WO2020010597A1

WO2020010597A1 - Transverse-movable and rotatable milling device

Info

Publication number: WO2020010597A1
Application number: PCT/CN2018/095543
Authority: WO
Inventors: 郝志付; 刘海曾; 麻耀辉; 周俊; 栗献良; 李洋; 李瀛
Original assignee: 北京加隆工程机械有限公司
Priority date: 2018-07-13
Filing date: 2018-07-13
Publication date: 2020-01-16

Abstract

A transverse-movable and rotatable milling device, comprising a lateral shifting mechanism (100), a slewing mechanism (200), a mechanical arm (300) and a milling member (400); the slewing mechanism (200) is fixedly connected to a movable end of the lateral shifting mechanism (100), a fixed end of the mechanical arm (300) is hinged to the slewing mechanism (200), one end of the milling member (400) is hinged to an output end of the mechanical arm (300), and the other end thereof is a functional end for milling. The transverse-movable and rotatable milling device can move laterally and rotate, is flexible in work, and has a high work efficiency.

Description

Mobile traverse rotary milling device

Technical field

The invention relates to the technical field of road maintenance equipment, in particular to a mobile traverse rotary milling device.

Background technique

In highway repair and maintenance construction, mechanical picks and milling machines are often used to excavate damaged pavements. Mechanical picks have low construction efficiency and difficult to control the shape of the construction surface and excavation depth. The milling machine is suitable for large-scale construction operations, and the relative cost of use High, in the small-scale repair of urban roads, the above two methods have different defects.

Summary of the invention

In view of this, it is desirable to provide an embodiment of the present invention to solve at least one technical problem in the prior art.

In order to achieve the above object, the technical solution of the embodiment of the present invention is implemented as follows: a mobile traverse rotary milling device includes a side shift mechanism, a rotary mechanism, a mechanical arm, and a planer; the rotary mechanism and the The moving end of the side shift mechanism is fixedly connected, the fixed end of the mechanical arm is hinged to the rotary mechanism, one end of the milling device is hinged to the output end of the mechanical arm, and the other end is a functional end for milling .

The beneficial effect of the present invention is that the mobile traverse rotary milling device of the present invention is fixedly installed with the outside world through a side shift mechanism, such as being installed on a truck chassis, and the computer software can be used to plan any working shape, and the turning mechanism drives the machine. The arm moves in accordance with the program, and the robotic arm drives the router, milling, and other road repair operations. The present invention is different from the teaching mode of the welding robot, and it uses the on-site real-time planning to run the job task; it is controlled by a computer program and does not Human intervention has the characteristics of high degree of automation, high operation efficiency, high construction accuracy, fast operation speed, flexibility and convenience.

On the basis of the above technical solution, the present invention can also make the following improvements:

Further, the side movement mechanism includes a side movement fixing frame, a side movement driving mechanism, and a side movement sliding frame. Both ends of the side movement driving mechanism are movably connected to the side movement fixing frame, and the side movement sliding frame passes through The side shift driving mechanism moves laterally relative to the side shift fixing frame.

Further, the side shift fixing frame has a square frame structure, and one side is an open side. A retractable dust cover is installed on the open side, and the other side is a fixed side for connection and fixing with the outside. The opening side is opened toward the rotation fixing mechanism.

Further, the side shift driving mechanism includes a reduction motor, a lead screw and a nut provided in the side shift fixing frame, the reduction motor is provided at one end of the side shift fixing frame, and one end of the screw is connected with The side-moving fixed frame is movably connected, the other end is fixedly connected with the output end of the reduction motor, the nut is screw-connected with the lead screw, and the side-moving sliding frame is fixedly connected with the nut.

The beneficial effect of adopting the above-mentioned further solution is that the side shift mechanism is used as a medium for connecting with the outside world to fix the milling device, and the side shift slide is driven by the side shift drive mechanism to drive the mechanical arm and the milling. The device realizes lateral movement to meet the operating requirements of the milling device. In addition, a side-shift driving mechanism composed of a reduction motor, a lead screw and a nut can achieve precise control under the control of a computer program. mobile.

