CN207933951U - Tunnel descaling machine - Google Patents
Tunnel descaling machine Download PDFInfo
- Publication number
- CN207933951U CN207933951U CN201820174254.9U CN201820174254U CN207933951U CN 207933951 U CN207933951 U CN 207933951U CN 201820174254 U CN201820174254 U CN 201820174254U CN 207933951 U CN207933951 U CN 207933951U
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- China
- Prior art keywords
- arm
- drive mechanism
- rotary drive
- descaling machine
- tunnel
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- 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.)
- Withdrawn - After Issue
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 abstract description 29
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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- Cleaning In General (AREA)
Abstract
The utility model provides a kind of tunnel descaling machine, mechanical arm including master arm and the opposite sides for being respectively arranged at the master arm, the mechanical arm includes the first arm and the first rotary drive mechanism, first rotary drive mechanism is fixed on the master arm, the output end of first rotary drive mechanism connect with one end of first arm and first upper-arm circumference is driven to be swung around the central shaft of the output end of first rotary drive mechanism, and the central axis direction of the output end of two first rotary drive mechanisms is identical.Both arms operation is realized in the symmetrical both sides of the tunnel descaling machine of the utility model, ensure that the both sides stress balance of master arm, to be not susceptible to turn on one's side and deform, structure remained stable；In addition, by the symmetrical operation of both arms, cleaning is carried out at the same time to the cambered surface of the both sides of tunnel, effectively increases cleaning efficiency.
Description
Technical field
The utility model is related to mechanical engineering technical field more particularly to a kind of tunnel descaling machines.
Background technology
Existing circular arc tunnel cleaning mechanical arm is usually single armed operation, when mechanical arm stretches out longer and heavier loads,
Single armed operation is unfavorable for the stabilization of vehicle body, be easy to cause vehicle body and tumbles, there are safety problems；In addition, existing circular arc tunnel is clear
Mechanical arm is managed due to being single armed operation, a cleaning actuator can only be carried, cleaning efficiency is relatively low, and versatility is poor.
Therefore, there is an urgent need for the high tunnel descaling machines of a kind of stress balance, stable structure, cleaning efficiency.
Utility model content
The purpose of this utility model is to provide the high tunnel descaling machines of a kind of stress balance, stable structure, cleaning efficiency.
To achieve the above object, the utility model provides a kind of tunnel descaling machine, including master arm and sets respectively
It is placed in the mechanical arm of the opposite sides of the master arm, the mechanical arm includes the first arm and the first rotary drive mechanism, institute
It states the first rotary drive mechanism to be fixed on the master arm, the output end of first rotary drive mechanism and described first
One end of arm connects and first upper-arm circumference is driven to be swung around the central shaft of the output end of first rotary drive mechanism, two institutes
The central axis direction for stating the output end of the first rotary drive mechanism is identical.
Preferably, the center overlapping of axles of the output end of two first rotary drive mechanisms.
Preferably, the output end of two first rotary drive mechanisms is in be arranged opposite to each other.
Preferably, the sum of angle of two first arm swings is greater than or equal to 180 degree.
Preferably, the master arm is equipped with the first fixed seat, first rotary drive mechanism is fixed on described the
In one fixed seat.
Preferably, first arm is equipped with the second fixed seat, first telescoping drive mechanism is fixed with described second
Seat pivot joint.
Preferably, the mechanical arm further includes the second arm and the first telescoping drive mechanism, one end of second arm and institute
The other end pivot joint of the first arm is stated, first telescoping drive mechanism is pivotally connected on the first arm, first telescopic drive
The output end of mechanism and the other end of second arm are pivotally connected and drive second arm swing.
Preferably, second arm is articulated in the defeated of central shaft on first arm and first rotary drive mechanism
The central axis direction of outlet is identical.
Preferably, first telescoping drive mechanism is internally provided with pressure sensor and/or displacement sensor.
Preferably, the mechanical arm further includes telescopic arm, the telescopic arm is set to second arm end.
Preferably, the telescopic direction of the telescopic arm is perpendicular to the center of the output end of first rotary drive mechanism
Axis.
Preferably, the mechanical arm further includes the second rotary drive mechanism, second rotary drive mechanism is set to institute
State the telescopic end of telescopic arm.
Preferably, the central shaft of the output end of second rotary drive mechanism is set along the telescopic direction of the telescopic arm
It sets.
Preferably, the tunnel descaling machine further includes the second telescoping drive mechanism, second telescoping drive mechanism is stretched
Contracting end is pivotally connected with the master arm.
