CN106078684B - A kind of concrete road sewer intelligently decontaminates manipulator - Google Patents
A kind of concrete road sewer intelligently decontaminates manipulator Download PDFInfo
- Publication number
- CN106078684B CN106078684B CN201610513720.7A CN201610513720A CN106078684B CN 106078684 B CN106078684 B CN 106078684B CN 201610513720 A CN201610513720 A CN 201610513720A CN 106078684 B CN106078684 B CN 106078684B
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- hydraulic cylinders
- decontamination
- lower face
- sundries
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- 239000004567 concrete Substances 0.000 title claims abstract description 11
- 238000005202 decontamination Methods 0.000 claims abstract description 56
- 230000003588 decontaminative effect Effects 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 210000005069 ears Anatomy 0.000 claims description 12
- 238000003466 welding Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 abstract description 37
- 230000000694 effects Effects 0.000 abstract description 18
- 238000000034 method Methods 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 14
- 239000002245 particle Substances 0.000 abstract description 10
- 239000010865 sewage Substances 0.000 abstract description 10
- 230000006641 stabilisation Effects 0.000 abstract description 4
- 238000011105 stabilization Methods 0.000 abstract description 4
- 239000010802 sludge Substances 0.000 description 21
- 230000000903 blocking effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 239000011384 asphalt concrete Substances 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/0084—Disintegrating by knives or other cutting or tearing members which chop material into fragments specially adapted for disintegrating garbage, waste or sewage
- B02C18/0092—Disintegrating by knives or other cutting or tearing members which chop material into fragments specially adapted for disintegrating garbage, waste or sewage for waste water or for garbage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/06—Disintegrating by knives or other cutting or tearing members which chop material into fragments with rotating knives
- B02C18/062—Disintegrating by knives or other cutting or tearing members which chop material into fragments with rotating knives with rotor elements extending axially in close radial proximity of a concentrically arranged slotted or perforated ring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C18/00—Disintegrating by knives or other cutting or tearing members which chop material into fragments
- B02C18/06—Disintegrating by knives or other cutting or tearing members which chop material into fragments with rotating knives
- B02C18/16—Details
- B02C18/18—Knives; Mountings thereof
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C2201/00—Codes relating to disintegrating devices adapted for specific materials
- B02C2201/06—Codes relating to disintegrating devices adapted for specific materials for garbage, waste or sewage
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Sewage (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of concrete road sewers intelligently to decontaminate manipulator, including supporting mechanism in parallel, index decontamination apparatus is installed in the middle part of the parallel connection supporting mechanism upper surface, index decontamination apparatus can realize that automatic indexing sundries and high efficiency crush the function of sundries, it crushes the inclusion particles finished to wash away automatically by sewage, dredging effect is good；The parallel connection supporting mechanism includes fixed platform, and fixed platform lower face is uniformly installed in the axial direction there are three branch in parallel, and the top of three branches in parallel is installed on moving platform；The index decontamination apparatus includes the decontamination round platform for being welded on moving platform lower face, and the lower face for decontaminating round platform is symmetrically installed there are four No. seven hydraulic cylinders, and the top of four No. seven hydraulic cylinders is equipped with decontamination jacking block.The present invention can realize the full-automatic dredging function of sewer, eliminate jitter phenomenon present in scale removal process, and stabilization of equipment performance can be good, without human intervention, provide a kind of new way of full-automatic efficient cleaning sewer.
Description
Technical field
The present invention relates to municipal works field, specifically a kind of concrete road sewer intelligently decontaminates manipulator.