Further, the slewing mechanism includes a slewing fixed frame, a slewing support and a slewing device; the slewing fixed frame is fixedly connected to the side-moving slide frame, the slewing support is hinged with the slewing fixed frame, and the slewing frame passes through The rotating device drives the mechanical arm to rotate relative to the rotating fixed frame.

Further, the slewing fixed frame includes two first fixed plates and a second fixed plate arranged in parallel. One side of the two first fixed plates is fixedly connected to the side-moving slide frame, and the other side passes A first rotating shaft is connected, one side of the second fixed plate is fixedly connected to the side-moving slide frame, and the rotating device is fixedly connected to the first rotating shaft and the second fixed plate, respectively.

Further, the slewing device includes a first turbine, a first worm, a second turbine, and a second worm which are sleeved on the outside of the first rotation shaft, and one end of the second worm is connected to another of the second fixing plate. One end is movably connected, and the other end passes through the side-moving sliding frame, and is connected to the output end of the hydraulic motor. The second turbine is connected to the side-moving sliding frame through a third fixing plate, and rotates with the first worm. Connected, the first worm rotates coaxially with the second turbine, and is rotationally connected with the first turbine.

The beneficial effect of adopting the above-mentioned further scheme is that the slewing device composed of a turbine worm mechanism can realize the two-stage deceleration and 180 ° swing function, so that the mechanical arm can be moved along the side of the slide frame by the hydraulic motor of the slewing device. One side rotation satisfies the turning function in construction operations.

Further, the robotic arm includes two arm frames and a chuck which are hinged to each other, one end of one arm frame is hinged to the slewing bracket, and one end of the other arm frame is hinged to the chuck. The milling machine is fixedly connected.

Further, the robotic arm further includes a first oil cylinder, a second oil cylinder, and a third oil cylinder for driving the first boom and the second boom, and the fixed end of the first oil cylinder and the rotary arm are One side is hinged, the output end of the first oil cylinder is hinged to the first boom, the fixed end of the second oil cylinder is hinged to the first boom, the output end of the second oil cylinder is connected to the first boom A two-arm boom is hinged, a fixed end of the third oil cylinder is hinged to the second boom, an output end of the third oil cylinder is hinged to a front-end joint, and the front-end joint is fixedly connected to the chuck.

The beneficial effect of adopting the above-mentioned further scheme is that mobile milling of the planer is realized through multiple booms and driving oil cylinders which are hinged in sequence; the oil cylinders respectively drive the boom and the chuck, driven by the boom , The milling machine can complete the required milling area and depth of the construction operation, combined with the side shift mechanism and the rotary mechanism, so as to complete the overall adjustment of the entire milling device for different shapes of construction areas to achieve better construction effect.

Further, the planer includes a plane-milling machine and a universal joint driven by a motor, a section of the universal joint is fixedly connected to the chuck, and the other end is connected to the plane-milling machine. Fixed connection.

The beneficial effect of adopting the above-mentioned further solution is that the universal quick coupler is used to realize the connection between the face milling machine and the chuck, which meets the construction operation planning needs of the face milling machine, and makes the face milling machine suitable for a variety of operating conditions.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is an overall structural diagram of a mobile traverse rotary milling device according to the present invention;

FIG. 2 is an overall structural diagram of a side shift mechanism according to the present invention; FIG.

3 is an overall structural diagram of another side shift mechanism according to the present invention;

4 is an overall structural diagram of a slewing mechanism of the present invention;

5 is a schematic diagram of a construction process of the present invention;

6 is a schematic diagram of a milling well cover according to the present invention;

FIG. 7 is a working schematic diagram of the mechanical arm swinging in one direction according to the present invention;

FIG. 8 is a working schematic diagram of the mechanical arm swinging toward another direction according to the present invention; FIG.

