WO2020010598A1 - 一种智能道路养护装置 - Google Patents

一种智能道路养护装置 Download PDF

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Publication number
WO2020010598A1
WO2020010598A1 PCT/CN2018/095544 CN2018095544W WO2020010598A1 WO 2020010598 A1 WO2020010598 A1 WO 2020010598A1 CN 2018095544 W CN2018095544 W CN 2018095544W WO 2020010598 A1 WO2020010598 A1 WO 2020010598A1
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WO
WIPO (PCT)
Prior art keywords
hinged
actuator
road maintenance
oil cylinder
maintenance device
Prior art date
Application number
PCT/CN2018/095544
Other languages
English (en)
French (fr)
Inventor
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 (The priority date 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 date listed.)
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Publication date
Application filed by 北京加隆工程机械有限公司 filed Critical 北京加隆工程机械有限公司
Priority to PCT/CN2018/095544 priority Critical patent/WO2020010598A1/zh
Publication of WO2020010598A1 publication Critical patent/WO2020010598A1/zh

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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
    • E01C23/065—Recycling in place or on the road, i.e. hot or cold reprocessing of paving in situ or on the traffic surface, with or without adding virgin material or lifting of salvaged material; Repairs or resurfacing involving at least partial reprocessing of the existing paving
    • 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
    • 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
    • E01C23/08—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 roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—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 roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud

Definitions

  • the invention relates to the technical field of road maintenance equipment, in particular to an intelligent road maintenance device.
  • road repair vehicles are needed.
  • various existing road repair vehicles but basically have the following disadvantages to varying degrees: slow speed, large number of users, large energy consumption, complex structure and single function.
  • embodiments of the present invention are expected to provide an intelligent road maintenance device to solve at least one technical problem in the prior art.
  • An intelligent road maintenance device includes a car chassis, a function actuator, and a new material storage and transportation system, a material recovery system, and a liquid storage provided on the car chassis. And a spraying system and a robot arm system; the function actuator is connected to an output end of the robot arm system, and performs a functional action under the driving of the robot arm system.
  • the beneficial effect of the present invention is that the intelligent road maintenance device of the present invention provides a power source through a car chassis, and combines a function actuator and a new material storage and transportation system, a material recovery system, a liquid storage and spraying system, and a robot arm provided on the car chassis.
  • the system can make the intelligent road maintenance device move conveniently and quickly. It integrates the functions of milling pavement, milling manhole cover, dust removal, recycling old materials, paving new materials, flattening new materials and filling joints, which greatly improves the work. Efficiency, low energy consumption, only one car, one person can complete all operations, reducing construction costs.
  • the present invention can also make the following improvements:
  • the new material storage and delivery system includes:
  • Heating insulation device for keeping the temperature of the new material constant
  • the pusher is arranged at the bottom of the new material bin and is used for conveying new material.
  • the beneficial effect of adopting the above-mentioned further scheme is that the new material is discharged through the ejector of the new material storage and conveying system, and after the road surface milling is completed, new asphalt material is laid, and the heating and keeping device can keep the temperature of the new material constant, so as to facilitate the process. Laying of new materials.
  • the heating and insulation device includes:
  • Heating cable for converting electrical energy into thermal energy after being energized
  • a temperature controller for controlling the temperature of the new material
  • Both the heating cable and the temperature controller are connected in series with a controlled alternating current.
  • the material recovery system includes:
  • Recovery fan used to provide a power source for recycling waste materials
  • a recovery channel one end of the recovery channel is in communication with the recovery fan, and the other end is connected with a cleaner;
  • a dust-removing and separating device which is disposed on the recovery channel
  • a collecting box for storing the waste materials for storing the waste materials.
  • the beneficial effect of adopting the above-mentioned further scheme is that the milled asphalt old material is collected into the collecting box through a cleaner and a recovery fan, thereby avoiding manual recovery of the old asphalt material, saving labor costs, and setting up dust collection on the recovery channel. Separation device to reduce dust flying, which is good for environmental protection.
  • liquid storage and spraying system includes:
  • a liquid conveying device one end of the liquid conveying device is placed in the liquid compartment for extracting liquid, and the other end is disposed on the upper end of the cover of the liquid compartment;
  • Spray gun the liquid inlet end of the spray gun is connected to the other end of the liquid conveying device.
  • the beneficial effects of adopting the above-mentioned further scheme are: spraying the emulsified asphalt adhesive on the pavement after the milling is completed through the liquid storage and spraying system, so that the new material can more stably bond the roadbed, the degree of automation is high, and the labor cost is saved.
  • the mechanical arm system includes a side shift mechanism, a slewing mechanism and a robot arm; a rear end of the automobile chassis is provided with a fixed bracket, and the fixed end of the side shift mechanism is fixedly connected to the fixed bracket.
  • the slewing mechanism is fixedly connected to the moving end of the side shifting mechanism, the fixed end of the mechanical arm is hinged to the slewing mechanism, and one end of the function actuator is hinged to the output end of the mechanical arm.
  • the beneficial effects of adopting the above-mentioned further scheme are: fixed installation with the chassis of the vehicle through the side shift mechanism, the rotation mechanism drives the mechanical arm to move according to the program, and the mechanical arm drives the function actuator to repair the road without human intervention and has a degree of automation High operating efficiency, high construction accuracy, fast operating speed, flexibility and convenience.
  • the robotic arm includes two mutually hinged booms and a chuck, one end of one of the booms is hinged to the slewing bracket, and one end of the other boom is hinged to the chuck, and the chuck is connected with Said function actuator connection.
  • the mechanical arm further includes a first oil cylinder, a second oil cylinder, and a third oil cylinder for driving the first and second booms, and a fixed end of the first oil cylinder and one of the rotation mechanism Side 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 second boom
  • the boom is hinged, the fixed end of the third oil cylinder is hinged with the second boom, the output end of the third oil cylinder is hinged with a front end joint, and the front end joint is fixedly connected with the chuck.
  • the beneficial effects of adopting the above-mentioned further scheme are: through a plurality of booms and driving oil cylinders which are hinged in sequence, mobile milling of the function actuator is realized; the oil cylinders respectively realize driving of the boom and chuck, which are driven by the boom Next, the function actuator can complete the construction operation of the required milling area, and then combine the side shift mechanism and the slewing mechanism to complete the overall adjustment of the entire milling device for different shaped construction areas to achieve better construction results. .
  • the functional actuator is at least one of a milling actuator, a rolling actuator, a tamping actuator, and a grouting actuator, the milling actuator, the rolling actuator, the tamping actuator, and The filling joints are detachably connected to the output end of the robot arm.
  • the beneficial effect of adopting the above-mentioned further scheme is that the milling road surface, the milling manhole cover, the paving new material, the flattening new material and the irrigation can be performed by a milling actuator, a rolling actuator, a tamping actuator and a grouting actuator.
  • Functions such as sewing, functional integration, high degree of automation, improve work efficiency, and greatly reduce labor costs.
  • the intelligent road maintenance device further includes an intelligent control device, which is disposed on the automobile chassis and communicates with the new material storage and transportation system, material recovery system, liquid storage and spraying system, mechanical arm system, and Function actuators are electrically or communicationally connected for road repair functions.
  • an intelligent control device which is disposed on the automobile chassis and communicates with the new material storage and transportation system, material recovery system, liquid storage and spraying system, mechanical arm system, and Function actuators are electrically or communicationally connected for road repair functions.
