CN215394481U

CN215394481U - Intelligent cleaning machine for engineering templates

Info

Publication number: CN215394481U
Application number: CN202121816680.6U
Authority: CN
Inventors: 陈宝言
Original assignee: Zibo Shunze Equipment Installation Engineering Co ltd
Current assignee: Zibo Shunze Equipment Installation Engineering Co ltd
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2022-01-04
Anticipated expiration: 2031-08-05

Abstract

Engineering template intelligence descaling machine belongs to engineering template cleaning equipment technical field. The method is characterized in that: the mechanical arm is arranged on the walking device, the cleaning device is arranged on the mechanical arm and moves along with the mechanical arm, and the angle adjusting device is connected with the cleaning device and drives the cleaning device to swing or rotate relative to the mechanical arm. This running gear of engineering template intelligence descaling machine can drive the arm walking, the automatically regulated of cleaning device position has been realized, the arm can drive the cleaning device motion, make cleaning device realize the clearance to the template, angle adjusting device can adjust the relative angle of cleaning device and arm, can enough clean the template of keeping flat, can also clean the template of vertical or slope placing, application scope is wide, and whole cleaning process does not need manual intervention, the speed that the template cleaned has been improved, staff's intensity of labour has also been alleviateed.

Description

Intelligent cleaning machine for engineering templates

Technical Field

Engineering template intelligence descaling machine belongs to engineering template cleaning equipment technical field.

Background

At present, in the construction of buildings, tunnels, bridges, roads and railways, the grinding and cleaning work of the templates poured by the structures is generally manual grinding and cleaning, the manual grinding speed is low, and the working efficiency is low.

Application number is 201820789176.3's chinese utility model patent discloses a template polisher, the workman removes through the hand push handle and polishes, grinding motor drives the high-speed rotation of bowl type steel brush, and then polishes the template fast through polishing bowl type steel brush, but this template polisher only can be placed subaerial template to the level and polish, and need the manual work to promote the polisher and advance, lead to its polishing speed slower, and the position of polishing needs manual control, workman intensity of labour is big, it is very inconvenient to use.

Disclosure of Invention

The technical problem to be solved by the utility model is as follows: overcome prior art's not enough, provide one kind and can walk automatically, and adjust cleaning device through the robotic arm, realized the engineering template intelligence descaling machine of automatic clearance template.

The technical scheme adopted by the utility model for solving the technical problems is as follows: this engineering template intelligence descaling machine, its characterized in that: the mechanical arm is arranged on the walking device, the cleaning device is arranged on the mechanical arm and moves along with the mechanical arm, and the angle adjusting device is connected with the cleaning device and drives the cleaning device to swing or rotate relative to the mechanical arm.

Preferably, the cleaning mechanism comprises a bowl-shaped steel wire brush or a columnar steel wire brush and a cleaning motor, the cleaning motor is arranged on the mechanical arm, and the bowl-shaped steel wire brush or the columnar steel wire brush is arranged on an output shaft of the cleaning motor. The cleaning motor drives the bowl-shaped steel wire brush or the columnar steel wire brush to rotate so as to clean the template, and the cleaning effect is good.

Preferably, the walking device comprises a vehicle body, two crawler belts and a walking motor, wherein the two crawler belts are arranged on two sides of the vehicle body, and each crawler belt is connected with the walking motor. The walking motor drives the corresponding crawler belt to move so as to realize walking and steering of the vehicle body and conveniently adjust the position of the cleaning device.

Preferably, the arm include the head and the tail can swing a plurality of swing arms of connecting in proper order, each swing arm all is connected with the drive arrangement who drives its swing.

Preferably, a link mechanism is arranged between every two adjacent swing arms, and each link mechanism is connected with a corresponding driving device.

Preferably, the link mechanism comprises a lever and a connecting rod, wherein between two adjacent swing arms, one end of the connecting rod is hinged with the swing arm close to the walking device, the other end of the connecting rod is hinged with the middle part of the lever, one end of the lever is hinged with the swing arm far away from the walking device, and the other end of the lever is hinged with the corresponding driving device. The driving device pushes the corresponding swing arm to swing through the lever and the connecting rod, so that a space can be reserved for the installation of the driving device, and the driving device can push the corresponding swing arm to swing conveniently.

Preferably, still include rotating electrical machines and swivel mount, the swivel mount is rotatable installs on running gear, and rotating electrical machines links to each other with the swivel mount to drive it around vertical pivot rotation. The rotating frame can drive the mechanical arm to rotate within the range of 0-360 degrees, so that the position of the cleaning device can be adjusted in a three-dimensional space, and the cleaning device can reach any position during working.