Background technology
Existing highway, municipal highway are broadly divided into cement concrete road, asphalt concrete road, regeneration asphalt
Three kinds of concrete road etc. just can be appreciated that sewer at equipped with one for each hundreds of meters so that in big rainy day etc. on these highways
Bad weather get down the highway on will not ponding, so as to ensure the unimpeded traveling of highway, but these sewers with making for a long time
With, some sundries and sludge can be accumulated inside sewer, as these sundries and increasing for sludge will block sewer, lower water
Road once rainwater after blocking, sewage row do not go out will Yi Shang highways, thus can serious vehicular traffic traveling, therefore need
Sewer is cleared up, existing residue in sewer and Treatment of Sludge mode mainly manually by dredging device, beat
The fishing sewers cleaning equipment such as equipment is cleared up, at the same be operator first pass through marine salvage equipment manually salvage it is most of miscellaneous
Object and sludge, are then dredged by dredging device, and the sundries salvaged is retell after dredging and sludge transports place
Reason, but had the following disadvantages in a manner that these sewer cleaning equipments carry out artificial treatment：1st, sewer incredible amount,
It needs to expend substantial amounts of manpower using artificial treatment mode, and labor intensity is big, sewer cleaning speed is slow, sewer cleaning effect
Rate is low；2nd, since these sewer cleaning equipments are all by manually arbitrarily being operated, operator is rambling
Arbitrarily cleaning, therefore can generate very big jitter phenomenon in scale removal process so that sundries that operator's cleaning comes up and
Sludge much falls back in sewer again in uphill process is salvaged, and the stability of equipment is poor, and cleaning greatly reduces
Work efficiency；3rd, existing sewer cleaning equipment is all by manually salvaging up and down, therefore remained certainly in sewer
Very to the sundries and sludge that do not salvage, spending some time can block again again, and it is poor that this mode dredges effect, exists in short-term
The hidden danger of interior secondary blocking, and operator also needs to the sundries that will be salvaged and sludge carries out rehandling processing, work
Make inefficiency.
The content of the invention
It to solve the above-mentioned problems, can be with the present invention provides a kind of intelligent decontamination manipulator of concrete road sewer
Solving existing sewer cleaning equipment, manual operation, labor intensity are big, clear up speed by being needed existing for manual cleaning mode
Slowly, cleaning efficiency is low, can poor, manually dredge that effect is poor, exists during equipment cleaning there are jitter phenomenon, stabilization of equipment performance
Short time is secondary to block the problems such as risk, cleaning sundries and sludge need after-treatment and work efficiency is low again, can realize
The full-automatic dredging function of sewer, eliminates jitter phenomenon present in scale removal process, stabilization of equipment performance can be good, without artificial
Operation, and with cleaning speed is fast, cleaning efficiency is high, automatic dredging effect is good, can auto-feed crushing sundries, sundries and sludge
The advantages that without after-treatment and high work efficiency, provides a kind of new way of full-automatic efficient cleaning sewer.
To achieve these goals, the present invention is realized using following technical scheme：A kind of concrete road sewer intelligence
Manipulator can be decontaminated, including supporting mechanism in parallel, index decontamination apparatus, rope are installed in the middle part of the parallel connection supporting mechanism upper surface
Draw the function that decontamination apparatus can realize automatic indexing sundries and high efficiency crushes sundries, crush the inclusion particles finished by dirt
Water can wash away automatically, and dredging effect is good, there is no the short time secondary risk blocked again, without artificial after-treatment sundries and
Sludge, work efficiency are high；The parallel connection supporting mechanism includes fixed platform, and fixed platform lower face is uniformly equipped with three in the axial direction
A parallel connection branch, the top of three branches in parallel are installed on moving platform；The parallel connection branch includes being welded under fixed platform
Ear mount on upper surface is equipped with No.1 hydraulic cylinder in ear mount by axis pin, and No.1 hydraulic cylinder can rotate in ear mount, No.1 liquid
The top of cylinder pressure is equipped with connecting cylinder by screw thread, and threaded post, the end welding of threaded post are equipped with by screw thread on connecting cylinder
On mobile cylinder, mobile cylinder is set on shifting axle, and mobile cylinder can be rotated on shifting axle or movement, shifting axle
Both ends are separately fixed in two fixed ears, and two fixed ears are welded on the upper surface of moving platform, and the present invention passes through No.1
Prismatic pair P that hydraulic cylinder is formed in revolute pair R that ear mount is formed, No.1 hydraulic cylinder, mobile cylinder shape on shifting axle
Into cylindrical pair C constitute the branches in parallel of RPC types, and the branch in parallel of fixed platform in the present invention, three RPC types and dynamic flat
Platform constitutes 3-RPC parallel institutions, and 3-RPC parallel institutions are with dynamic response is good, rigidity is high, large carrying capacity, stability are good
With kinematic accuracy it is high the advantages that, the present invention by the advantages of 3-RPC parallel institutions cause the present invention in sewer scale removal process
It remains plateau, eliminates and situation is shaken present in scale removal process, stability is good.