  • the intelligent control device serves as the central control core of the entire device, which is controlled and executed by computer software, performs road repair operations according to the program-planned solution, and sends related work data to the cloud via a wireless router and through the cloud. Intelligent statistics, calculation, and distribution of its work tasks, only one person to operate, a high degree of automation.
  • FIG. 1 is an overall structural diagram of an intelligent road maintenance device according to the present invention.
  • FIG. 2 is an overall structural diagram of a new material storage and conveying system according to the present invention.
  • FIG. 3 is an overall structural diagram of a heating and keeping device according to the present invention.
  • FIG. 4 is an overall structural diagram of a material recovery system according to the present invention.
  • FIG. 5 is an overall structural diagram of a liquid storage and spraying system according to the present invention.
  • FIG. 6 is an overall structural diagram of a robot arm system according to the present invention.
  • FIG. 7 is a structural diagram of an electric drive of a side shift mechanism according to the present invention.
  • FIG. 8 is a hydraulic driving structure diagram of a side shift mechanism according to the present invention.
  • FIG. 9 is an overall structural diagram of a slewing mechanism according to the present invention.
  • FIG. 10 is a schematic structural diagram of a function actuator according to the present invention.
  • FIG. 11 is a schematic structural diagram of a mechanical arm system according to the present invention facing in one direction;
  • FIG. 12 is a schematic structural diagram of a mechanical arm system according to the present invention facing another direction;
  • FIG. 13 is a process schematic diagram of a milling function of a road maintenance device according to the present invention.
  • FIG. 14 is a schematic diagram of a process for milling a manhole cover of a road maintenance device according to the present invention.
  • 15 is a schematic diagram of a maximum milling range of a milling function of a road maintenance device according to the present invention.
  • 16 is a schematic diagram of rapid repair of a road maintenance device according to the present invention.
  • FIG. 17 is a schematic structural diagram of a power generation system according to the present invention.
  • an intelligent road maintenance device of the present invention includes a car chassis 100, a function actuator 600, and a new material storage and delivery system 200, a material recovery system 300, and a liquid storage provided on the car chassis 100. And the spraying system 400 and the robot arm system 500; the function actuator 600 is connected to the output end of the robot arm system 500, and performs a functional action under the driving of the robot arm system 500.
  • the intelligent road maintenance device of the present invention provides a power source through the car chassis 100, and combines the function actuator 600 and the new material storage and delivery system 200, the material recovery system 300, and the liquid storage and spraying provided on the car chassis 100.
  • System 400 and robotic arm system 500 can make the intelligent road maintenance device move quickly and conveniently. It integrates the functions of milling roads, milling manhole covers, dust removal, recycling of old materials, paving new materials, flattening new materials and filling joints. In one body, the work efficiency is greatly improved, the energy consumption is reduced, and the construction cost is reduced.
  • the new material storage and conveying system 200 includes a new silo 210, a heating and holding device 220, a pusher 230, and a distributor 240 for Store new material; new material bin 210 is used to store new material; optionally, the new material is cold or hot asphalt new material.
  • the heating and heat preservation device 220 is used to keep the temperature of the new material constant, so that the new material storage and conveying system 200 has a heat insulation function to facilitate the laying of the new material.
  • the upper end of the new material bin 210 A heat preservation bin cover 211 is hinged, and a material level meter 212 for detecting the height of the new material and a thermometer 223 for detecting the temperature of the new material are provided in the new material bin 210.
  • the pusher 230 is a screw pusher, which is fixed at the bottom of the new silo 210, with one end protruding from the new silo 210, and driven by the power mechanism, the new material in the new silo 210 is conveyed to the new Outside the silo 210, a spreader 240 is fixed below the output end of the pusher 230 for discharging new asphalt material from the new silo 210 and laying new asphalt material after the road surface milling is completed.
  • the heating and insulation device 220 includes a heating cable 221 and a temperature controller 222, and both of the heating cable 221 and the temperature controller 222 are connected in series with a controlled alternating current. The temperature controller 222 controls and adjusts the temperature of the new material. , Controlling the heating cable 221 to convert electric energy into thermal energy after being energized.
  • the control system (Control System) of the intelligent control device 800 determines the shape, area, and thickness to be repaired, and calculates the quantity of new materials. Start the paving state of the new material through the computer's operation screen, check the amount and temperature of the material in the new silo 210. If there is no abnormality, start the screw feeder 230 to send the new material to the distributor 240.
  • the distributor 240 can be electrically powered. Control the mechanical mechanism that can be manually swung. The new material is evenly spread on the milled construction surface through the distributor 240. After the new material is paved, some edge leveling needs to be performed manually, and then it can be rolled. Mounting the compaction actuator 620 or tamping actuator 630 on the hydraulic manipulator system 500 can achieve two methods of compaction. No matter which method is used, it is controlled by the computer's operation screen, so that the work surface is compacted, rolled and flattened, and the repair is completed.
  • the material recovery system 300 includes a recovery fan 310, a recovery channel 320, a dust separation device 330, and a collecting box 340.
  • the recovery fan 310 is used to provide a power source for recovering waste materials; the recovery channel One end of the 320 is in communication with the recovery fan 310, and the other end is connected with a cleaner 321.
  • the dust removal and separation device 330 is disposed on the recovery channel 320.
  • the dust removal and separation device 330 includes a pulse dust collector 331 and The separator 332 and the collecting box 340 are used for storing the waste materials.
  • the milled asphalt old material is collected into the collecting box 340 through the cleaner 321 and the recovery fan 310, which avoids manual recycling of the old asphalt material, saves labor costs, and sets a dust removal separator 330 on the recovery channel 320 to reduce The dust is flying, which is good for environmental protection.
  • the material recovery system 300 and the milling actuator 610 are started at the same time.
  • the recovery channel 320 and the cleaner 321 of the recovered material system 300 are fixed on the robotic arm system 500.
  • the milled material is lifted and recovered by the fan near the cleaner 321.
  • the suction generated by 310 is collected into the collecting box 310 through the pipeline.
  • the used material can be used to discharge the used material.
  • the hydraulic mechanical arm system 500 re-cleans and cleans the milled construction surface. Then you can enter the next process-spray the adhesive layer.
  • the adhesive layer can use different binders such as asphalt and emulsified asphalt.
  • the liquid storage and spraying system 400 includes a liquid tank 410, a liquid transporting device 420, and a spray gun 430.
  • the liquid tank 410 is used to store liquid; one end of the liquid transporting device 420 is placed on the liquid. Inside the bin 410 is used for extracting liquid, and the other end is disposed on the upper end 411 of the lid of the liquid bin 410; the liquid inlet end of the spray gun 430 is connected to the other end of the liquid conveying device 420.
  • the liquid conveying device 420 includes a spray pump 421, a spray motor 422, and an infusion pipeline 423.
  • the spray pump 421 is placed in the liquid tank 410 and is driven by the spray motor 422 provided outside the liquid tank 410.
  • the liquid is sprayed out of the spray gun 430 transmitted through the infusion line 423.
  • a regulating valve 424 and an air pipe 425 are also connected to the liquid inlet of the spray gun 430 to increase the discharge pressure of the spray gun 430 and to blow out the remaining liquid in the spray gun 430.