Preferably, the angle adjusting device comprises a rotating device and a swinging device, the rotating device is mounted on the mechanical arm, the swinging device is mounted on the rotating device and rotates around the mechanical arm along with the rotating device, and the cleaning device is mounted on the swinging device and drives the cleaning device to swing in a vertical plane. The rotating device drives the cleaning device to rotate so as to adjust the orientation of the cleaning device, and the swinging device can drive the cleaning device to swing so as to adjust the angle of the cleaning device, so that the cleaning device is aligned with the template so as to adapt to the cleaning of templates with different placing postures.

Preferably, the rotating device comprises an elbow arm motor and an elbow arm, the elbow arm motor is mounted on the mechanical arm, and the elbow arm is connected with an output shaft of the elbow arm motor and rotates synchronously therewith.

Preferably, the swinging device comprises a cantilever motor, a cantilever and a bevel gear transmission mechanism, the cantilever is rotatably mounted on the rotating device through a mounting shaft, the cantilever motor is connected with the cantilever through the bevel gear transmission mechanism and drives the cantilever to swing, and the sweeping device is mounted on the cantilever.

Compared with the prior art, the utility model has the beneficial effects that:

this running gear of engineering template intelligence descaling machine can drive the arm walking, the automatically regulated of cleaning device position has been realized, the arm can drive the cleaning device motion, make cleaning device realize the clearance to the template, angle adjusting device can adjust the relative angle of cleaning device and arm, can enough clean the template of keeping flat, can also clean the template of vertical or slope placing, application scope is wide, and whole cleaning process does not need manual intervention, the speed that the template cleaned has been improved, staff's intensity of labour has also been alleviateed.

Drawings

FIG. 1 is a schematic front view of an intelligent engineering template cleaning machine.

Fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a partially enlarged view of B in fig. 1.

Fig. 4 is a schematic perspective view of the engineering template intelligent cleaning machine after being folded.

In the figure: 1. the cleaning machine comprises a vehicle body 2, a driving wheel 3, a tensioning wheel 4, a crawler 5, a supporting wheel 6, a rotating frame 7, a rotating motor 8, a first electric cylinder 9, a first swing arm 10, a second electric cylinder 11, a second swing arm 12, a third electric cylinder 13, a third swing arm 14, a fourth electric cylinder 15, a fourth swing arm 16, an elbow arm motor 17, an elbow arm 18, a wrist arm 19, a cleaning motor 20, a bowl-shaped steel wire brush 21, a lever 22, a connecting rod 23, a wrist arm motor 24, a mounting shaft 25 and a driven bevel gear.

Detailed Description

Fig. 1 to 4 are preferred embodiments of the present invention, and the present invention will be further described with reference to fig. 1 to 4.

Engineering template intelligence descaling machine, including running gear, arm, angle adjusting device and cleaning device, the arm is installed on running gear, and cleaning device installs on the arm to the arm motion is followed, and angle adjusting device links to each other with cleaning device, and drives cleaning device for the arm swing or rotate. This running gear of engineering template intelligence descaling machine can drive the arm walking, the automatically regulated of cleaning device position has been realized, the arm can drive the cleaning device motion, make cleaning device realize the clearance to the template, angle adjusting device can adjust the relative angle of cleaning device and arm, can enough clean the template of keeping flat, can also clean the template of vertical or slope placing, application scope is wide, and whole cleaning process does not need manual intervention, the speed that the template cleaned has been improved, staff's intensity of labour has also been alleviateed.

The present invention is further described with reference to the following detailed description, however, it should be understood by those skilled in the art that the detailed description given herein with respect to the accompanying drawings is for better explanation and that the present invention is not necessarily limited to the specific embodiments, but rather, for equivalent alternatives or common approaches, may be omitted from the detailed description, while still remaining within the scope of the present application.

Specifically, the method comprises the following steps: as shown in FIGS. 1 to 3: this engineering template intelligence descaling machine still includes rotating electrical machines 7, swivel mount 6. Rotatable the installing on running gear of swivel mount 6, and the vertical setting of the pivot of swivel mount 6, rotating electrical machines 7 installs on running gear, and rotating electrical machines 7's output shaft passes through the speed reducer and links to each other with swivel mount 6 to drive its rotation, the arm is installed on swivel mount 6, and along with it at 0~360 within range internal rotation, so that guarantee that upper portion mechanism can be at 360 within range omnidirectional work, rotating electrical machines 7 is servo motor.

The angle adjusting device comprises a rotating device and a swinging device, the rotating device is installed on the mechanical arm, the swinging device is installed on the rotating device and rotates around the mechanical arm along with the rotating device, and the cleaning device is installed on the swinging device and swings in a vertical plane along with the swinging device so as to adjust the angle of the cleaning device. The mechanical arm can rotate within an angle range of 0-360 degrees, so that the mechanical arm can reach an all-dimensional moving track in a certain space during working, and after being folded, all swing arms are placed on the upper side of the walking device in parallel, and the walking device is guaranteed to operate stably.