The index decontamination apparatus includes the decontamination round platform for being welded on moving platform lower face, and the lower face for decontaminating round platform is symmetrical
It installs there are four No. seven hydraulic cylinders, the top of four No. seven hydraulic cylinders to be equipped with decontamination jacking block, in the middle part of the upper surface for decontaminating jacking block
T-shaped fixed disk is welded with, T-shaped fixed disk plays the role of positioning and fixes four No. seven hydraulic cylinders, symmetrically set on T-shaped fixed disk
It puts there are four No. two location holes, four No. seven hydraulic cylinders is equipped with respectively inside No. four No. two location holes, on T-shaped fixed disk
Four No. two location holes aid in lower four No. seven hydraulic cylinders that decontamination jacking block can be driven to make stable decontamination progressively feed function；Institute
The lower face for stating decontamination jacking block is equipped with No. eight hydraulic cylinders, is fixedly mounted in the middle part of No. eight hydraulic cylinders on No. two frame-type stents,
On No. two frame-type pedestal upper end welding decontamination jacking blocks, No. two frame-type stents play the role of No. eight hydraulic cylinders of fixed support；It is described
The lower face of decontamination jacking block is symmetrically installed there are four rotary-cut crushing branch, and branches are crushed come complete by four rotary-cuts being uniformly arranged
Portion crushes the residue in sewer of index, crushes the inclusion particles finished and can be washed away automatically by sewage, and dredging effect is good, is not present
The short time secondary risk blocked again, without artificial after-treatment sundries and sludge, work efficiency is high；No. eight hydraulic cylinders
Top No. three connecting flanges are equipped with by screw thread, No. three connecting flanges are mounted on by screw on index support plate, index branch
The lower end of plate is welded with index fulcrum, and the top for indexing fulcrum is welded with taper guide way, and taper guide way lower end is pointed circle
Pyramidal structure, the pointed conical structure of taper guide way, which can be quickly inserted into sewer blockage sundries, to be indexed, cone
The upper end of shape guide way is symmetrically installed with four pieces of fan-shaped index plates, four pieces of fan-shaped index plates and index support plate lower face by hinge
Between be separately installed with four index branches, pass through four index branches and drive four pieces of fan-shaped index plate beating in taper guide way
Push And Release closes, when No. eight hydraulic cylinders drive the taper guide way below four pieces of fan-shaped index plates in closed state to stretch into sewer
After blocking in sundries, four index branches are started to work, and four index branches drive four pieces of fan-shaped index plates to open simultaneously, at this time
Many sewer blockage sundries can be entered on the inside of four pieces of fan-shaped index plates, and No. eight hydraulic cylinders are driven below index support plate at this time
Sewer blockage sundries be up indexed to four rotary-cuts and crush branch positions and carry out rotary-cut crushing, pass through No. eight hydraulic cylinders and drive
The auxiliary that four pieces of fan-shaped index plates index branches at four is got off to work back into line index, until four rotary-cuts crush branches by this
The sewer blockage sundries that position can index up all crushes；The rotary-cut crushes branch and is removed including being mounted on by motor cabinet
Electric rotating machine on dirty jacking block lower face is installed with rotary-cut annulus, the outer wall of rotary-cut annulus on the output terminal of electric rotating machine
On in the axial direction uniform welding have horizontal peeling knife, the sewer to be come up by the horizontal peeling knife that is uniformly arranged to index blocks up
It fills in sundries laterally fully crush, uniform welding has longitudinal peeling knife in the axial direction for the lower face of rotary-cut annulus, by equal
Longitudinal peeling knife of even setting carries out longitudinal direction to the sewer blockage sundries that index comes up and fully crushes, and the present invention passes through horizontal powder
It is broken and longitudinally crush the mode being combined and enable and index the sewer blockage sundries that comes up and crush completely；The index branch
No. two ear mounts including including being welded on index support plate lower face are equipped with No. nine hydraulic cylinders between No. two ear mounts by axis pin,
The top of No. nine hydraulic cylinders is mounted on by axis pin on two index ears, and two index ears are welded on the interior of corresponding fan-shaped index plate
On wall, opening and the closing of fan-shaped index plate are controlled by No. nine hydraulic cylinders.During work, it is in by No. eight hydraulic cylinder drives first
After taper guide way below the fan-shaped index plate of four pieces of closed state is stretched into sewer blockage sundries, then four index branch