  • the hydraulic mechanical arm system 500 will lead to the spraying area, the liquid storage and spraying system 400 will start, and the spraying pump 421 will transfer the adhesive in the liquid tank 410 to the machine through the spraying gun 430. Under the movement of the arm, spray the adhesive in accordance with the milling trajectory. After the spraying of the adhesive is completed, the valve 425 is opened, and the remaining liquid in the spray gun 430 is blown out by the pressure gas, in order to prevent it from becoming stickier and thicker, causing the pipeline to be blocked. .
  • the cleaning actuator on the hydraulic manipulator system 500 fill the liquid tank 410 with the cleaning liquid, open the road maintenance device near the railing, start the cleaning state of the guardrail through the computer's operation screen, and rotate the hydraulic manipulator system 500 to When the liquid spray system 400 is started and the rotor is cleaned at the proper position, the guardrail can be cleaned.
  • the mechanical arm system of the present invention includes a side shift mechanism 510, a swing mechanism 520, and a robot arm 530; the swing mechanism 520 is fixed to the moving end of the side shift mechanism 510 Connected, the fixed end of the robot arm 530 is hinged to the turning mechanism 520.
  • the robotic arm system is fixedly installed with the outside world through the side-shifting mechanism 510, and is installed on the truck chassis 100 to realize arbitrary operation shapes planned by computer software.
  • the turning mechanism 520 drives the robotic arm 530 to move according to the program, and the robotic arm 530 is controlled by the vehicle.
  • Industrial control machine and on-board controller driven by robotic arm 530, function actuator 600 milling, repairing and other maintenance road operations to perform the corresponding tasks; unlike the teaching mode of welding robots, the job tasks are completely run in real-time on-site planning ; Controlled by computer program, no human intervention is required. It has the characteristics of high degree of automation, high operation efficiency, high construction accuracy, fast operation speed, flexibility and convenience.
  • the lateral movement mechanism 510 of the present invention includes a lateral movement fixing frame 511, a lateral movement driving mechanism 512, a lateral movement sliding frame 513, and a dust cover 514. Both ends are movably connected to the side-moving fixing frame 511, and the side-moving sliding frame 513 moves laterally relative to the side-moving fixing frame 511 through the side-shift driving mechanism 512.
  • the side-moving fixing frame 511 is connected with an outwardly protruding structure for fixing with the outside to facilitate the construction of the entire function actuator 600.
  • the side-moving fixing frame 511 After the side-moving fixing frame 511 is fixed to the outside, the side-moving sliding frame 513 is on the side Driven by the movement driving mechanism 512, the movement is performed in the lateral direction, and the function actuator 600 is driven to perform construction work.
  • the side shift fixing frame 511 has a square frame structure, and one side is an open side 5111, and the dust cover 514 is a retractable dust cover, and is installed on the open side 5111 and the other side
  • the open side 5111 is opened toward the turning mechanism 520.
  • the fixed side of the square frame structure is fixedly connected to the outside world, and the open side 5111 is used to provide a space for the side shift driving mechanism 512 to move.
  • first and second side plates 5112 are fixedly connected to the upper and lower ends of the open side 5111.
  • the arrangement of the two first side plates 5112 also provides limit protection for the side-moving sliding frame 513. effect.
  • the side shift driving mechanism 512 of the present invention includes a reduction gear motor 5121, a lead screw 5122, and a nut 5123 provided in the side shift fixing frame 511, and the reduction motor 5121 is provided in the side shift
  • One end of the fixing frame 511 is fixed to the side plate and the back plate of the side-moving fixing frame 511 by a fixing member, and one end of the lead screw 5122 is movably connected to the side-moving fixing frame 511, such as the screw 5122 and the side-moving fixing.
  • the side plate of the frame 511 is connected through a bearing, and the other end is fixedly connected to the output end of the reduction motor 5121.
  • the nut 5123 is threadedly connected to the lead screw 5122.
  • the side-moving slide frame 513 is fixedly connected to the nut 5123.
  • the upper end of the moving fixing frame 511 is provided with a slide rail 5113 protruding upward.
  • the side moving slide frame 513 is slidably connected with the slide rail 5113, and is laterally moved along the slide rail 5113 driven by the screw 5122 and the nut 5123.
  • the lead screw 5122 is rotated by the output end of the reduction gear motor 5121.
  • the nut 5123 moves laterally along the lead screw 5122, which in turn drives the side sliding carriage 513 and the robot arm 530 to perform functions.
  • the actuator 600 moves laterally to realize the construction work of the function actuator 600.
  • the side shift driving mechanism 512 includes a first hydraulic motor 5124, a gear set 5125, a lead screw 5122, and a nut 5123.
  • the first hydraulic motor 5124 the gear set 5125.
  • the screw 5122 is fixed on the side-moving fixing frame 511 through bearings.
  • the first hydraulic motor 5124 drives the screw 5122 through the gear set 5125.
  • the nut 5123 matching the screw 5122 is fixed on the side-moving sliding frame 513. on. Driven by the first hydraulic motor 5124, under the transmission of the gear set 5125 and the lead screw 5122, the nut 5123 moves along the lead screw 5122, thereby driving the side sliding carriage 513 to move.
  • Both of the above two side-shifting mechanisms can move the robotic arm 530 and the function actuator 540 to perform lateral movement.
  • the mechanism that can realize the lateral movement of the mechanical arm 530 should be regarded as Within the scope of the present invention.
  • the slewing mechanism 520 includes a slewing fixture 521, a slewing bracket 523, and a slewing device 522.
  • the slewing fixture 521 is fixedly connected to the side sliding carriage 513, and the slewing bracket 523 is connected to the slewing bracket 523.
  • the slewing fixed frame 521 is hinged, and the slewing support 523 drives the mechanical arm 530 to rotate relative to the slewing fixed frame 521 through the slewing device 522.
  • the slewing fixture 521 includes two first fixing plates 5211 and a second fixing plate 5212 disposed in parallel, and one side of the two first fixing plates 5211 is fixedly connected to the side-moving sliding frame 513. , The other side is connected by a first rotating shaft 5213, one side of the second fixing plate 5212 is fixedly connected with the side-moving slide frame 513, and the rotating device 522 is connected with the first rotating shaft 5213 and the The second fixing plate 5212 is fixedly connected.
  • the slewing bracket 523 is hinged to the slewing fixture 521 through a first rotating shaft 5213; in order to enhance the connection strength of the first and second fixing plates 5211 and 5212 to the side-moving slide bracket 523, At least two reinforcing ribs are provided between the plate 5211 and the side-moving sliding frame 513, and between the second fixing plate 5212 and the side-moving sliding frame 513, so that the connection is more reliable and safe.
  • the turning device 522 adopts a two-stage turbine worm mechanism.
  • the turning device 522 includes a first turbine 5221, a first worm 5222, a second turbine 5223, and a second worm 5224 which are sleeved on the outside of the first rotation shaft 5213.
  • One end of the second worm 5224 is connected to the first worm 5224.
  • the other end of the second fixed plate 5212 is movably connected, and the other end passes through the side shifting sliding frame 513, and is connected to the output end of the second hydraulic motor 5226.
  • the second turbine 5223 is connected to the second fixed plate 5225 through the third fixed plate 5225.
  • the side-moving sliding frame 513 is connected with the first worm 5222, and the first worm 5222 rotates coaxially with the second turbine 5223, and is rotatably connected with the first turbine 5221.
  • the second hydraulic motor 5226 is disposed outside the side-moving slide frame 513 for driving the rotation of the second worm 5224.