Running gear includes automobile body 1, track 4 and walking motor (not drawn in the picture), track 4 has two of setting in 1 both sides of automobile body, the both ends of every side of automobile body 1 are provided with take-up pulley 3 and drive wheel 2 respectively, the both ends of track 4 link to each other with drive wheel 2 and take-up pulley 3 that correspond the side respectively, the output of walking motor links to each other with the drive wheel 2 that corresponds the side, and drive its rotation, equal rotatable a plurality of thrust wheels 5 of installing in the both sides of automobile body 1, thrust wheel 5 sets up between drive wheel 2 and the take-up pulley 3 that correspond the side, and the bottom of track 4 sets up the downside at thrust wheel 5, thereby the walking of automobile body 1 has been realized through track 4. The walking motor is a servo motor, and the walking distance of the vehicle body 1 can be conveniently and accurately controlled. The rotating frame 6 is rotatably mounted on the top of the vehicle body 1.

The arm includes a plurality of swing arms, in this embodiment, the arm includes first swing arm 9, second swing arm 11, third swing arm 13 and fourth swing arm 15, the lower extreme of first swing arm 9 is articulated with the lateral part of swivel mount 6, drive arrangement is electric jar or hydro-cylinder, in this embodiment, drive arrangement is electric jar, be provided with first electric jar 8 between first swing arm 9 and the swivel mount 6, the lower extreme of first electric jar 8 is articulated with swivel mount 6, the piston rod of first electric jar 8 is articulated with the upper portion of first swing arm 9 to promote the swing of first swing arm 9. One end of the second swing arm 11 is connected with the upper end of the first swing arm 9 through a link mechanism, the other end of the second swing arm is connected with one end of the third swing arm 13 through a link mechanism, the other end of the third swing arm 13 is connected with one end of the fourth swing arm 15 through a link mechanism, and the other end of the fourth swing arm 15 is connected with a rotating device. A second electric cylinder 10 is arranged between the first swing arm 9 and the second swing arm 11, the bottom of the second electric cylinder 10 is hinged to the first swing arm 9, and a piston rod of the second electric cylinder 10 is connected with a link mechanism between the first swing arm 9 and the second swing arm 11 so as to push the second swing arm 11 to swing. A third electric cylinder 12 is arranged between the second swing arm 11 and the third swing arm 13, the third electric cylinder 12 is hinged to the second swing arm 11, and a piston rod of the third electric cylinder 12 is connected with a link mechanism between the second swing arm 11 and the third swing arm 13 and pushes the third swing arm 13 to swing. A fourth electric cylinder 14 is arranged between the third swing arm 13 and the fourth swing arm 15, the fourth electric cylinder 14 is hinged to the third swing arm 13, and a piston rod of the fourth electric cylinder 14 is connected with a link mechanism between the third swing arm 13 and the fourth swing arm 15 and pushes the fourth swing arm 15 to swing. The first electric cylinder 8, the second electric cylinder 10, the third electric cylinder 12 and the fourth electric cylinder 14 are all servo electric cylinders, and the position of the cleaning device is conveniently and accurately controlled.

The rotating device comprises an elbow arm 17 and an elbow arm motor 16, the elbow arm 17 is rotatably connected with the fourth swing arm 15, so that the elbow arm 17 can rotate around the fourth swing arm 15, the elbow arm motor 16 is installed on the fourth swing arm 15, and an output shaft of the elbow arm motor 16 is connected with the elbow arm 17 and drives the elbow arm 17 to rotate around the fourth swing arm 15. The elbow arm motor 16 is a servo motor.

The structures of the respective link mechanisms are the same, and in the present embodiment, the structure of the link mechanism will be described by taking the link mechanism between the second swing arm 11 and the third swing arm 13 as an example. The link mechanism comprises a lever 21 and a connecting rod 22, the lower end of the lever 21 is hinged to one end, corresponding to the third swing arm 13, of the third swing arm, the upper end of the lever 21 is hinged to a piston rod of the third electric cylinder 12, one end of the connecting rod 22 is hinged to one end, corresponding to the second swing arm 11, of the second swing arm, and the other end of the connecting rod is hinged to the middle of the lever 21, so that the third electric cylinder 12 pushes the third swing arm 13 to swing.