Chain is started to work, and four No. nine hydraulic cylinders on four index branches drive four pieces of fan-shaped index plates on taper guide way simultaneously
It opens, while many sewer blockage sundries can be entered on the inside of four pieces of fan-shaped index plates, No. eight hydraulic cylinders are with dynamic search at this time
Draw the sewer blockage sundries below support plate and be up indexed to four rotary-cuts crushing branch positions, four rotary-cuts at this time crush branch
It starts to work, electric rotating machine is started to work, and electric rotating machine drives the horizontal peeling knife being uniformly arranged on rotary-cut annulus on index
The sewer blockage sundries come carries out the sewer that the longitudinal peeling knife for laterally fully crushing and being uniformly arranged comes up to index and blocks up
It fills in sundries and carries out longitudinal direction fully crushing, the present invention indexes what is come up by laterally crushing and longitudinally crushing the mode being combined
Sewer blockage sundries can crush completely, and work be repeated several times until four rotary-cuts crushing branches will according to the step
The sewer blockage sundries that this position can index up all crushes, and at the same time four No. seven hydraulic cylinders drive decontamination jacking block to make
Stable decontamination progressively feed motion, the decontamination that the present invention is driven by four No. seven hydraulic cylinders progressively feed motion and No. eight liquid
The movement of index back and forth that cylinder pressure drives fully crushes sewer blockage sundries, crushes the inclusion particles finished by sewage
It can wash away automatically, dredging effect is good, there is no the short time secondary risk blocked again, without artificial after-treatment sundries and dirt
Mud, work efficiency are high.
During work, the present invention is mounted in existing mobile equipment first, it is by existing mobile equipment that the present invention is mobile
To required decontamination sewer road, after location determination is good, index decontamination apparatus is started to work, and passes through No. eight hydraulic cylinder bands
After taper guide way below dynamic four pieces of fan-shaped index plates in closed state is stretched into sewer blockage sundries, then four ropes
Draw branch start-up operation, four four No. nine hydraulic cylinders indexed on branches drive four pieces of fan-shaped index plates to be oriented in taper simultaneously
It is opened on body, while many sewer blockage sundries can be entered on the inside of four pieces of fan-shaped index plates, at this time No. eight hydraulic cylinder bands
The sewer blockage sundries that dynamic search is drawn below support plate is up indexed to four rotary-cuts and crushes branch position, and four rotary-cuts at this time crush
Branch is started to work, and electric rotating machine is started to work, and electric rotating machine drives the horizontal peeling knife being uniformly arranged on rotary-cut annulus to rope
The sewer blockage sundries drawn up carries out the lower water that the longitudinal peeling knife for laterally fully crushing and being uniformly arranged comes up to index
Road blocks sundries and carries out longitudinal direction fully crushing, and the present invention is by laterally crushing and longitudinally crushing on the mode index being combined
The sewer blockage sundries come can crush completely, and work be repeated several times until four rotary-cuts crush branch according to the step
The sewer blockage sundries that chain can index up at this position all crushes, and at the same time four No. seven hydraulic cylinders drive decontamination top
Block makees stable decontamination progressively feed motion, the decontamination progressively feed motion and eight that the present invention is driven by four No. seven hydraulic cylinders
The movement of index back and forth that number hydraulic cylinder drives fully crushes sewer blockage sundries, crush the inclusion particles that finish by
Sewage can wash away automatically, and dredging effect is good, there is no the short time secondary risk blocked again, without artificial after-treatment sundries
And sludge, work efficiency is high, and without human intervention, cleaning speed is fast, and cleaning efficiency is high；The present invention passes through No.1 hydraulic cylinder simultaneously
The circle that prismatic pair P, the mobile cylinder formed in revolute pair R that ear mount is formed, No.1 hydraulic cylinder is formed on shifting axle
Column secondary C constitutes the branch in parallel of RPC types, and fixed platform, the branch and moving platform in parallel of three RPC types in the present invention form
3-RPC parallel institutions, 3-RPC parallel institutions have that dynamic response is good, rigidity is high, large carrying capacity, stability are good and moves
The advantages that precision is high, the present invention cause the present invention to be protected always in sewer scale removal process by the advantages of 3-RPC parallel institutions
Plateau is held, eliminates and situation is shaken present in scale removal process, stability is good, finally realizes the full-automatic of sewer
Dredge function.