FIG. 9 is a schematic diagram of the maximum milling range of the milling device according to the present invention.

In the drawings, the list of parts represented by each reference is as follows:

100, side shift mechanism; 110, side shift fixing frame; 111, open side; 112, first side plate; 113, slide rail; 114, dust cover; 120, side shift driving mechanism; 121, reduction motor; 122, Lead screw, 123, nut; 124, first hydraulic motor; 125, gear set; 130, side-moving carriage; 200, slewing mechanism; 210, slewing fixed frame; 211, first fixing plate; 2111, stiffener; 212 , Second fixed plate; 213, first rotating shaft; 220, rotary device; 221, first turbine; 222, first worm; 223, second turbine; 224, second worm; 225, third fixed plate; 226 Second hydraulic motor; 230; slewing bracket; 240; limit protector; 300; mechanical arm; 311; first boom; 312; second boom; 321; first cylinder; 322; second cylinder; 323 And third oil cylinder; 330, front joint; 340, chuck; 400, planer; 410, plane milling and excavating machine; 420, universal quick coupler.

detailed description

The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

As shown in FIG. 1 to FIG. 3, the mobile traverse rotary milling device of the present invention includes a side shift mechanism 100, a swing mechanism 200, a robot arm 300, and a planer 400; the swing mechanism 200 and the side shift The moving end of the mechanism 100 is fixedly connected, the fixed end of the robot arm 300 is hinged to the rotary mechanism 200, one end of the milling machine 400 is hinged to the output end of the robot arm 300, and the other end is used for milling Function side.

Compared with the prior art, the mobile traverse rotary milling device of the present invention is fixedly installed with the outside world through the side shifting mechanism 100, such as being installed on a truck chassis, and realizes arbitrary operation shapes planned by computer software, which is driven by the turning mechanism 200 The robot arm 300 moves according to a program. The robot arm 300 is controlled by a vehicle-mounted industrial control machine and a vehicle-mounted controller. The robot arm 300 drives a router 400 for milling and other road repair operations to perform corresponding milling tasks. The present invention is different from welding The teaching mode of the robot is entirely based on the real-time planning of the field to run the task; it is controlled by a computer program without human intervention, and has the characteristics of high automation, high operation efficiency, high construction accuracy, fast operation speed, flexibility and convenience.

As shown in FIGS. 1-2, the side shift mechanism 100 of the present invention includes a side shift fixing frame 110, a side shift driving mechanism 120, and a side shift sliding frame 130. Both ends of the side shift driving mechanism 120 and the side shift The fixing frame 110 is movably connected, and the side-moving sliding frame 130 is moved laterally relative to the side-moving fixing frame 110 through the side-shift driving mechanism 120. The lateral movement fixing frame 110 is connected with an outwardly protruding structure for fixing with the outside world to facilitate the construction operation of the entire milling device. After the lateral movement fixing frame 110 is fixed to the outside world, the side movement sliding frame 130 moves sideways. Driven by the driving mechanism 120, it moves in the lateral direction to drive the milling device to perform construction operations. Specifically, the side-moving fixing frame 110 has a square frame structure, and one side is an open side 111. The open side 111 is provided with a retractable dust cover 114, and the other side is used for connection and fixing with the outside world. On the fixed side, the open side 111 is opened toward the turning mechanism 200. The fixed side of the square frame structure is fixedly connected to the outside world, and the open side 111 is used to provide a space for the side shift driving mechanism 120 to move. In order to ensure the overall stability of the side-moving fixing frame 110, first side plates 112 are fixedly connected to the upper and lower ends of the open side 111. The arrangement of the two first side plates 112 also provides limit protection for the side-moving slide frame 130. effect.

