CN106088198B - An executive device for an all-in-one machine for roadbed pavement and ditch maintenance - Google Patents

Abstract

The invention relates to an actuating device for a full-automatic roadbed, pavement and ditch maintenance all-in-one machine, which comprises a three-degree-of-freedom parallel mechanism and a cleaning device, wherein the three-degree-of-freedom parallel mechanism is connected with the cleaning device through a connecting rod; the three-degree-of-freedom parallel mechanism is located under the cleaning device, and the upper end of the three-degree-of-freedom parallel mechanism is connected with the cleaning device. The invention can carry out cleaning, dredging and maintenance operation on the ditches of the roadbed of the road surface, has flexible adjustment of degree of freedom, high intelligent degree and high cleaning and dredging efficiency, and solves the problems of large labor amount, low efficiency, high cost and the like of the existing manual cleaning and dredging; the three-degree-of-freedom parallel mechanism adopts a 3-RPS parallel mechanism form, on one hand, the whole adjustment of the azimuth angle of the cleaning device is realized, the function of flexible cleaning operation is realized, on the other hand, the shock absorption effect is realized on the cleaning device, and the influence of overlarge jitter on the cleaning operation of the cleaning device is prevented.

Description

An executive device for an all-in-one machine for roadbed pavement and ditch maintenance

technical field

The invention relates to the field of ditch cleaning, in particular to an executing device for an all-in-one machine for maintenance of roadbed and pavement ditch.

Background technique

With the development of social economy, people's livelihood projects such as urban construction, transportation construction and water conservancy construction have attracted more and more attention from all walks of life, and the government has invested more and more in these aspects. Engineering construction in this area is also blooming everywhere, and can be seen everywhere. However, urban construction, transportation construction, water conservancy construction and other livelihood projects will involve one piece, that is, the layout and construction of drainage systems, such as roads, expressways, municipal engineering, gardens, sidewalks, roadbeds, building houses, and urban transportation. Roads and other projects will involve drainage ditches, side ditches, intercepting ditches, open ditches, dry ditches, sewage ditches and other ditches. Ditch littering, accumulation of soil during drainage, filter accumulation of waterlogged slag and other reasons often cause ditch blockage. Therefore, these ditches need to be regularly cleaned and dredged for daily maintenance. However, at present, manual shovels are mostly used for cleaning and dredging The operation takes up a lot of labor, and the amount of cleaning and dredging is large, the cost is high, and the efficiency is low. In addition, because the workers often bend over for cleaning and dredging operations, it is easy to cause joint diseases such as the lumbar spine and cervical spine of the workers. In view of this, the present invention provides an implementing device for an all-in-one machine for maintenance of roadbed, pavement, and ditches.

Contents of the invention

In order to make up for the deficiencies of the prior art, the present invention provides an executive device for an all-in-one machine for maintenance of roadbed, pavement, and ditches.

The technical problems to be solved by the present invention are realized by adopting the following technical solutions.

An executive device for a full-automatic all-in-one roadbed and pavement maintenance machine, including a three-degree-of-freedom parallel mechanism and a cleaning device; the three-degree-of-freedom parallel mechanism is located directly below the cleaning device, and the upper end of the three-degree-of-freedom parallel mechanism is connected to the cleaning device .

As a further improvement of the present invention, the three-degree-of-freedom parallel mechanism includes a fixed platform, a moving platform, an ear seat, a rotating shaft, an electric push rod, a ball hinge, a connecting seat and a limit spring, and the ear seat, the rotating shaft, and the electric push rod , the number of ball hinges, connecting seats and limit springs is three; the fixed platform and the moving platform are in a circular structure, and the moving platform is located directly above the fixed platform, and the ear seat is located on the upper end surface of the fixed platform, and The installation center angle between the ear seats is 60 degrees, the connecting seat is located on the lower end surface of the moving platform, and the ear seats correspond to the connecting seats respectively; the bottom end of the electric push rod is installed on the ear seat through the rotating shaft, and the electric push rod The top of the rod and the connection seat are connected by a ball hinge, and the limit spring is wrapped around the upper end of the electric push rod; during specific work, the movement of the moving platform can be driven by the up and down reciprocating motion of the electric push rod, and the limit spring lowers the The vibration of the three-degree-of-freedom parallel mechanism increases the stability of the movement of the three-degree-of-freedom parallel mechanism. Compared with the series mechanism, the three-degree-of-freedom parallel mechanism has higher rigidity, flexible movement, stable structure, strong bearing capacity and high micro-motion accuracy. The three-degree-of-freedom parallel mechanism adopts the form of a 3-RPS parallel mechanism, and the three-degree-of-freedom parallel mechanism is applied to the present invention. On the one hand, it plays an overall adjustment to the azimuth angle of the cleaning device, which is convenient for various postures of the present invention to comprehensively control the ditches. The cleaning operation realizes the function of flexible cleaning operation. On the other hand, it plays a shock-absorbing effect on the cleaning device, so that the cleaning device is always in a level and stable state, preventing excessive vibration from affecting the cleaning operation of the cleaning device.