The swinging device comprises a wrist arm 18 and a wrist arm motor 23, the wrist arm 18 is rotatably installed on the wrist arm 17 through an installation shaft 24, the installation shaft 24 is rotatably connected with the wrist arm 17, the installation shaft 24 is fixedly connected with the wrist arm 18 and drives the wrist arm 18 to swing, the installation shaft 24 is perpendicular to the wrist arm 27, the wrist arm motor 23 is installed on the wrist arm 17, a driving bevel gear (not shown in the figure) is installed on an output shaft of the wrist arm motor 23, a driven bevel gear 25 is coaxially installed on the installation shaft 24 and is meshed with the driven bevel gear 25, the wrist arm motor 23 drives the installation shaft 24 to rotate through a bevel gear pair, and then the wrist arm 18 swings in a vertical plane. The wrist-arm motor 23 is a servo motor. The driving bevel gear and the driven bevel gear form a bevel gear transmission mechanism.

The cleaning device comprises a cleaning motor 19 and a bowl-shaped steel wire brush 20 or a cylindrical steel wire brush, in the embodiment, the bowl-shaped steel wire brush 20 is adopted, the cleaning motor 19 is installed on the wrist arm 18, the bowl-shaped steel wire brush 20 is installed on an output shaft of the cleaning motor 19 and is connected with the output shaft and synchronously rotates along with the output shaft, and then the cleaning of the template is realized.

As shown in fig. 4: when this intelligent descaling machine of engineering template was walking, first electric jar 8 promoted first swing arm 9 and swung to horizontal position, and second electric jar 10 promoted second swing arm 11 and swung to horizontal position, and third electric jar 12 promotes third swing arm 13 and swings to horizontal position, and fourth electric jar 14 promotes fourth swing arm 15 and swings to horizontal position, makes each swing arm parallel placement in running gear upside after drawing in, proves running gear's steady operation.

The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the utility model may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims

1. Engineering template intelligence descaling machine, its characterized in that: the mechanical arm is arranged on the walking device, the cleaning device is arranged on the mechanical arm, and the angle adjusting device is connected with the cleaning device and drives the cleaning device to swing or rotate relative to the mechanical arm.

2. The intelligent engineering template cleaning machine according to claim 1, characterized in that: the cleaning device comprises a bowl-shaped steel wire brush (20) or a columnar steel wire brush and a cleaning motor (19), wherein the cleaning motor (19) is arranged on the mechanical arm, and the bowl-shaped steel wire brush (20) or the columnar steel wire brush is arranged on an output shaft of the cleaning motor (19).

3. The intelligent engineering template cleaning machine according to claim 1, characterized in that: the walking device comprises a vehicle body (1), two crawler belts (4) and a walking motor, wherein the crawler belts (4) are arranged on two sides of the vehicle body (1), and each crawler belt (4) is connected with the walking motor.

4. The intelligent engineering template cleaning machine according to claim 1, characterized in that: the arm include the head and the tail can swing a plurality of swing arms of connecting in proper order, each swing arm all is connected with the drive arrangement who drives its swing.

5. The intelligent engineering template cleaning machine according to claim 4, characterized in that: and a connecting rod mechanism is arranged between every two adjacent swing arms, and each connecting rod mechanism is connected with a corresponding driving device.

6. The intelligent cleaning machine for engineering templates of claim 5, wherein: the link mechanism comprises a lever (21) and a connecting rod (22), one end of the connecting rod (22) is hinged to the swing arm close to the walking device between two adjacent swing arms, the other end of the connecting rod is hinged to the middle of the lever (21), one end of the lever (21) is hinged to the swing arm far away from the walking device, and the other end of the lever is hinged to a corresponding driving device.

7. The intelligent engineering template cleaning machine according to claim 1, characterized in that: still include rotating electrical machines (7) and swivel mount (6), swivel mount (6) rotatable installation is on running gear, and rotating electrical machines (7) link to each other with swivel mount (6) to drive it and rotate around vertical pivot.

8. The intelligent engineering template cleaning machine according to claim 1, characterized in that: the angle adjusting device comprises a rotating device and a swinging device, the rotating device is installed on the mechanical arm, the swinging device is installed on the rotating device and rotates around the mechanical arm along with the rotating device, and the cleaning device is installed on the swinging device and drives the cleaning device to swing in a vertical plane.

9. The intelligent cleaning machine for engineering templates of claim 8, characterized in that: the rotating device comprises an elbow arm motor (16) and an elbow arm (17), the elbow arm motor (16) is installed on the mechanical arm, and the elbow arm (17) is connected with an output shaft of the elbow arm motor (16) and rotates synchronously with the output shaft.

10. The intelligent cleaning machine for engineering templates of claim 8, characterized in that: the swinging device comprises a cantilever motor (23), a cantilever (18) and a bevel gear transmission mechanism, the cantilever (18) is rotatably arranged on the rotating device through a mounting shaft (24), the cantilever motor (23) is connected with the cantilever (18) through the bevel gear transmission mechanism and drives the cantilever to swing, and the cleaning device is arranged on the cantilever (18).