Preferably, the tunnel descaling machine further includes mobile vehicle, the master arm is articulated on the mobile vehicle,
The bottom of second telescoping drive mechanism is pivotally connected with the mobile vehicle.
Compared with prior art, the tunnel descaling machine of the utility model is by being in be symmetrically arranged first on master arm
Arm and the first rotary drive mechanism drive the first arm swing, to make pair of tunnel descaling machine by the first rotary drive mechanism
The torque for claiming both sides to realize both arms operation, and two first arm swings being made to generate the main support offsets and makes two first
The torque that arm dead weight generates is cancelled out each other, thus it is guaranteed that the both sides stress balance of master arm, to be not susceptible to rollover and
Deformation, structure remained stable；In addition, by the symmetrical operation of both arms, cleaning is carried out at the same time to the cambered surface of the both sides of tunnel, is effectively carried
High cleaning efficiency.
Description of the drawings
Fig. 1 is the structural schematic diagram of the tunnel descaling machine of the utility model.
Fig. 2 is the vertical view of the tunnel descaling machine of the utility model.
Fig. 3 is that the tunnel descaling machine of the utility model passes through the structural scheme of mechanism of mobile vehicle operation in tunnel.
Fig. 4 is the left view of tunnel descaling machine shown in Fig. 3.
Specific implementation mode
In order to which the technology contents, construction feature of the utility model is described in detail, below in conjunction with embodiment and coordinate attached drawing
It is described further.
It please refers to Fig.1 and Fig. 2, the tunnel descaling machine 100 of the utility model including master arm 1 and is respectively arranged at master
The mechanical arm of the opposite sides of support arm 1, mechanical arm include the first arm 2 and the first rotary drive mechanism 3, the first rotary driving machine
Structure 3 is fixed on master arm 1, and specifically, master arm 1 is equipped with the first fixed seat 11, and the first rotary drive mechanism 3 is fixed
In the first fixed seat 11；The output end of first rotary drive mechanism 3 connect with one end of the first arm 2 and the first arm 2 is driven to enclose
Central shaft around the output end of the first rotary drive mechanism 3 is swung, and in the present embodiment, the first rotary drive mechanism 3 is rotation
Hydraulic cylinder, certainly, the first rotary drive mechanism 3 also can drive the first arm 2 around the first rotation by servo motor and retarder
The central shaft of the output end of driving mechanism 3 is swung, and is not limited；The central shaft of the output end of two first rotary drive mechanisms 3
Direction is identical, specifically, the center overlapping of axles of the output end of two first rotary drive mechanisms 3；Two first rotary drive mechanisms 3
Output end in being arranged opposite to each other, and certainly, the output end of two first rotary drive mechanisms 3 can also be in be arranged in the same direction, not with this
It is limited；In order to improve the cleaning ability of tunnel descaling machine 100, the sum of angle that two first arms 2 are swung is greater than or equal to 180 degree；
In order to avoid mechanical arm collides master arm 1 when being swung on master arm 1, the hunting range of mechanical arm is improved, by main branch
The Position Design of mechanical arm is set into Z-shaped or " S " so that the opposite sides of master arm 1 is respectively provided with accommodating machine in brace 1
The opening of tool arm.
As shown in Figure 1, mechanical arm further includes the second arm 4 and the first telescoping drive mechanism 5, one end and first of the second arm 4
The other end of arm 2 is pivotally connected, and the first telescoping drive mechanism 5 is articulated on the first arm 2, and specifically, the first arm 2 is equipped with second and fixes
Seat 21, the first telescoping drive mechanism 5 and the second fixed seat 21 are pivotally connected；The output end of first telescoping drive mechanism 5 and the second arm 4
The other end is pivotally connected and the second arm 4 is driven to swing, and in the present embodiment, the first telescoping drive mechanism 5 is telescopic hydraulic cylinder, certainly,
First telescoping drive mechanism 5 also can drive the second arm 4 to swing by telescopic cylinder；Specifically, the second arm 4 is articulated in the first arm 2
On central shaft it is identical as the central axis direction of output end of the first rotary drive mechanism 3.
As shown in Figures 1 and 2, mechanical arm further includes telescopic arm 6, the second rotary drive mechanism 7, and telescopic arm 6 is set to
The telescopic direction of two arms, 4 end, telescopic arm 6 is specifically stretched perpendicular to the central shaft of the output end of the first rotary drive mechanism 3
Contracting arm 6 is telescopic hydraulic cylinder.Second rotary drive mechanism 7 is set to the telescopic end of telescopic arm 6, the second rotary drive mechanism 7
The central shaft of output end is arranged along the telescopic direction of telescopic arm 6, and in the present embodiment, the second rotary drive mechanism 7 is rotation liquid
Cylinder pressure, certainly, the second rotary drive mechanism 7 can pass through servo motor and retarder.