As shown in FIG. 2, the side-shift driving mechanism 120 of the present invention includes a reduction gear motor 121, a lead screw 122 and a nut 123 provided in the side-shift fixing frame 110, and the reduction gear motor 121 is disposed at the side shift. One end of the fixing frame 110 is fixed to the side plate and the back plate of the side-moving fixing frame 110 by fixing members. One end of the lead screw 122 is movably connected to the side-moving fixing frame 110, such as the lead screw 122 and the side-moving fixing. The side plate of the frame 110 is connected through a bearing, the other end is fixedly connected to the output end of the reduction motor 121, the nut 123 is threadedly connected to the lead screw 122, and the side shift slide frame 130 is fixedly connected to the nut 123. The upper end of the moving fixing frame 110 is provided with a slide rail 113 protruding upward. The side moving sliding frame 130 is slidably connected with the slide rail 113 and is moved laterally along the slide rail 113 driven by the lead screw 122 and the nut 123. After the reduction motor 121 is powered on, the lead screw 122 is rotated by the output end of the reduction motor 121. In this way, the nut 123 moves laterally along the lead screw 122, thereby driving the side-moving slide frame 130 and the robot arm 300, milling The device 400 moves laterally to realize the construction operation of the milling device 400.

As shown in FIG. 3, in some embodiments of the present invention, the side shift driving mechanism 120 includes a first hydraulic motor 124, a gear set 125, a screw 122, and a nut 123; wherein the first hydraulic motor 124 and the gear set 125. The lead screw 122 is fixed on the side-shift fixing frame 110 through a bearing. The first hydraulic motor 124 drives the lead screw 122 through a gear set 125, and a nut 123 cooperated with the lead screw 122 is fixed on the side-shift sliding frame 130. on. Driven by the first hydraulic motor 124, under the transmission of the gear set 125 and the lead screw 122, the nut 123 moves along the lead screw 122, thereby driving the movement of the side carriage 130.

The above two types of side-shifting mechanisms can both drive the robotic arm 300 and the milling machine 400 to perform lateral movement. Only the above two embodiments are provided in the present invention, but the mechanisms capable of realizing the lateral movement of the mechanical arm 300 should be regarded as Within the scope of the present invention.

As shown in FIG. 4, the slewing mechanism 200 includes a slewing fixture 210, a slewing bracket 230, and a slewing device 220; the slewing fixture 210 is fixedly connected to the side-moving slide frame 130, and the slewing bracket 230 is connected to the slewing mechanism 230. The slewing fixed frame 210 is hinged, and the slewing support 230 drives the mechanical arm 300 to rotate relative to the slewing fixed frame 210 through the slewing device 220. Specifically, the rotary fixing frame 210 includes two first fixing plates 211 and a second fixing plate 212 arranged in parallel, and one side of the two first fixing plates 211 is fixedly connected to the side-moving slide frame 130. , The other side is connected by a first rotating shaft 213, one side of the second fixing plate 212 is fixedly connected with the side-moving slide frame 130, and the turning device 220 is respectively connected with the first rotating shaft 213 and the The second fixing plate 212 is fixedly connected. The swivel bracket 230 is hinged to the swivel mount 210 through a first rotation shaft 213; in order to enhance the connection strength of the first and

second fixing plates

211 and 212 to the side-moving slide frame 230, At least two reinforcing ribs 2111 are provided between the plate 211 and the side-moving sliding frame 130 and between the second fixing plate 212 and the side-moving sliding frame 130, so that the connection is more reliable and safe.

As shown in FIG. 4, the turning device 220 uses a two-stage turbine worm mechanism. Specifically, the slewing device 220 includes a first turbine 221, a first worm 222, a second turbine 223, and a second worm 224 which are sleeved on the outer side of the first rotation shaft 213. The other end of the second fixed plate 212 is movably connected, and the other end passes through the side-moving slide frame 130 and is connected to the output end of the second hydraulic motor 226. The second turbine 223 is connected to the second fixed plate 225 through the third fixed plate 225. The side-moving slide frame 130 is connected to the first worm 222, and the first worm 222 is coaxially rotated with the second turbine 223, and is rotationally connected with the first turbine 221. In order to ensure the running space of the entire slewing device 220, the second hydraulic motor 226 is disposed outside the side-moving slide frame 130 and is used to drive the rotation of the second worm 224. Through the two-stage deceleration turbine worm mechanism, the 180 ° turning function of the turning mechanism 200 is realized, so that the robot arm 300 can be rotated along one side of the sliding frame 130 by the second hydraulic motor 226 of the turning device 220 To meet the slewing function in construction operations.

