper position of the required slot for machining, as shown in fig. 9, the following technical scheme is provided: the position sensing mechanism 5 is provided with a plurality of groups, a first sensing element 5a of the position sensing mechanism 5 is arranged on a second linear driving device 4a of the position adjusting mechanism 4, a first sensing unit 5b is arranged at the center of the connection part of two second linear driving devices 4a, the working end of the first sensing element 5a is arranged towards the first sensing unit 5b, the first sensing element 5a and the first sensing unit 5b are used for detecting the moving distance of the drilling and milling cutter assembly 3 in the linear direction so as to control the length of a square area to be cut, a second sensing element 5c is arranged at the center of a fifth linear driving device 4d of the position adjusting mechanism 4, a second sensing unit 5d is arranged at one side of a second mounting seat 4a1 far away from the fifth linear driving device 4d, the working end of the second sensing element 5c is arranged towards the second sensing unit 5d, the second sensing element 5c and the second sensing unit 5d are used for detecting the cutting distance of the drilling and milling cutter assembly 3, the third sensing element 5e is fixedly installed on the drilling and milling cutter assembly 3, the working end of the third sensing element 5e faces downwards, and the third sensing element 5e is used for detecting the cutting depth of the drilling and milling cutter assembly 3.
Specifically, this example carries out accurate data detection to the removal of boring and milling cutter subassembly 3 through multiunit position induction mechanism 5, thereby can detect the square region length of boring and milling cutter subassembly 3 the ascending displacement distance control cutting of straight line direction through first inductive element 5a and first inductive element 5b, can detect the cutting distance length of boring and milling cutter subassembly 3 through second inductive element 5c and second inductive element 5d, can accurate control the cutting depth of boring and milling cutter subassembly 3 through third inductive element 5e, the staff only need set up corresponding data, can realize the removal according to the accurate control position adjustment mechanism 4 of the detection data of position induction mechanism 5 through programmer's programming.
Further:
in order to solve the technical problem of how to ensure the cutting quality of the drilling and milling cutter assembly 3, as shown in fig. 10, the following technical solutions are provided: the drilling and milling cutter assembly 3 further comprises a spindle motor 3b, a drilling and milling cutter holder 3c is mounted on a work sheet of the spindle motor 3b, the drilling and milling cutter holder 3c is used for replacing a drilling and milling cutter 3a, and the drilling and milling cutter 3a, the spindle motor 3b and a central shaft of the drilling and milling cutter holder 3c are located on the same straight line.
It is specific, through boring milling cutter 3a, spindle motor 3b can guarantee to bore milling cutter subassembly 3 when the rotary cutting on the same straight line with the center pin of boring milling cutter holder 3c on, the axis is stable, guarantee to bore milling cutter 3 a's cutting quality, the existence of boring milling cutter holder 3c simultaneously can make the staff change the brill milling cutter 3a of different models to the road surface of different situation, reach better cutting effect, the existence of boring milling cutter 3a can make square grooved apex angle department have the fillet, the condition emergence that 4 angles that "well" font pattern made the rectangle were the closed angle has been avoided.
The working principle of the invention is as follows:
the user fixes equipment in the inspection shaft mouth with inspection shaft mouth self-adaptation support frame 1, make cutting equipment can be accurate set up the center pin in the centre of a circle position department of inspection shaft mouth, install revolving stage 2 on inspection shaft mouth self-adaptation support frame 1 and drive brill milling cutter subassembly 3 and rotate, brill milling cutter subassembly 3 is fixed on position adjusting mechanism 4, the position of brill milling cutter subassembly 3 can be adjusted according to the required size of fluting cooperation position induction mechanism 5 to the work end of position adjusting mechanism 4, brill milling cutter subassembly 3 adopts brill milling cutter 3a to cut the road surface, the technical problem that need not the nail of location also can conveniently and fast confirm inspection shaft mouth centre of a circle position and the rectangle apex angle that cuts out after carrying out the cutting of different sizes automatically to the road surface is the easy phenomenon that produces stress concentration for the closed angle has been solved.
The foregoing has described the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A road cutting robot is characterized by comprising an inspection well mouth self-adaptive support frame (1), wherein the inspection well mouth self-adaptive support frame (1) is used for fixing integral equipment at an inspection well mouth, the central axis of the inspection well mouth self-adaptive support frame (1) in a working state is in the same straight line with the axis of the inspection well mouth, a rotating table (2) is installed at the center of the inspection well mouth self-adaptive support frame (1), the rotating table (2) can rotate on the axis of the inspection well mouth self-adaptive support frame (1) in a single direction at one right angle, the rotation of the rotating table (2) drives a drilling and milling cutter assembly (3) for cutting a road surface to adjust the position, the milling and milling cutter assembly (3) adopts a drilling and milling cutter (3 a) to cut the road surface, the drilling and milling cutter assembly (3) is fixedly installed on the rotating table (2) through a position adjusting mechanism (4), and the working end of the position adjusting mechanism (4) can move on a horizontal space and a vertical space, the position adjusting mechanism (4) is used for adjusting the cutting position of the drilling and milling cutter assembly (3), the plurality of groups of position sensing mechanisms (5) are arranged on the position adjusting mechanism (4), and the position sensing mechanisms (5) are used for accurately controlling the adjusting distance of the position adjusting mechanism (4).