As a further improvement of the present invention, the cleaning device includes a cleaning turntable, driven support, driven rotating rod, driven support, active rotating rod, active support, active hydraulic cylinder, rotating pin, transition rotating rod, active support seat and bucket; the driven support is located at the rear side of the upper end face of the cleaning turntable, and the driven support is fixedly connected with the cleaning turntable, and the bottom end of the driven support is fixed on the driven support through the driven rotating rod. And the driven support has a ladder-like structure, the top of the driven support is connected to the upper end of the active support through the active rotating rod, and the active support adopts a telescopic fence-like structure. There is a connecting ear seat, one end of the active hydraulic cylinder is connected with the connecting ear seat on the bottom surface of the telescopic block through a rotating pin, and the other end of the active hydraulic cylinder is installed on the active support through a transition rod, and the active support is U-shaped structure, and the active support is fixed on the front side of the upper end of the cleaning turntable, and the center of the active support, driven support and cleaning turntable are on the same straight line, and the bucket is installed at the lower end of the active support; the whole cleaning can be driven by the cleaning turntable The rotation of the device on the horizontal plane can adjust the length of the bucket through the telescopic movement of the active support, and the opening angle of the active support on the vertical plane can be adjusted through the telescopic movement of the active hydraulic cylinder, and the bucket is connected with the active support. In this way, the adjustment of the angle of the vertical surface of the bucket is realized, and the cleaning device adopts the principle of planar four-link movement, the angle adjustment is fast and convenient, the linkage is good, and the stability is strong.

As a further improvement of the present invention, the bucket includes a bucket guide groove, a moving jaw plate, an electric telescopic rod, a fixed round platform, a fixed claw, a movable claw, a guide cylinder and an adjusting rod; the bucket The cross-sectional surface of the guide groove is a fan-shaped hollow shell structure. The number of movable jaws is two. The movable jaws are arranged symmetrically along the longitudinal central axis of the bucket guide groove, and the inner end of the movable jaw is installed inside the bucket guide groove. The outer end of the movable jaw plate has a fan-shaped structure, and a mounting plate is installed at the center of the upper end of the outer side of the movable jaw plate. On the mounting plate at the center of the upper end, the fixed shovel claws are fixed at the front end of the bucket guide groove. The fixed shovel claws have a bar-shaped structure. On both sides, the movable shovel claws are arranged at equal intervals along the movable jaw plate. The rear end of the movable shovel claw is connected to the movable jaw plate. The cylinder is fixedly connected with the fixed shovel claws, the guide cylinder is evenly arranged along the side of the fixed shovel claws, one end of the adjusting round rod passes through the moving shovel claws and installed inside the guiding cylinder, and the other end of the adjusting round rod is fixed on the inner wall of the movable jaw plate ; When performing specific cleaning operations, adjust the width of the bucket according to the width of the ditch to be cleaned, and use the two-way, synchronous and simultaneous stretching movement to both ends of the electric telescopic rod to drive the mobile jaw plate to move outward synchronously on both sides in the guide groove of the bucket The combination of movement, guide cylinder and adjusting rod plays a supporting role in adjusting the width of the bucket. The width of the bucket is adjustable during cleaning operations, and the adjustment is convenient, which is convenient for cleaning ditches of different widths. It has strong applicability. At the same time, the fixed bucket and the mobile bucket adopted by the bucket have high sharpness, strong working ability and fast scraping speed.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention can clean, dredge and maintain the ditches on the pavement subgrade, and has flexible degree of freedom adjustment, high degree of intelligence, and high cleaning and dredging efficiency, which solves the problems of large labor, low efficiency and high cost of manual cleaning and dredging.