In order to ensure the good operation of the slewing mechanism 200, the slewing mechanism 200 of the present invention further includes a limit protector 240. The limit protector 240 is disposed on the side of the side-moving slide frame 130 away from the side-moving fixing frame 110, and on the swivel device 220. Both sides are provided with a limiter protector 240. The two limit protectors 240 are arranged vertically, and can limit the robot arm 300 when the robot arm 300 rotates to two extreme positions of the maximum angle value and the minimum angle value, so as to prevent the robot arm 300 from colliding with the slewing mount. 210 and the side-moving sliding frame 230 protect the slewing fixed frame 210 and the slewing device 220.

As shown in FIG. 1, the mechanical arm 300 of the present invention includes two arm frames and a chuck 340 which are hinged to each other. One end of one arm frame is hinged to the swivel bracket 210 and one end of the other arm frame is connected to the arm frame. The chuck 340 is hinged, and the chuck 340 is fixedly connected to the planer 400. The two booms of the present invention are a first boom 311 and a second boom 312, respectively, and the robot arm 300 further includes a first oil cylinder 321 for driving the first boom 311 and the second boom 312, The second oil cylinder 322 and the third oil cylinder 323, the fixed end of the first oil cylinder 321 is hinged to one side of the slewing bracket 230, and the output end of the first oil cylinder 321 is hinged to the first boom 311. The fixed end of the second oil cylinder 322 is hinged to the first boom 311, the output end of the second oil cylinder 322 is hinged to the second boom 312, and the fixed end of the third oil cylinder 323 is connected to the first boom The two-arm frame 312 is hinged, and the front end of the third oil cylinder 323 is hinged with a front end joint 330, and the front end joint 330 is fixedly connected to the chuck 340.

The lower end of the first boom 311 is hinged with the upper end of the slewing bracket 230, so that the first boom 311 can rotate under the driving of the first oil cylinder 321. The upper end of the first boom 311 is bent toward the side far from the side shifting mechanism 100, and forms an angle of 100 ° -150 ° with the lower end of the first boom 311. The fixed end of the first oil cylinder 321 and one of the swing bracket 230 Side hinge, the output end of the first oil cylinder 321 is hinged to the inside of the bent part of the first boom 311, and when the output end of the first oil cylinder 321 performs a contraction or relaxation action, the lower end of the first boom 311 is relatively rotated The bracket 230 is rotated. One end of the second boom 312 is hinged to the upper end of the first boom 311. At the same time, the fixed end of the second oil cylinder 322 is hinged to the outside of the bent portion of the first boom 311, and the output end of the second oil cylinder 322 is connected to the second arm. One end of the frame 312 is hinged, so that when the output end of the second oil cylinder 322 is operated, the second arm frame 312 is rotated relative to the upper end of the first arm frame 311, so that the second arm frame 312 and the milling machine 400 can be lifted. Move up and down. The fixed end of the third oil cylinder 323 is hinged to the upper end of the second boom 312. The output end of the third oil cylinder 323 is hinged to the chuck 340 through the front joint 330. When the output of the third oil cylinder 323 is actuated, the planer 400 is adjusted with Ground angle for construction operations.

It should be noted that the number of booms and oil cylinders in the present invention can be selected according to actual construction conditions, but the driving structure and driving method are the same as those described above. In addition, the oil cylinder in the present invention may also be driven by a cylinder. The driving of the oil cylinder and the air cylinder is transmitted through a pipeline provided on the robot arm, and is controlled by a computer program.