2. The road cutting robot as claimed in claim 1, wherein the inspection well mouth self-adaptive support frame (1) comprises a base (1 a), a plurality of side installation cavities (1 a 1) are arranged on the side surface of the base (1 a), each side installation cavity (1 a 1) is used for installing a synchronous telescopic force arm (1 b), a first installation seat (1 b 1) is arranged at the top end of each telescopic force arm (1 b), each first installation seat (1 b 1) is used for fixedly installing a fixed support head (1 c), and each fixed support head (1 c) is used for attaching the side wall of the inspection well mouth and supporting the base (1 a) to be located on the central axis of the inspection well mouth.
3. The road cutting robot as claimed in claim 2, wherein the telescopic force arm (1 b) comprises a first level force arm (1 b 2), the first level force arm (1 b 2) is installed in the side installation cavity (1 a 1) in a limiting manner, the first level force arm (1 b 2) is hollow inside, a first linear driving device (1 b 3) is installed inside the first level force arm (1 b 2), the working end of the first linear driving device (1 b 3) is arranged in the extending direction of the first level force arm (1 b 2) to move linearly, the working end of the first linear driving device (1 b 3) is fixedly connected with a second level force arm (1 b 4), the second level force arm (1 b 4) is inserted into the first level force arm (1 b 2), and a first installation seat (1 b 1) is fixedly installed at the top end of the second level force arm (1 b 4).
4. The road cutting robot as claimed in claim 2, wherein a dimensional opening (1 c 1) is arranged at the front side of the fixed supporting head (1 c), the dimensional opening (1 c 1) is used for contacting with the arc-shaped side wall of the inspection well opening, a fan-shaped supporting plate (1 c 2) is arranged above the dimensional opening (1 c 1), the fan-shaped supporting plate (1 c 2) is used for contacting and supporting with the opening of the inspection well opening, and an anti-skid rubber pad (1 c 3) is arranged at the lower part of the fan-shaped supporting plate (1 c 2).
5. A road cutting robot as claimed in claim 1, characterized in that the rotary table (2) is fixedly mounted on the working end of the first rotary driving device (2 a), said first rotary driving device (2 a) is fixedly mounted in a central mounting cavity (1 a 2) provided at the center of the manhole self-adaptive support frame (1), the opening of the central mounting cavity (1 a 2) is arranged towards the upper side, the working shaft of the first rotary driving device (2 a) is arranged on the central axis of the manhole self-adaptive support frame (1), and the working end of the first rotary driving device (2 a) is arranged towards the upper side and is in limit connection with the bottom of the rotary table (2).
6. The road cutting robot as claimed in claim 1, wherein the upper surface of the inspection well mouth self-adaptive support frame (1) is provided with a limit groove (1 a 3), and the rotary table (2) is inserted in the limit groove (1 a 3) for limiting rotation.
7. A road cutting robot as claimed in claim 1, characterized in that the position adjustment mechanism (4) comprises two second linear drives (4 a), the working ends of the second linear drives (4 a) are arranged to extend to the outside in the horizontal direction, the working ends of the two second linear drives (4 a) are arranged on the same horizontal straight line but move synchronously in opposite directions, a second mounting seat (4 a 1) is arranged on the working end of the second linear drive (4 a), the second mounting seat (4 a 1) is used for fixedly mounting a third linear drive (4 b), the working end of the third linear drive (4 b) is arranged to move in the horizontal direction perpendicular to the moving direction of the second linear drive (4 a), the working ends of the third linear drives (4 b) on both sides move in the same direction, a fourth linear driving device (4 c) is fixedly mounted on the working end of the third linear driving device (4 b), the moving direction of the working end of the fourth linear driving device (4 c) is consistent with that of the working end of the third linear driving device (4 b), a fifth linear driving device (4 d) is fixedly mounted on the working end of the fourth linear driving device (4 c), the working end of the fifth linear driving device (4 d) moves in the vertical direction, and a drilling and milling cutter assembly (3) is fixedly mounted on the working end of the fifth linear driving device (4 d).
8. The road cutting robot as claimed in claim 1, wherein a mounting plate (2 b) is arranged above the rotary table (2), the mounting plate (2 b) is used for fixing a second linear driving device (4 a) of the mounting position adjusting mechanism (4), a guide rod (4 a 2) extending towards the rear is arranged on a second mounting seat (4 a 1) of the second linear driving device (4 a), the guide rod (4 a 2) is inserted into a guide sleeve (2 b 1) on two sides of the mounting plate (2 b), the rotary table (2) further comprises a circular ring support frame (2 c), the central axis of the circular ring support frame (2 c) and the central axis of the rotary table (2) are in the same straight line, the circular ring support frame (2 c) is fixedly mounted on the inspection well mouth self-adaptive support frame (1) through a supporting leg (2 c 1) below, an arc-shaped limiting sliding groove (2 b 2) is arranged below the mounting plate (2 b), the limiting sliding groove (2 b 2) and the circular ring supporting frame (2 c) are installed in a limiting mode.