(2) The three-degree-of-freedom parallel mechanism of the present invention adopts the form of a 3-RPS parallel mechanism, and the three-degree-of-freedom parallel mechanism is applied to the present invention. On the one hand, it plays an overall adjustment to the azimuth angle of the cleaning device, which is convenient for each of the present invention. This posture can carry out the ditch cleaning operation in an all-round way, realizing the function of flexible cleaning operation. On the other hand, it has the effect of shock absorption on the cleaning device, so that the cleaning device is always in a level and stable state under the bumpy state, preventing excessive vibration It will affect the cleaning operation of the cleaning device.

(3) The cleaning device of the present invention can perform a movement in three directions of freedom in one translation and two rotations in the space, and adopts the principle of planar four-link motion, which is fast and convenient to adjust, has good linkage and strong stability, and at the same time the bucket The width can be adjusted during the cleaning operation, which is convenient for cleaning ditches of different widths. It has strong applicability, high sharpness of the bucket, strong working ability and fast scraping speed.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the front view of the three-degree-of-freedom parallel mechanism of the present invention;

Fig. 3 is the three-dimensional structure schematic diagram (viewed from top to bottom) of cleaning device of the present invention;

Fig. 4 is the three-dimensional structure schematic diagram (viewing from bottom to top) of cleaning device of the present invention;

Fig. 5 is a schematic perspective view of the three-dimensional structure of the bucket of the present invention.

detailed description

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

As shown in Figures 1 to 5, an actuator for an all-in-one machine for roadbed pavement and ditch maintenance includes a three-degree-of-freedom parallel mechanism 4 and a cleaning device 5; the three-degree-of-freedom parallel mechanism 4 is located directly below the cleaning device 5 , and the upper end of the three-degree-of-freedom parallel mechanism 4 is connected with the cleaning device 5 .

As shown in Figures 1 and 2, the three-degree-of-freedom parallel mechanism 4 includes a fixed platform 41, a moving platform 42, an ear seat 43, a rotating shaft 44, an electric push rod 45, a ball hinge 46, a connecting seat 47 and a limit spring 48, and the quantity of ear seat 43, rotating shaft 44, electric push rod 45, ball hinge 46, connection seat 47 and limit spring 48 is three; described fixed platform 41 and moving platform 42 are all circular shape structures, and The moving platform 42 is positioned directly above the fixed platform 41, the lugs 43 are located on the upper end surface of the fixed platform 41, and the installation center angle between the lugs 43 is 60 degrees, the connecting seat 47 is positioned on the lower end surface of the moving platform 42, and the lugs 43 and connecting seat 47 respectively one-to-one correspondence; The bottom end of described electric push rod 45 is installed on the lug seat 43 through rotating shaft 44, is connected by ball hinge 46 between the top of electric push rod 45 and connecting seat 47, and limit spring 48 is wrapped around the upper end of the electric push rod 45; during specific work, the movement of the moving platform 42 can be driven by the up and down reciprocating motion of the electric push rod 45, and the vibration of the three-degree-of-freedom parallel mechanism 4 during movement is reduced by the limit spring 48, The stability of the movement of the three-degree-of-freedom parallel mechanism 4 is increased. Compared with the series mechanism, the three-degree-of-freedom parallel mechanism 4 has higher rigidity, flexible movement, stable structure, strong bearing capacity and high fretting precision. The three-degree-of-freedom parallel mechanism 4 adopts 3 -The form of the parallel mechanism of RPS, the three-degree-of-freedom parallel mechanism 4 is applied to the present invention, on the one hand, it plays an overall adjustment of the azimuth angle of the cleaning device 5, which is convenient for the various postures of the present invention to carry out the ditch cleaning operation in all directions, The function of flexible cleaning operation is realized, and on the other hand, it has the effect of shock absorption on the cleaning device 5, so that the cleaning device 5 is always in a horizontal and stable state, preventing excessive vibration from affecting the cleaning operation of the cleaning device 5.