  • the 180 ° turning function of the turning mechanism 520 is realized, so that the robotic arm 530 can be rotated along one side of the sliding frame 513 by the second hydraulic motor 226 of the turning device 522 To meet the slewing function in construction operations.
  • the slewing mechanism 520 of the present invention further includes a limit protector 524.
  • the limit protector 524 is disposed on the side of the side-moving sliding frame 513 away from the side-moving fixing frame 511, and is located on the slewing device 522. Both sides are provided with limiter protectors 524.
  • the two limit protectors 524 are arranged vertically, and can limit the robot arm 530 when the robot arm 530 rotates to two extreme positions of the maximum angle value and the minimum angle value, so as to prevent the robot arm 530 from colliding with the slewing fixed frame.
  • 521 and the side-moving sliding frame 523 protect the slewing fixed frame 521 and the slewing device 522.
  • the robotic arm 530 of the present invention includes two mutually articulated booms and a chuck 534, one end of one of the booms is hinged with the slewing bracket 521, and one end of the other boom is connected with the boom
  • the chuck 534 is hinged, and the chuck 534 is fixedly connected to the function actuator 600, so that the function actuator 600 can be rotated within a wide range of angles.
  • the two booms of the present invention are a first boom 5311 and a second boom 5312, respectively.
  • the robot arm 530 further includes a first oil cylinder 5321 for driving the first boom 5311 and the second boom 5312.
  • the second oil cylinder 5322 and the third oil cylinder 5323 are examples of the robot arm 530.
  • the fixed end of the first oil cylinder 5321 is hinged to one side of the swing bracket 523, and the output end of the first oil cylinder 5321 is hinged to the first boom 5311.
  • the fixed end of the second oil cylinder 5322 is hinged to the first boom 5311, the output end of the second oil cylinder 5322 is hinged to the second boom 5312, and the fixed end of the third oil cylinder 5323 is connected to the first boom 5323.
  • the two-arm frame 5312 is hinged, and the output end of the third oil cylinder 5323 is hinged with a front-end joint 533, and the front-end joint 533 is fixedly connected to the chuck 534.
  • the lower end of the first boom 5311 is hinged to the upper end of the slewing bracket 523, so that the first boom 5311 can rotate under the driving of the first oil cylinder 5321.
  • the upper end of the first boom 5311 is bent toward the side away from the side shifting mechanism 510, and forms an angle of 100 ° -150 ° with the lower end of the first boom 5311.
  • the fixed end of the first oil cylinder 5321 and one of the swing bracket 523 Side hinge, the output end of the first oil cylinder 5321 is hinged to the inside of the bent part of the first boom 5311, and when the output end of the first oil cylinder 5321 performs a contraction or relaxation action, the lower end of the first boom 5311 is relatively rotated
  • the bracket 523 is rotated.
  • One end of the second boom 5312 is hinged to the upper end of the first boom 5311.
  • the fixed end of the second oil cylinder 5322 is hinged to the outside of the bent portion of the first boom 5311.
  • the output end of the second oil cylinder 5322 is connected to the second arm.
  • One end of the bracket 5312 is hinged, so that when the output end of the second oil cylinder 5322 is operated, the second boom 5312 is rotated relative to the upper end of the first boom 5311, so that the second boom 5312 and the function actuator 600 can be lifted. Move up and down.
  • the fixed end of the third oil cylinder 5323 is hinged to the upper end of the second boom 5312.
  • the output of the third oil cylinder 5323 is hinged to the chuck 534 through the front joint 533. When the output of the third oil cylinder 5323 is actuated, the function actuator 600 is driven to perform Lifting and dropping action for construction operations.
  • 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.
  • 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 function actuator 600 is at least one of a milling actuator 610, a rolling actuator 620, a tamping actuator 630, and a joint filling actuator 640.
  • the milling actuator 610, The rolling actuator 620, the tamping actuator 630, and the grouting actuator 640 are all detachably connected to the output end of the robot arm 530.
  • functions such as milling road surfaces, milling manhole covers, paving new materials, flattening new materials, and grouting can be performed. Functions Integrated, high degree of automation, improve work efficiency and greatly reduce labor costs.
  • the automobile chassis of the present invention is provided with an intelligent control device 800, the intelligent control device 900 and the new material storage and delivery system 200, the material recovery system 300, the liquid storage and spraying system 400, and the robot arm system 500 and function actuator 600 are electrically or communicationally connected to realize road maintenance functions.
  • the intelligent control device 900 is the central control core of the entire device. It is controlled and executed by computer software.
  • the road maintenance work is carried out according to the program plan.
  • the relevant work data is sent to the cloud through the wireless router.
  • the cloud intelligently counts, calculates, and distributes its work. The task requires only one person to operate and has a high degree of automation.
  • the automobile chassis 100 of the present invention is further provided with a power generation system 700 including a generator 710, a switchboard 720 and operation buttons 730, and other electrical appliances.
  • the generator 710 can provide power to the entire device to ensure the operation of the equipment.
  • 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 working principle of the present invention is: move the milling actuator 610 to the starting position Z, and then select the X or Y direction for milling, such as milling in the Y direction
  • the milling actuator 610 adjusts the position and moves to position Z1, and mills in the direction of position Q1.
  • Qn completes the milling process.
  • the milling device of the present invention can be used for milling a circular well cover.
  • S1 refers to the manhole cover
  • S2 is the safe area around the manhole cover
  • S3 is the milling area.
  • milling is performed at S3 around the manhole cover S1.
  • the robot arm 530 can be moved from the left side to the right side of the side shift mechanism 510, or from the right side to the left side of the side shift mechanism 510.
  • Fig. 15 shows the milling operation. Schematic diagram of the maximum milling area of the device 610.
  • the maximum distance from the left side to the right side of the side shift mechanism 510 can reach 10m, and the maximum distance from the front side of the side shift mechanism 510 is 5m. It has a high degree of automation, high work efficiency, and construction accuracy. High, fast operation speed, flexible and convenient.
  • 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.
  • 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 removable connections Or integrated; it can be mechanical or electrical; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction between two elements, unless otherwise specified The limit.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • 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.
  • 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.