It is worth noting that, in other embodiments, the mechanical arm of the tunnel descaling machine 100 of the utility model can basis
Be actually needed and include one of 7 three of the second arm 4, telescopic arm 6 and the second rotary drive mechanism or both, thus not more than
The citing stated is limited；In addition, the end of mechanical arm can be connect with cleaning actuator (not shown), by the first arm 2, second
The pose of arm 4, telescopic arm 6 and the second rotary drive mechanism 7 is controlled so that mechanical arm obtains best pose or generates certain
Special exercise, so that it is guaranteed that the cleaning positioned at the cleaning actuator of end achieves the desired results.
As shown in Figures 3 and 4, tunnel descaling machine 100 further includes the second telescoping drive mechanism 8 and mobile vehicle 200, and second
The telescopic end of telescoping drive mechanism 8 is pivotally connected with master arm 1, and master arm 1 is articulated on mobile vehicle 200, the second flexible drive
The bottom of motivation structure 8 is pivotally connected with mobile vehicle 200；Mobile vehicle 200 can drive master arm 1 walk in tunnel 300 and
300 inner wall of tunnel is cleared up in walking process, master arm 1 can be driven to swing by controlling the second telescoping drive mechanism 8,
To which adjusting mechanical arm is in the height of tunnel 300, to ensure that mechanical arm obtains best pose, to be executed by the cleaning of end
Device clears up the inner wall of tunnel 300.In addition, in order to accurately control the pose of master arm 1 and mechanical arm, the first flexible drive
Motivation structure 5, telescopic arm 6, the second rotary drive mechanism 7 and the second telescoping drive mechanism 8 inside be equipped with pressure sensor (figure
In do not show) and displacement sensor (not shown), certainly also can one of setting pressure sensor and displacement sensor, no
As limit.
In conjunction with Fig. 1, and with reference to Fig. 3 and Fig. 4, left and right occurs in 300 driving process of tunnel for mobile vehicle 200 when wandering off,
It can be wandered off the inclined of generation by the way that adjust the telescopic arm 6 of the left and right sides of tunnel descaling machine 100 flexible with compensating mobile vehicle 200 or so
Difference makes it obtain best cleaning effect so as to adjust the pose of cleaning actuator.For example, when mobile vehicle 200 is biased to tunnel
When 300 certain side, the telescopic arm 6 close to the side is controlled to contract, the telescopic arm 6 for controlling the other side is protruding, to
Compensation mobile vehicle 200 wanders off the deviation of generation.Mobile vehicle 200 in 300 driving process of tunnel due to ground out-of-flatness and
When tilting forward and back, the height for clearing up the front-end and back-end of actuator can be caused inconsistent, cleaning effect is impacted, because
This, cleaning actuator rotation can be driven by the second rotary drive mechanism 7, makes the front height of cleaning actuator and the height of rear end
Degree is consistent.For example, when the front end of mobile vehicle 200 is higher than rear end, the front end of the cleaning actuator of both sides is also above rear
End, at this point, the cleaning actuator positioned at 100 left side of tunnel descaling machine drives cleaning actuator by the second rotary drive mechanism 7
It rotates clockwise, so that the front end of cleaning actuator rotates down, while the rear end of cleaning actuator being made to be rotated up, to make
The height of cleaning actuator rear and front end is consistent, and similarly, is located at the cleaning actuator on 100 right side of tunnel descaling machine by the
Two rotary drive mechanisms 7 driving cleaning actuator rotates counterclockwise, to make the height of cleaning actuator rear and front end keep one
It causes, and then improves the cleaning effect of 100 tool arm of tunnel descaling machine.
Compared with prior art, the tunnel descaling machine 100 of the utility model is by being in be symmetrically arranged on master arm 1
First arm 2 and the first rotary drive mechanism 3 drive the first arm 2 to swing, to keep tunnel clear by the first rotary drive mechanism 3
Both arms operation is realized in the symmetrical both sides of reason machine 100, and so that two first arms 2 is swung the torque generated to the main support and offset
And the torque for making the dead weight of two first arms 2 generate is cancelled out each other, thus it is guaranteed that the both sides stress balance of master arm 1, to
It is not susceptible to turn on one's side and deform, structure remained stable；In addition, by the symmetrical operation of both arms, it is same to the cambered surface of the both sides of tunnel 300
Shi Jinhang is cleared up, and effectively increases cleaning efficiency.