As shown in Figures 3 to 5, the cleaning device 5 includes a cleaning turntable 51, a driven support 52, a driven rotating rod 53, a driven support 54, an active rotating rod 55, an active support 56, and an active hydraulic cylinder 57. , rotating pin 58, transitional rotating bar 59, active bearing 510 and bucket 511; Described driven bearing 52 is positioned at the rear side of the upper end face of cleaning turntable 51, and driven bearing 52 is fixedly connected with cleaning turntable 51, The bottom end of the driven bracket 54 is fixed on the driven support 52 by the driven rotating rod 53, and the driven bracket 54 is in a stepped structure, the top of the driven bracket 54 is connected with the upper end of the driving bracket 56 by the driving rotating rod 55, and The active support 56 adopts a retractable fence-like structure, and the middle position of the active support 56 is provided with a telescopic block, and the bottom end surface of the telescopic block is provided with a connecting ear seat, and the active hydraulic cylinder 57 is connected between one end of the active hydraulic cylinder 57 and the connecting ear seat on the bottom end face of the telescopic block. Connected by the rotating pin 58, the other end of the active hydraulic cylinder 57 is installed on the active support 510 through the transition rotating rod 59, the active support 510 is a U-shaped structure, and the active support 510 is fixed on the side of the front face of the upper end of the cleaning turntable 51, And the center of circle of active support 510, driven support 52 and cleaning turntable 51 is located on the same straight line, and bucket 511 is installed on the lower end of active support 56; Can drive the rotation of whole cleaning device 5 on the horizontal plane by cleaning turntable 51, through The telescopic movement of the active support 56 can adjust the length of the bucket 511, and the opening angle of the active support 510 on the vertical plane can be adjusted through the telescopic movement of the active hydraulic cylinder 57, and the bucket 511 is connected with the active support 56, thereby realizing The adjustment of the vertical plane angle of the bucket 511 is realized, and the cleaning device 5 adopts the principle of planar four-bar linkage movement, the angle adjustment is quick and convenient, the linkage is good, and the stability is strong.

As shown in Figure 5, the bucket 511 includes a bucket guide groove 5111, a moving jaw plate 5112, an electric telescopic rod 5113, a fixed round platform 5114, a fixed claw 5115, a movable claw 5116, a guide cylinder 5117 and an adjustment circle. Rod 5118; the cross-sectional surface of the bucket guide groove 5111 is a fan-shaped hollow shell structure, the number of moving jaw plates 5112 is two, and the moving jaw plates 5112 are arranged symmetrically along the longitudinal central axis of the bucket guide groove 5111, and the moving The inner end of the jaw plate 5112 is installed inside the bucket guide groove 5111, the outer end of the movable jaw plate 5112 has a fan-shaped structure, and a mounting plate is installed at the center of the outer upper end of the movable jaw plate 5112, and the electric telescopic rod 5113 adopts a speed-adjustable two-way telescopic rod The left and right ends of the electric telescopic rod 5113 are respectively fixed on the mounting plate at the upper center of the outer side of the movable jaw plate 5112 through the fixed round table 5114, and the fixed shovel claw 5115 is fixed at the front end of the bucket guide groove 5111. The fixed shovel claw 5115 is The front end of the fixed claw 5115 is equipped with a fixed blade, and the movable claws 5116 are respectively located on the left and right sides of the fixed claw 5115, and the movable claws 5116 are arranged at equal intervals along the movable jaw plate 5112. Connected with the movable jaw plate 5112, the front end of the movable shovel claw 5116 is provided with a movable shovel knife, the guide cylinder 5117 passes through the fixed shovel claw 5115, and the guide cylinder 5117 is fixedly connected with the fixed shovel claw 5115, and the guide cylinder 5118 moves along the fixed shovel claw 5115. The sides of the claws 5115 are evenly arranged, one end of the adjusting round rod 5118 passes through the moving shovel claw 5116 and is installed inside the guide cylinder 5117, and the other end of the adjusting round rod 5118 is fixed on the inner side wall of the moving jaw plate 5112; when performing cleaning operations, according to The width of the ditches to be cleaned is adjusted to the width of the bucket 511, and the two-way, synchronous and simultaneous stretching motion to both ends of the electric telescopic rod 5113 drives the mobile jaw plate 5112 to move synchronously outward to both sides in the bucket guide groove 5111, guiding the cylinder The combined use of 5117 and adjusting rod 5118 plays a supporting role in the adjustment of the width of the bucket 511. The width of the bucket 511 is adjustable during the cleaning operation, and the adjustment is convenient, which is convenient for cleaning ditches of different widths. It has strong applicability, and at the same time The fixed bucket 5115 and the movable bucket 5116 adopted by the bucket 511 have high sharpness, strong operation ability and fast scraping speed.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the specification only illustrate the principles of the present invention, and without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (2)