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Abstract

一种智能道路养护装置，包括汽车底盘（100）、功能执行器（600）及设置在汽车底盘（100）上的新料储存输送系统（200）、物料回收系统（300）、液体储存及喷洒系统（400）和机械臂系统（500）；功能执行器（600）与机械臂系统（500）的输出端连接，在机械臂系统（500）的驱动下执行功能动作。该智能道路养护装置集铣刨路面、除尘、回收旧料、摊铺新料、压平新料和灌缝等功能于一身，可提高工作效率，减少耗能，降低施工成本。

Description

一种智能道路养护装置 技术领域
本发明涉及道路维修设备技术领域，尤其涉及一种智能道路养护装置。
背景技术
随着我国高速公路沥青路面的迅速发展，沥青路面裂缝修补技术研究具有重大的工程应用需求，对延缓路面使用性能恶化速率、提高路面维修效率、延长路面使用寿命具有重要意义。
在路面裂缝修补和道路养护时，需要使用公路修补车。现有的公路修补车各种各样，但是基本上均不同程度地存在以下缺点：速度慢、使用人员多、能耗大、结构复杂和功能单一。
现在公路修补养护施工中，一般需要6至7人的施工车队，需要压路机、机械镐、路面切割机、垃料车、鼓风机等设备，对破损路面的开挖常常使用机械镐与铣刨机，机械镐施工效率低；铣刨机适合大面积施工作业，相对使用成本高，在城市道路小范围修补中，以上两种工艺方法都存在不同的缺陷。
发明内容
有鉴于此，本发明实施例期望提供一种智能道路养护装置，以解决的现有技术中的至少一种技术问题。
为达到上述目的，本发明实施例的技术方案是这样实现的：一种智能道路养护装置，包括汽车底盘、功能执行器及设置在汽车底盘上的新料储存输送系统、物料回收系统、液体储存及喷洒系统和机械臂系统；所述功能执行 器与所述机械臂系统的输出端连接，在所述机械臂系统的驱动下执行功能动作。
本发明的有益效果是：本发明的智能道路养护装置通过汽车底盘提供动力源，结合功能执行器和设置在汽车底盘上的新料储存输送系统、物料回收系统、液体储存及喷洒系统和机械臂系统，能够使智能道路养护装置方便快捷的移动作业，集铣刨路面、铣刨井盖、除尘、回收旧料、摊铺新料、压平新料和灌缝等功能于一身，大幅度提高工作效率，耗能少，仅需要一辆车、一个人即可完成所有操作，施工成本降低。
在上述技术方案的基础上，本发明还可以做如下改进：
进一步地，所述新料储存输送系统包括：
新料仓，用于储存新料；
加热保温装置，用于保持新料温度恒定；
推料器，设置于所述新料仓的底部，用于输送新料。
采用上述进一步方案的有益效果是：通过新料储存输送系统的推料器将新料排出，在路面铣刨完成后，铺设新的沥青料，加热保温装置可以保持新料温度恒定，以便于进行新料的铺设。
进一步，所述加热保温装置包括：
加热电缆，用于通电后将电能转换为热能；
温度控制器，用于控制所述新料温度；
所述加热电缆和所述温度控制器均与受控交流电串联。
进一步，所述物料回收系统包括：
回收风机，用于提供回收废旧物料的动力源；
回收通道，所述回收通道的一端与所述回收风机连通，另一端连接有清理器；
除尘分离装置，所述除尘分离装置设置在所述回收通道上；
集料箱，用于储存所述废旧物料。
采用上述进一步方案的有益效果是：通过清理器和回收风机将铣刨后的沥青旧料收回到集料箱内，避免了人工将沥青旧料回收，节约人力成本，并在回收通道上设置除尘分离装置来减少粉尘飞扬，有利于环境保护。
进一步，所述液体储存及喷洒系统包括：
液体仓，用于储存液体；
液体输送装置，所述液体输送装置的一端放置在所述液体仓内，用于抽取液体，另一端设置在所述液体仓的仓盖上端；
喷枪，所述喷枪的进液端与所述液体输送装置的另一端连接。
采用上述进一步方案的有益效果是：通过液体储存及喷洒系统，在铣刨完成后的路面喷洒乳化沥青粘合剂，使新料更加稳定的粘合路基，自动化程度高，节省人力成本。
进一步，所述机械臂系统包括侧移机构、回转机构和机械臂；所述汽车底盘的后端设置有固定支架，所述侧移机构的固定端与所述固定支架固定连接。所述回转机构与所述侧移机构的移动端固定连接，所述机械臂的固定端与所述回转机构铰接，所述功能执行器的一端与所述机械臂的输出端铰接。
采用上述进一步方案的有益效果是：通过侧移机构与汽车底盘进行固定安装，回转机构带动机械臂按照程序进行运动，由机械臂带动功能执行器进行修补道路作业，不需要人干预，具有自动化程度高、作业效率高、施工精度高、作业速度快和灵活方便等特点。
进一步，所述机械臂包括两个相互铰接的臂架和卡盘，其中一个臂架的一端与所述回转支架铰接，另一个臂架的一端与所述卡盘铰接，所述卡盘与所述功能执行器连接。
进一步，所述机械臂还包括用于驱动所述第一臂架和第二臂架的第一油缸、第二油缸和第三油缸，所述第一油缸的固定端与所述回转机构的一侧铰 接，所述第一油缸的输出端与所述第一臂架铰接，所述第二油缸的固定端与所述第一臂架铰接，所述第二油缸的输出端与所述第二臂架铰接，所述第三油缸的固定端与所述第二臂架铰接，所述第三油缸的输出端铰接有前端关节，所述前端关节与所述卡盘固定连接。
采用上述进一步方案的有益效果是：通过多个依次铰接的臂架和驱动油缸，实现了对功能执行器的移动铣刨；油缸分别实现了对臂架和卡盘的驱动，在臂架的带动下，功能执行器能够完成所需要的铣刨区域的施工作业，再结合侧移机构和回转机构，从而完成整个铣刨装置针对不同形状施工区域做出的整体调整，以达到更好的施工效果。
进一步，所述功能执行器为铣刨执行器、碾压执行器、夯打执行器和灌缝执行器中的至少一种，所述铣刨执行器、碾压执行器、夯打执行器和灌缝执行器均与所述机械臂的输出端可拆卸连接。
采用上述进一步方案的有益效果是：通过铣刨执行器、碾压执行器、夯打执行器和灌缝执行器能够执行铣刨路面、铣刨井盖、摊铺新料、压平新料和灌缝等功能，功能集成化，自动化程度高，提高工作效率，大幅降低人工成本。
进一步，所述智能道路养护装置还包括智能控制装置，所述智能控制装置设置在所述汽车底盘上，与所述新料储存输送系统、物料回收系统、液体储存及喷洒系统、机械臂系统和功能执行器电连接或通信连接，用于实现道路修补功能。
采用上述进一步方案的有益效果是：智能控制装置作为整个装置的中枢控制核心，由计算机软件控制执行，按照程序规划的方案进行路面修补作业，并把相关工作数据通过无线路由器发送到云端，通过云端智能统计、计算、分配其工作任务，仅需一人操作，自动化程度高。
附图说明
图1为本发明所述智能道路养护装置的整体结构图；
图2为本发明所述新料储存输送系统的整体结构图；
图3为本发明所述加热保温装置的整体结构图；
图4为本发明所述物料回收系统的整体结构图；
图5为本发明所述液体储存及喷洒系统的整体结构图；
图6为本发明所述机械臂系统的整体结构图；
图7为本发明所述侧移机构的电动驱动结构图；
图8为本发明所述侧移机构的液压驱动结构图；
图9为本发明所述回转机构的整体结构图；
图10为本发明所述功能执行器的结构示意图；
图11为本发明所述机械臂系统朝向一个方向的结构示意图；
图12为本发明所述机械臂系统朝向另一个方向的结构示意图；
图13为本发明所述道路养护装置铣刨功能的工艺示意图；
图14为本发明所述道路养护装置铣刨井盖的工艺示意图；
图15为本发明所述道路养护装置铣刨功能的最大铣刨范围示意图；
图16为本发明所述道路养护装置快速修补示意图；
图17为本发明所述发电系统的结构示意图。
附图中，各标号所代表的部件列表如下：