The mobile milling of the planer is realized by a plurality of booms and driving oil cylinders which are hinged in sequence; the oil cylinders respectively drive the boom and the chuck 340. With the drive of the booms, the milling machine 400 can complete all operations The required milling area and depth of construction work, combined with the side shift mechanism 100 and the slewing mechanism 200, complete the overall adjustment of the entire milling device for different shaped construction areas to achieve better construction results.

As shown in FIG. 1, the milling device 400 includes a plane milling machine 410 and a universal joint 420 driven by a motor. A section of the universal joint 420 is fixedly connected to the chuck 340. One end is fixedly connected to the surface milling machine 410. The universal quick connector 420 is used to realize the connection between the face milling machine 410 and the chuck 340, and satisfies the construction operations of the face milling machine 410 at various angles, so that the face milling machine 410 can adapt to various operating conditions.

The milling work surface can be of any shape, but it is best to be regular so as to ensure the neatness of the construction edges. The following takes a rectangle as an example. As shown in FIG. 5, the working principle of the present invention is: move the plane milling machine 410 to the starting position Z, and then select the X direction or the Y direction for milling, such as milling in the Y direction to the end point After the position Q, the plane milling machine 410 adjusts the position and moves to the position Z1, and mills in the direction of the position Q1. After it reaches the position Q1, it automatically moves to the position Z2, and mills in the direction of the position Q2. This reciprocates until the positions Zn and Qn are completed. Milling process. When milling construction surfaces of other shapes, only Q-Qn, Z-Zn need to be determined, and the robotic arm performs milling according to the shape of the figure. After the milling is completed, the rotary mechanism 200 retracts the robot arm 300 and fixes the robot arm 300 to facilitate transfer.

As shown in FIG. 6, the milling device of the present invention can be used for milling a circular well cover. As shown in the figure, S1 refers to the manhole cover, S2 is the safe area around the manhole cover, and S3 is the milling area. When milling the manhole cover, milling is performed at S3 around the manhole cover S1.

As shown in Figs. 7-9, the robot arm 300 of the milling device according to the present invention can be moved from the left side to the right side of the side shift mechanism 100, or from the right side to the left side of the side shift mechanism 100, Fig. 8 Schematic diagram of the maximum milling area of the milling device. In some specific embodiments of the present invention, the maximum distance from the left side to the right side of the milling machine 400 connected to the end of the robot arm 200 can reach 10m, and the maximum distance from the front of the side shift mechanism 100 in the longitudinal direction is 5m. The degree of automation High operation efficiency, high construction accuracy, fast operation speed, flexible and convenient.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Rear "," left "," right "," vertical "," horizontal "," top "," bottom "," inside "," outside "," clockwise "," counterclockwise "," axial ", The directions or positional relationships indicated by "radial" and "circumferential" are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the device or element referred to. It must have a specific orientation and be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.

In the present invention, the terms "installation", "connected", "connected", "fixed" and other terms shall be understood in a broad sense unless otherwise specified and limited, for example, they may be fixed connections or detachable connections Or integrated; it can be mechanical or electrical; it can be directly connected or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise specified The limit. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless explicitly stated and defined otherwise, the first feature "on" or "down" of the second feature may be the first and second features in direct contact, or the first and second features indirectly through an intermediate medium. contact. Moreover, the first feature is "above", "above", and "above" the second feature. The first feature is directly above or obliquely above the second feature, or it only indicates that the first feature is higher in level than the second feature. The first feature is “below”, “below”, and “below” of the second feature. The first feature may be directly below or obliquely below the second feature, or it may simply indicate that the first feature is less horizontal than the second feature.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples” and the like means specific features described in conjunction with the embodiments or examples , Structures, materials, or features are included in at least one embodiment or example of the invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without any contradiction, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims

A mobile traverse rotary milling device, characterized in that it includes a side shift mechanism, a slewing mechanism, a mechanical arm, and a planer; the slewing mechanism is fixedly connected to the moving end of the side shift mechanism, and the mechanical arm The fixed end is hinged to the slewing mechanism, one end of the milling machine is hinged to the output end of the mechanical arm, and the other end is a functional end for milling.
The mobile traverse rotary milling device according to claim 1, wherein the side shift mechanism comprises a side shift fixed frame, a side shift drive mechanism, and a side shift slide frame, and two of the side shift drive mechanisms The end is movably connected to the side-shifting fixed frame, and the side-shifting sliding frame moves laterally relative to the side-shifting fixed frame through the side-shift driving mechanism.
The mobile traverse rotary milling device according to claim 2, characterized in that the side shift fixing frame has a square frame structure, and one side is an open side, and the open side is provided with a retractable cover The other side of the dust cover is a fixed side for connection and fixing with the outside, and the open side is opened toward the turning mechanism.
The mobile traverse rotary milling device according to claim 2, wherein the side shift driving mechanism comprises a reduction motor, a lead screw and a nut provided in the side shift fixing frame, and the reduction motor It is arranged at one end of the side-moving fixing frame, one end of the lead screw is movably connected to the side-moving fixing frame, and the other end is fixedly connected with the output end of the reduction motor, and the nut is screw-connected with the lead screw. The side-moving sliding frame is fixedly connected with the nut.
The mobile traverse rotary milling device according to claim 4, wherein the slewing mechanism comprises a slewing fixed frame, a slewing support, and a slewing device; the slewing fixed frame is fixedly connected to the side-moving slide frame. The slewing bracket is hinged to the slewing fixed frame, and the slewing frame drives the mechanical arm to rotate relative to the slewing fixed frame through the slewing device.
The mobile traverse rotary milling device according to claim 5, wherein the rotary fixing frame comprises two first fixing plates and a second fixing plate arranged in parallel, and two of the first fixing plates One side of the second fixed plate is fixedly connected to the side-moving sliding frame, and the other side is connected to the side-moving sliding frame by a first rotating shaft; The first rotation shaft and the second fixing plate are fixedly connected.
The mobile traverse rotary milling device according to claim 6, wherein the slewing device comprises a first turbine, a first worm, a second turbine, and a first turbine which are sleeved on the outside of the first rotation shaft. Two worms, one end of the second worm is movably connected to the other end of the second fixed plate, and the other end passes through the side-moving slide frame and is connected to the output end of the hydraulic motor, and the second turbine is fixed by a third The plate is connected to the side-moving sliding frame and is rotatably connected to the first worm. The first worm rotates coaxially with the second turbine and is rotationally connected with the first turbine.
The mobile traverse rotary milling device according to claim 5, wherein the mechanical arm comprises two first arm frames, a second arm frame and a chuck, which are hinged to each other, and one end of the first arm frame It is hinged with the slewing bracket, one end of the second boom is hinged with the chuck, and the chuck is fixedly connected with the milling machine.
The mobile traverse rotary milling device according to claim 8, wherein the mechanical arm further comprises a first oil cylinder, a second oil cylinder, and a first oil cylinder for driving the first and second booms. A third oil cylinder, the fixed end of the first oil cylinder is hinged to one side of the swivel bracket, the output end of the first oil cylinder is hinged to the first boom, and the fixed end of the second oil cylinder is connected to the The first boom is hinged, the output end of the second oil cylinder is hinged to the second boom, the fixed end of the third oil cylinder is hinged to the second boom, and the output end of the third oil cylinder is hinged. A front joint, which is fixedly connected to the chuck.
The mobile traverse rotary milling device according to claim 9, characterized in that the milling device comprises a plane milling machine driven by a motor and a universal joint, and the universal joint One section is fixedly connected to the chuck, and the other end is fixedly connected to the surface milling machine.