1. An executive device for a fully automatic subgrade pavement and ditch maintenance machine, characterized in that it includes a three-degree-of-freedom parallel mechanism and a cleaning device; the three-degree-of-freedom parallel mechanism is located directly below the cleaning device, and the three-degree-of-freedom parallel mechanism The upper end is connected with the cleaning device; wherein: The three-degree-of-freedom parallel mechanism includes a fixed platform, a moving platform, an ear seat, a rotating shaft, an electric push rod, a ball hinge, a connecting seat and a limit spring, and the ear seat, a rotating shaft, an electric push rod, a ball hinge, a connecting seat and The number of limit springs is three; the fixed platform and the moving platform are in a circular structure, and the moving platform is located directly above the fixed platform, the ear seat is located on the upper end surface of the fixed platform, and the installation center between the ear seats The angle is 60 degrees, the connecting seat is located on the lower end surface of the moving platform, and the ear seat corresponds to the connecting seat respectively; It is connected by a ball hinge, and the limit spring is wrapped around the upper end of the electric push rod; The cleaning device includes a cleaning turntable, a driven support, a driven rotating rod, a driven support, an active rotating rod, an active support, an active hydraulic cylinder, a rotating pin, a transition rotating rod, an active supporting seat and a bucket; The driven support is located behind the upper surface of the cleaning turntable, and the driven support is fixedly connected with the cleaning turntable. The bottom end of the driven support is fixed on the driven support through the driven rotating rod, and the driven support is stepped. structure, the top of the driven support is connected to the upper end of the active support through the active rotating rod, and the active support adopts a telescopic fence-like structure, a telescopic block is arranged in the middle of the active support, and a connecting ear seat is provided on the bottom end of the telescopic block. One end of the hydraulic cylinder is connected to the connecting ear seat on the bottom surface of the telescopic block through a rotating pin, and the other end of the active hydraulic cylinder is installed on the active support through a transition rod. The active support has a U-shaped structure, and the active support is fixed. On the front side of the upper end of the cleaning turntable, and the center of circle of the driving support, the driven support and the cleaning turntable are on the same straight line, the bucket is installed at the lower end of the driving support. 2. The executive device for a fully automatic subgrade pavement and ditch maintenance integrated machine according to claim 1, characterized in that: the bucket includes a bucket guide groove, a moving jaw plate, an electric telescopic rod, a fixed round table, a fixed Shovel claws, movable shovel claws, guide cylinders and adjusting rods; the cross-sectional surface of the bucket guide groove is a fan-shaped hollow shell structure, and the number of movable jaw plates is two. The central axes are respectively symmetrically arranged, and the inner end of the movable jaw plate is installed inside the bucket guide groove, the outer end of the movable jaw plate is a fan-shaped structure, and a mounting plate is installed at the center of the outer upper end of the movable jaw plate, and the electric telescopic rod adopts an adjustable speed Two-way telescopic rod, the left and right ends of the electric telescopic rod are respectively fixed on the mounting plate at the upper center of the outer side of the movable jaw through the fixed round table, and the fixed claws are fixed at the front end of the bucket guide groove, and the fixed claws have a bar-shaped structure , the front end of the fixed shovel claw is provided with a fixed shovel knife, and the movable shovel claws are respectively located on the left and right sides of the fixed shovel claw, and the movable shovel claws are arranged at equal intervals along the movable jaw plate, the rear end of the movable shovel claw is connected with the movable jaw plate, and the movable shovel claw The front end of the claw is equipped with a movable scraper, the guide cylinder passes through the fixed scraper claw, and the guide cylinder is fixedly connected with the fixed scraper claw, the guide cylinder is evenly arranged along the side of the fixed scraper claw, and one end of the adjusting rod passes through the movable scraper claw in turn Installed inside the guide cylinder, the other end of the adjusting rod is fixed on the inner wall of the moving jaw plate.