100、汽车底盘；200、新料储存输送系统；210、新料仓；211、保温仓盖；212、料位计；220、加热保温装置；221、加热电缆；222、温度控制器；223、温度计；230、推料器；240、布料器；300、物料回收系统；310、回收风机；320、回收通道；321、清理器；330、除尘分离装置；331、脉冲除尘器；332、分离器；340、集料箱；400、液体储存及喷洒系统；410、液体仓；411、液体仓盖；420、液体输送装置；421、喷洒泵；422、喷洒马达； 423、输液管路；424、气管；425、调节阀；430、喷枪；500、机械臂系统；510、侧移机构；511、侧移固定架；5111、开口侧；5112、第一侧板；5113、滑轨；512、侧移驱动机构；5121、减速电机；5122、丝杠、5123、螺母；5124、第一液压马达；5125、齿轮组；513、侧移滑动架；520、回转机构；521、回转固定架；5211、第一固定板；5212、第二固定板；5213、第一转动轴；522、回转装置；5221、第一涡轮；5222、第一蜗杆；5223、第二涡轮；5224、第二蜗杆；5225、第三固定板；5226、第二液压马达；523、回转支架；524、限位保护器；530、机械臂；5311、第一臂架；5312、第二臂架；5321、第一油缸；5322、第二油缸；5323、第三油缸；533、前端关节；534、卡盘；600、功能执行器；610、铣刨执行器；620、碾压执行器；630、夯打执行器；640、灌缝执行器；700、发电系统；710、发电机；720、配电盘；730、操作按钮；800、智能控制装置。
具体实施方式
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。
如图1-图17所示，本发明的一种智能道路养护装置，包括汽车底盘100、功能执行器600及设置在汽车底盘100上的新料储存输送系统200、物料回收系统300、液体储存及喷洒系统400和机械臂系统500；所述功能执行器600与所述机械臂系统500的输出端连接，在所述机械臂系统500的驱动下执行功能动作。
相对于现有技术，本发明的智能道路养护装置通过汽车底盘100提供动力源，结合功能执行器600和设置在汽车底盘100上的新料储存输送系统200、物料回收系统300、液体储存及喷洒系统400和机械臂系 统500，能够使智能道路养护装置方便快捷的移动作业，集铣刨路面、铣刨井盖、除尘、回收旧料、摊铺新料、压平新料和灌缝等功能于一身，大幅度提高工作效率，耗能少，施工成本降低。
具体的，如图2-3所示，在本发明的一些实施例当中，所述新料储存输送系统200包括新料仓210、加热保温装置220、推料器230和布料器240，用于储存新料；新料仓210用于储存新料；可选的，新料为冷的或热的沥青新料。加热保温装置220用于保持新料温度恒定，使得新料储存输送系统200具备保温功能，以便于进行新料的铺设；另外，为增强保温性能和新料的清洁，在新料仓210的上端铰接有保温仓盖211，并在新料仓210内设置有用于检测新料高度的料位计212和用于检测新料温度的温度计223。可选的，推料器230为螺旋推料器，固定在新料仓210的底部，一端伸出新料仓210，在动力机构的驱动下，将新料仓210内的新料输送到新料仓210外，在推料器230输出端的下方固定布料器240，用于在路面铣刨完成后，将新的沥青料从新料仓210排出，铺设新的沥青料。进一步的，所述加热保温装置220包括加热电缆221和温度控制器222，所述加热电缆221和所述温度控制器222均与受控交流电串联，温度控制器222控制调节所述新料的温度，控制所述加热电缆221在通电后将电能转换为热能。
通过智能控制装置800的控制系统(Control System)确定需修补的形状、面积、修补厚度，计算出新料用料数量。通过计算机的操作屏启动新料摊铺状态，查看新料仓210内存料量、温度，如无异常则启动螺旋推料器230，将新料输送到布料器240，布料器240是一个可以电控可以手动摆动的机械机构。新料通过布料器240将新料均匀摊铺到铣刨过的施工面上。新料摊铺完成后，需要人工进行一些边缘平整，即可进行碾压。在液压机械臂系统500上安装碾压执行器620或夯打执行器630，可以实现两种方式碾压。不论使用哪一种方法，均通过计算机的操作屏进行控制，使工作面夯实，碾压平整， 则修补完成。
如图4所示，所述物料回收系统300包括回收风机310、回收通道320、除尘分离装置330和集料箱340，所述回收风机310用于提供回收废旧物料的动力源；所述回收通道320的一端与所述回收风机310连通，另一端连接有清理器321；所述除尘分离装置330设置在所述回收通道320上，可选的，所述除尘分离装置330包括脉冲除尘器331和分离器332；集料箱340用于储存所述废旧物料。通过清理器321和回收风机310将铣刨后的沥青旧料收回到集料箱340内，避免了人工将沥青旧料回收，节约人力成本，并在回收通道320上设置除尘分离装置330来减少粉尘飞扬，有利于环境保护。
物料回收系统300与铣刨执行器610同时启动，回收料系统300的回收通道320和清理器321固定在机械臂系统500上，铣刨下来的料被扬起后在清理器321附近被回收风机310产生的吸力，通过管道收入集料箱310，集料箱310存满后，可采用排料机构将旧料倒出。铣刨完成后，如果铣刨区域有未吸净的旧料，可以通过操计算机的操作屏启动施工面吸尘状态，液压机械臂系统500重新对铣刨过的施工面进行吸尘清理，干净后可进入下道工序-喷洒粘结层。粘结层可使用不同的粘结剂如沥青、乳化沥青。
如图5所示，所述液体储存及喷洒系统400包括液体仓410、液体输送装置420和喷枪430，所述液体仓410用于储存液体；所述液体输送装置420的一端放置在所述液体仓410内，用于抽取液体，另一端设置在所述液体仓410的仓盖上端411；所述喷枪430的进液端与所述液体输送装置420的另一端连接。具体的，所述液体输送装置420包括喷洒泵421、喷洒马达422和输液管路423，所述喷洒泵421放置在液体仓410内，通过设置在液体仓410外的喷洒马达422驱动，吸取后的液 体经输液管路423传输的喷枪430内，将液体喷出。在喷枪430的进液口还连接有调节阀424和气管425，用于增强喷枪430的排出压力，用于吹出喷枪430内的剩余液体。通过液体储存及喷洒系统400，在铣刨完成后的路面喷洒乳化沥青粘合剂，使新料更加稳定的粘合路基，自动化程度高，节省人力成本。
通过操计算机的操作屏启动粘结层喷洒状态，将液压机械臂系统500引致喷洒处，液体储存及喷洒系统400启动，喷洒泵421即可将液体仓410内的粘结剂通过喷枪430在机器臂的运动下，按照铣刨的轨迹喷洒粘结剂，粘结剂喷洒完毕后，阀门425打开，则压力气将喷枪430中的剩余液体吹出，以防其越粘越厚，造成管道不畅。
将清洗执行器固定在液压机械臂系统500上，往液体仓410里装入清洗液，将道路养护装置开至栏杆附近，通过计算机的操作屏启动护栏清洗状态，将液压机械臂系统500旋转至合适位置，启动液体喷洒系统400和清洗转子，则可实现护栏清洗。
如图1、6-9、11-12所示，本发明的机械臂系统包括侧移机构510、回转机构520和机械臂530；所述回转机构520与所述侧移机构510的移动端固定连接，所述机械臂530的固定端与所述回转机构520铰接。机械臂系统通过侧移机构510与外界进行固定安装，安装在卡车底盘100上，实现了由计算机软件规划任意作业形状，回转机构520带动机械臂530按照程序进行运动，机械臂530受控于车载工控机和车载控制器，由机械臂530带动功能执行器600铣刨、修补等养护道路作业，执行相应的任务；不同于焊接机器人的示教模式，完全是采用现场实时规划的方式运行作业任务；通过计算机程序控制，不需要人干预，具有自动化程度高、作业效率高、施工精度高、作业速度快和灵活方便等特点。