9. A road cutting robot as claimed in claim 1, characterized in that the position sensing mechanism (5) is provided with a plurality of sets, a first sensing element (5 a) of the position sensing mechanism (5) is provided on the second linear driving device (4 a) of the position adjusting mechanism (4), a first sensing unit (5 b) is provided at the center of the connection portion of the two second linear driving devices (4 a), the working end of the first sensing element (5 a) is provided toward the first sensing unit (5 b), the first sensing element (5 a) and the first sensing unit (5 b) are used for detecting the moving distance of the drilling and milling cutter assembly (3) in the linear direction so as to control the square region length of the cutting, a second sensing element (5 c) is provided at the center of the fifth linear driving device (4 d) of the position adjusting mechanism (4), and a second sensing unit (5 d) is provided at the second mounting seat (4 a 1) away from the fifth linear driving device (4 d) ) The one side of (2), the work end of second inductive element (5 c) sets up towards second induction element (5 d), and second inductive element (5 c) and second induction element (5 d) are used for detecting the cutting distance of drilling and milling cutter subassembly (3), and third inductive element (5 e) fixed mounting is on drilling and milling cutter subassembly (3), and the work end of third inductive element (5 e) sets up towards the below, and third inductive element (5 e) are used for detecting the cutting depth of drilling and milling cutter subassembly (3).
10. The road cutting robot as claimed in claim 1, wherein the drilling and milling cutter assembly (3) further comprises a spindle motor (3 b), a drilling and milling cutter holder (3 c) is mounted on a work sheet of the spindle motor (3 b), the drilling and milling cutter holder (3 c) is used for replacing the drilling and milling cutter (3 a), and central axes of the drilling and milling cutter (3 a), the spindle motor (3 b) and the drilling and milling cutter holder (3 c) are in the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110753943.1A CN113430903A (en) | 2021-07-04 | 2021-07-04 | Road cutting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110753943.1A CN113430903A (en) | 2021-07-04 | 2021-07-04 | Road cutting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113430903A true CN113430903A (en) | 2021-09-24 |
Family
ID=77758849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110753943.1A Withdrawn CN113430903A (en) | 2021-07-04 | 2021-07-04 | Road cutting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113430903A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114575229A (en) * | 2022-03-29 | 2022-06-03 | 中铁二十局集团第二工程有限公司 | Highway road surface joint-cutting device of control circuit installation with automatically regulated function |
| CN115262358A (en) * | 2022-09-06 | 2022-11-01 | 宁夏鑫通道路工程咨询有限公司 | Roadbed and pavement maintenance device and maintenance method thereof |
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| JP2000096512A (en) * | 1998-09-25 | 2000-04-04 | Hitachi Constr Mach Co Ltd | Cutting method, cutter and excavator for paved surface in periphery of manhole, and guide body of cutter |
| CN202450423U (en) * | 2012-02-13 | 2012-09-26 | 芜湖山猫工程机械有限责任公司 | Milling-planing machine for maintenance of manholes |
| CN104594170A (en) * | 2014-12-16 | 2015-05-06 | 北京奇思恒通工程技术有限公司 | Pavement repairing device |
| CN105401512A (en) * | 2015-12-22 | 2016-03-16 | 湖南英格斯坦智能科技有限公司 | Pavement cutting robot |
| CN208685421U (en) * | 2018-08-23 | 2019-04-02 | 张祝 | A kind of highway inspection well cover milling locator |
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2021
- 2021-07-04 CN CN202110753943.1A patent/CN113430903A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000096512A (en) * | 1998-09-25 | 2000-04-04 | Hitachi Constr Mach Co Ltd | Cutting method, cutter and excavator for paved surface in periphery of manhole, and guide body of cutter |
| CN202450423U (en) * | 2012-02-13 | 2012-09-26 | 芜湖山猫工程机械有限责任公司 | Milling-planing machine for maintenance of manholes |
| CN104594170A (en) * | 2014-12-16 | 2015-05-06 | 北京奇思恒通工程技术有限公司 | Pavement repairing device |
| CN105401512A (en) * | 2015-12-22 | 2016-03-16 | 湖南英格斯坦智能科技有限公司 | Pavement cutting robot |
| CN208685421U (en) * | 2018-08-23 | 2019-04-02 | 张祝 | A kind of highway inspection well cover milling locator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114575229A (en) * | 2022-03-29 | 2022-06-03 | 中铁二十局集团第二工程有限公司 | Highway road surface joint-cutting device of control circuit installation with automatically regulated function |
| CN114575229B (en) * | 2022-03-29 | 2024-07-16 | 中铁二十局集团第二工程有限公司 | Highway road surface lancing device of control circuit installation with automatically regulated function |
| CN115262358A (en) * | 2022-09-06 | 2022-11-01 | 宁夏鑫通道路工程咨询有限公司 | Roadbed and pavement maintenance device and maintenance method thereof |
| CN115262358B (en) * | 2022-09-06 | 2023-12-12 | 宁夏鑫通道路工程咨询有限公司 | Roadbed and pavement maintenance device and maintenance method thereof |
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