Above disclosed is only the preferred embodiments of the utility model, and the power of the utility model cannot be limited with this
Sharp range, therefore equivalent variations made according to the claim of the utility model belong to the range that the utility model is covered.
Claims (15)
1. a kind of tunnel descaling machine, which is characterized in that including master arm and be respectively arranged at the opposite of the master arm
The mechanical arm of both sides, the mechanical arm include the first arm and the first rotary drive mechanism, and first rotary drive mechanism is fixed
In on the master arm, the output end of first rotary drive mechanism connect with one end of first arm and drives described
First upper-arm circumference around the output end of first rotary drive mechanism central shaft swing, two first rotary drive mechanisms it is defeated
The central axis direction of outlet is identical.
2. tunnel descaling machine according to claim 1, which is characterized in that the output end of two first rotary drive mechanisms
Center overlapping of axles.
3. tunnel descaling machine according to claim 1, which is characterized in that the output end of two first rotary drive mechanisms
In being arranged opposite to each other.
4. tunnel descaling machine according to claim 1, which is characterized in that the sum of the angle of two first arm swings is more than
Or it is equal to 180 degree.
5. tunnel descaling machine according to claim 1, which is characterized in that the master arm is equipped with the first fixed seat,
First rotary drive mechanism is fixed in first fixed seat.
6. tunnel descaling machine according to claim 1, which is characterized in that the mechanical arm further includes that the second arm and first stretch
Contracting driving mechanism, one end of second arm and the other end of first arm are pivotally connected, the first telescoping drive mechanism pivot joint
On the first arm, the other end of the output end of first telescoping drive mechanism and second arm is pivotally connected and drives described
Second arm swing.
7. tunnel descaling machine according to claim 6, which is characterized in that first arm is equipped with the second fixed seat, institute
The first telescoping drive mechanism is stated to be pivotally connected with second fixed seat.
8. tunnel descaling machine according to claim 6, which is characterized in that second arm is articulated on first arm
Central shaft is identical as the central axis direction of output end of the first rotary drive mechanism.
9. tunnel descaling machine according to claim 6, which is characterized in that first telescoping drive mechanism is internally provided with
Pressure sensor and/or displacement sensor.
10. tunnel descaling machine according to claim 6, which is characterized in that the mechanical arm further includes telescopic arm, described to stretch
Contracting arm is set to second arm end.
11. tunnel descaling machine according to claim 10, which is characterized in that the telescopic direction of the telescopic arm is perpendicular to institute
State the central shaft of the output end of the first rotary drive mechanism.
12. tunnel descaling machine according to claim 10, which is characterized in that the mechanical arm further includes the second rotation driving
Mechanism, second rotary drive mechanism are set to the telescopic end of the telescopic arm.
13. tunnel descaling machine according to claim 12, which is characterized in that the output end of second rotary drive mechanism
Central shaft along the telescopic arm telescopic direction be arranged.
14. according to any tunnel descaling machines of claim 1-13, which is characterized in that the tunnel descaling machine further includes the
Two telescoping drive mechanisms, telescopic end and the master arm of second telescoping drive mechanism are pivotally connected.
15. tunnel descaling machine according to claim 14, which is characterized in that the tunnel descaling machine further includes mobile load
Body, the master arm are articulated on the mobile vehicle, bottom and the mobile vehicle of second telescoping drive mechanism
Pivot joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820174254.9U CN207933951U (en) | 2018-01-30 | 2018-01-30 | Tunnel descaling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820174254.9U CN207933951U (en) | 2018-01-30 | 2018-01-30 | Tunnel descaling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207933951U true CN207933951U (en) | 2018-10-02 |
Family
ID=63650951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820174254.9U Withdrawn - After Issue CN207933951U (en) | 2018-01-30 | 2018-01-30 | Tunnel descaling machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207933951U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110093886A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | Tunnel descaling machine |
-
2018
- 2018-01-30 CN CN201820174254.9U patent/CN207933951U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110093886A (en) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | Tunnel descaling machine |
| CN110093886B (en) * | 2018-01-30 | 2024-01-19 | 岭东核电有限公司 | Tunnel cleaning machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181002 Effective date of abandoning: 20240119 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181002 Effective date of abandoning: 20240119 |