具体的，如图7所示，本发明的所述侧移机构510包括侧移固定架511、 侧移驱动机构512、侧移滑动架513和遮尘罩514，所述侧移驱动机构512的两端与所述侧移固定架511活动连接，所述侧移滑动架513通过所述侧移驱动机构512相对所述侧移固定架511横向移动。侧移固定架511连接有向外凸出的结构，用于与外界进行固定，以便于整个功能执行器600进行施工作业；在侧移固定架511与外界固定后，侧移滑动架513在侧移驱动机构512的驱动下，沿横向进行移动，带动功能执行器600进行施工作业。具体的，所述侧移固定架511呈方形框架结构，且一侧为开口侧5111，所述遮尘罩514为可伸缩式的遮尘罩，装设于所述开口侧5111，另一侧为用于与外界连接固定的固定侧，所述开口侧5111朝向所述回转机构520开设。方形框架结构的固定侧与外界固定连接，开口侧5111用于为侧移驱动机构512提供移动的空间。为了保证侧移固定架511的整体稳定性，在开口侧5111的上下端均固定连接有第一侧板5112，两个第一侧板5112的设置也为侧移滑动架513提供限位保护的作用。
如图7所示，本发明的所述侧移驱动机构512包括设置在所述侧移固定架511内的减速电机5121、丝杠5122和螺母5123，所述减速电机5121设置在所述侧移固定架511的一端，通过固定件与侧移固定架511的侧板和背板进行固定，所述丝杠5122的一端与所述侧移固定架511活动连接，例如丝杠5122和侧移固定架511的侧板通过轴承连接，另一端与所述减速电机5121的输出端固定连接，所述螺母5123与丝杠5122螺纹连接，所述侧移滑动架513与所述螺母5123固定连接，侧移固定架511的上端开设有向上凸出的滑轨5113，侧移滑动架513与所述滑轨5113滑动连接，并在丝杠5122、螺母5123的带动下沿滑轨5113横移。在减速电机5121通电运转后，丝杠5122在减速电机5121输出端的带动下进行转动，这样，螺母5123便沿着丝杠5122进行横向移动， 进而带动侧移滑动架513和机械臂530、功能执行器600进行横向移动，实现功能执行器600的施工作业。
如图8所示，在本发明的一些实施例中，所述侧移驱动机构512包括第一液压马达5124、齿轮组5125、丝杠5122和螺母5123；其中，第一液压马达5124、齿轮组5125、丝杠5122通过轴承固定在所述的侧移固定架511上，第一液压马达5124通过齿轮组5125驱动丝杠5122，与丝杠5122配合的螺母5123固定在所述侧移滑动架513上。通过第一液压马达5124的驱动，在齿轮组5125和丝杠5122的传动下，螺母5123沿丝杠5122进行移动，从而带动侧移滑动架513的移动。
以上两种侧移机构均能够实现带动机械臂530及功能执行器540进行横移，在本发明中仅提供以上两种实施例，但能够实现机械臂530进行横移的机构均应视为在本发明的保护范围内。
如图9所示，所述回转机构520包括回转固定架521、回转支架523和回转装置522；所述回转固定架521与所述侧移滑动架513固定连接，所述回转支架523与所述回转固定架521铰接，所述回转支架523通过所述回转装置522带动所述机械臂530相对于所述回转固定架521转动。具体的，所述回转固定架521包括两块平行设置的第一固定板5211和第二固定板5212，两块所述第一固定板5211的一侧均与所述侧移滑动架513固定连接，另一侧通过第一转动轴5213连接，所述第二固定板5212的一侧与所述侧移滑动架513固定连接，所述回转装置522分别与所述第一转动轴5213和所述第二固定板5212固定连接。所述回转支架523通过第一转动轴5213实现了与所述回转固定架521的铰接；为了增强第一固定板5211和第二固定板5212与侧移滑动架523的连接强度，在第一固定板5211与侧移滑动架513之间、第二固定板5212和侧移滑动架513之间都设置有至少两个加强筋，使得连接更为可靠安全。
如图10所示，所述回转装置522采用二级的涡轮蜗杆机构。具体的，所述回转装置522包括套接在所述第一转动轴5213外侧的第一涡轮5221、第一蜗杆5222、第二涡轮5223和第二蜗杆5224，所述第二蜗杆5224一端与所述第二固定板5212的另一端活动连接，另一端穿过所述侧移滑动架513，与第二液压马达5226的输出端连接，所述第二涡轮5223通过第三固定板5225与所述侧移滑动架513连接，且与所述第一蜗杆5222转动连接，所述第一蜗杆5222与所述第二涡轮5223同轴转动，且与所述第一涡轮5221转动连接。为了保证整个回转装置522的运行空间，第二液压马达5226设置在侧移滑动架513的外侧，用于驱动第二蜗杆5224的转动。通过二级减速的涡轮蜗杆机构，实现了回转机构520的180°转向功能，这样可以实现机械臂530在回转装置522的第二液压马达226驱动下，沿侧移滑动架513的一个侧面的转动，满足了施工作业中的回转功能。
为了保证回转机构520的良好运行，本发明的回转机构520还包括限位保护器524，限位保护器524设置在侧移滑动架513远离侧移固定架511的一侧，且在回转装置522的两侧均设置有限位保护器524。两个所述限位保护器524竖直设置，能够在机械臂530转动到最大角度值和最小角度值两个极限位置时，对机械臂530进行限位，避免机械臂530碰撞到回转固定架521和侧移滑动架523，对回转固定架521和回转装置522起到了保护作用。
如图1所示，本发明的所述机械臂530包括两个相互铰接的臂架和卡盘534，其中一个臂架的一端与所述回转支架521铰接，另一个臂架的一端与所述534卡盘铰接，所述卡盘534与所述功能执行器600固定连接，可以实现功能执行器600进行较大范围角度内的旋转。本发明的两个臂架分别为第一臂架5311和第二臂架5312，所述机械臂530还包 括用于驱动所述第一臂架5311和第二臂架5312的第一油缸5321、第二油缸5322和第三油缸5323，所述第一油缸5321的固定端与所述回转支架523的一侧铰接，所述第一油缸5321的输出端与所述第一臂架5311铰接，所述第二油缸5322的固定端与所述第一臂架5311铰接，所述第二油缸5322的输出端与所述第二臂架5312铰接，所述第三油缸5323的固定端与所述第二臂架5312铰接，所述第三油缸5323的输出端铰接有前端关节533，所述前端关节533与所述卡盘534固定连接。
其中，第一臂架5311的下端与回转支架523的上端铰接，使得第一臂架5311能在第一油缸5321的驱动下，发生转动动作。第一臂架5311的上端向远离侧移机构510的一侧进行弯折，与第一臂架5311的下端形成100°-150°的角度，第一油缸5321的固定端与回转支架523的一侧铰接，第一油缸5321的输出端与所述第一臂架5311的折弯部内侧铰接，在第一油缸5321的输出端进行收缩或舒张动作时，第一臂架5311的下端相对于回转支架523进行转动。第二臂架5312的一端与第一臂架5311的上端铰接，同时，第二油缸5322的固定端与第一臂架5311的折弯部外侧铰接，第二油缸5322的输出端与第二臂架5312的一端铰接，这样在第二油缸5322的输出端进行动作时，第二臂架5312相对于第一臂架5311的上端进行转动，能够实现第二臂架5312和功能执行器600的抬起和落下等动作。第三油缸5323的固定端与第二臂架5312的上端铰接，第三油缸5323的输出端通过前端关节533与卡盘534铰接，第三油缸5323的输出端动作时，带动功能执行器600进行抬起和落下的动作，从而进行施工操作。
需要说明的是，在本发明中的臂架和油缸个数可以根据实际施工情况进行选用，但是其驱动结构和驱动方式与上述相同。此外，本发明中的油缸也可以选用气缸进行驱动。油缸和气缸的驱动均通过设置在机械臂上的管路进行传递，由计算机程序进行控制。
如图10所示，所述功能执行器600为铣刨执行器610、碾压执行器620、夯打执行器630和灌缝执行器640中的至少一种，所述铣刨执行器610、碾压执行器620、夯打执行器630和灌缝执行器640均与所述机械臂530的输出端可拆卸连接。通过铣刨执行器610、碾压执行器620、夯打执行器630和灌缝执行器640能够执行铣刨路面、铣刨井盖、摊铺新料、压平新料和灌缝等功能，功能集成化，自动化程度高，提高工作效率，大幅降低人工成本。
如图1所示，本发明的汽车底盘上设置于智能控制装置800，所述智能控制装置900与所述新料储存输送系统200、物料回收系统300、液体储存及喷洒系统400、机械臂系统500和功能执行器600电连接或通信连接，用于实现道路养护功能。智能控制装置900作为整个装置的中枢控制核心，由计算机软件控制执行，按照程序规划的方案进行路面养护作业，并把相关工作数据通过无线路由器发送到云端，通过云端智能统计、计算、分配其工作任务，仅需一人操作，自动化程度高。
如图17所示，本发明的汽车底盘100上还设置有发电系统700，包括发电机710、配电盘720和操作按钮730，以及其他电器。在进行工作时，发电机710可以为整个装置提供电力，保证设备的运行。
铣刨的作业面可以是任意形状的，但最好是规则的，这样可以保证施工边缘的整齐。下面以长方形为例，如图11-15所示，本发明的工作原理是：将铣刨执行器610移到起点位置Z，然后选择X方向或Y方向进行铣刨，如沿Y方向铣刨到终点位置Q后，铣刨执行器610调整位置移动到位置Z1，向位置Q1方向铣刨，到位置Q1后再自动移动到位置Z2，向位置Q2方向铣刨，如此往复直到位置Zn、位置Qn完成铣刨过程。当铣刨其它形状的施工面时，只需确定Q-Qn、Z-Zn，机械臂530按照图形形状进行铣刨。铣刨完成后，回转机构520将机械臂530收回，固定，方便转场。
如图14所示，本发明的铣刨装置可以用于铣刨圆形井盖。图中所示，S1指井盖，S2为在井盖周边的安全区域，S3为铣刨区域。在铣刨井盖时，在井盖S1的周围的S3进行铣刨。
如图11-13所示，本发明所述机械臂530可以从侧移机构510的左侧移动到右侧，也可以从侧移机构510的右侧移动到左侧，图15为铣刨执行器610的最大铣刨面积示意图。在本发明的一些具体实施例当中，侧移机构510的左侧到右侧的最大距离可以达到10m，距侧移机构510正前方的最大距离为5m，自动化程度高，作业效率高，施工精度高，作业速度快，灵活方便。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以 根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种智能道路养护装置，其特征在于，包括汽车底盘、功能执行器及设置在汽车底盘上的新料储存输送系统、物料回收系统、液体储存及喷洒系统和机械臂系统；所述功能执行器与所述机械臂系统的输出端连接，在所述机械臂系统的驱动下执行功能动作。
  2. 根据权利要求1所述一种智能道路养护装置，其特征在于，所述新料储存输送系统包括：
    新料仓，用于储存新料；
    加热保温装置，用于保持新料温度恒定；
    推料器，设置于所述新料仓的底部，用于输送新料。
  3. 根据权利要求2所述一种智能道路养护装置，其特征在于，所述加热保温装置包括：
    加热电缆，用于通电后将电能转换为热能；
    温度控制器，用于控制所述新料温度；
    所述加热电缆和所述温度控制器均与受控交流电串联。
  4. 根据权利要求1所述一种智能道路养护装置，其特征在于，所述物料回收系统包括：
    回收风机，用于提供回收废旧物料的动力源；
    回收通道，所述回收通道的一端与所述回收风机连通，另一端连接有清理器；
    除尘分离装置，所述除尘分离装置设置在所述回收通道上；
    集料箱，用于储存所述废旧物料。
  5. 根据权利要求1所述一种智能道路养护装置，其特征在于，所述液体储存及喷洒系统包括：
    液体仓，用于储存液体；
    液体输送装置，所述液体输送装置的一端放置在所述液体仓内，用于抽取液体，另一端设置在所述液体仓的仓盖上端；
    喷枪，所述喷枪的进液端与所述液体输送装置的另一端连接。
  6. 根据权利要求1所述一种智能道路养护装置，其特征在于，所述机械臂系统包括侧移机构、回转机构和机械臂；所述汽车底盘的后端设置有固定支架，所述侧移机构的固定端与所述固定支架固定连接。所述回转机构与所述侧移机构的移动端固定连接，所述机械臂的固定端与所述回转机构铰接，所述功能执行器的一端与所述机械臂的输出端铰接。
  7. 根据权利要求6所述一种智能道路养护装置，其特征在于，所述机械臂包括相互铰接的第一臂架、第二臂架和卡盘，所述第一臂架的一端与所述回转支架铰接，所述第二臂架的一端与所述卡盘铰接，所述卡盘与所述功能执行器连接。
  8. 根据权利要求7所述一种智能道路养护装置，其特征在于，所述机械臂还包括用于驱动所述第一臂架和第二臂架的第一油缸、第二油缸和第三油缸，所述第一油缸的固定端与所述回转机构的一侧铰接，所述第一油缸的输出端与所述第一臂架铰接，所述第二油缸的固定端与所述第一臂架铰接，所述第二油缸的输出端与所述第二臂架铰接，所述第三油缸的固定端与所述第二臂架铰接，所述第三油缸的输出端铰接有前端关节，所述前端关节与所述卡盘固定连接。
  9. 根据权利要求7所述一种智能道路养护装置，其特征在于，所述功能执行器为铣刨执行器、碾压执行器、夯打执行器和灌缝执行器中的至少一种，所述铣刨执行器、碾压执行器、夯打执行器和灌缝执行器均与所述机械臂的输出端可拆卸连接。
  10. 根据权利要求1至9任一项所述一种智能道路养护装置，其特征在于， 所述智能道路养护装置还包括智能控制装置，所述智能控制装置设置在所述汽车底盘上，与所述新料储存输送系统、物料回收系统、液体储存及喷洒系统、机械臂系统和功能执行器电连接或通信连接，用于实现道路修补功能。
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CN111794132A (zh) * 2020-08-18 2020-10-20 新昌县城南乡王氏机械配件厂 一种水泥定量抹取的多角度道路桥梁修复装置
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CN111794132A (zh) * 2020-08-18 2020-10-20 新昌县城南乡王氏机械配件厂 一种水泥定量抹取的多角度道路桥梁修复装置
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CN113818320A (zh) * 2021-10-15 2021-12-21 温州市交通规划设计研究院有限公司 一种基于道路管养的一体式多功能养护机
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