The beneficial effects of the invention are as follows：
1st, the fixed platform in the present invention, the branch and moving platform in parallel of three RPC types constitute 3-RPC parallel institutions, 3-
RPC parallel institutions have many advantages, such as that dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, the present invention
By the advantages of 3-RPC parallel institutions the present invention is caused to remain plateau in sewer cleaning, eliminate scale removal process
Present in shake situation, add stability；
2nd, the present invention is indexed by way of branch drives four pieces of fan-shaped index plates to move simultaneously four in No. eight hydraulic cylinders
Auxiliary under the sewer blockage sundries below index support plate up to be indexed to four rotary-cuts crush branch positions, then
Pass through the lower water of the invention for laterally crushing and longitudinally crushing four rotary-cuts of mode being combined and crush branch and come up to index
Road blocks sundries and crushes, and the decontamination driven in four No. seven hydraulic cylinders is progressively under feed motion to sewer blockage sundries
It is cmpletely crushed, crushes the inclusion particles finished and can be washed away automatically by sewage, dredging effect is good, and there is no the short time
The secondary risk blocked again, without artificial after-treatment sundries and sludge, work efficiency is high；
3rd, the present invention solves existing sewer cleaning equipment by needing manual operation, labor existing for manual cleaning mode
Fatigue resistance is big, cleaning speed is slow, cleaning efficiency is low, there are jitter phenomenon, the poor, people of stabilization of equipment performance energy during equipment cleaning
Work dredging effect is poor, there are short time secondary risk, cleaning sundries and the sludge of blocking again to need after-treatment and work efficiency low
Inferior problem realizes the full-automatic dredging function of sewer of the present invention, eliminates jitter phenomenon present in scale removal process, if
Standby stability is good, without human intervention, and with cleaning speed is fast, cleaning efficiency is high, automatic dredging effect is good, can automatically into
To crush sundries, sundries and sludge without after-treatment and work efficiency it is high the advantages that, it is clear to provide a kind of full-automatic efficient
Manage the new way of sewer.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is the first structure schematic diagram of present invention index decontamination apparatus；
Fig. 3 is the second structure diagram of present invention index decontamination apparatus.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1 to Figure 3, the intelligent decontamination manipulator of a kind of concrete road sewer, including supporting mechanism 12 in parallel,
Index decontamination apparatus 9 is installed, index decontamination apparatus 9 can realize automatic indexing in the middle part of 12 upper surface of the parallel connection supporting mechanism
Sundries and high efficiency crush the function of sundries, crush the inclusion particles finished and can be washed away automatically by sewage, and dredging effect is good, no
There are the short time secondary risks blocked again, and without artificial after-treatment sundries and sludge, work efficiency is high；The branch in parallel
Support mechanism 12 includes fixed platform 121, and uniformly installation is there are three branch 122 in parallel in the axial direction for 121 lower face of fixed platform, three
The top of branch 122 in parallel is installed on moving platform 123；The parallel connection branch 122 includes being welded on 121 lower face of fixed platform
On ear mount 1221, No.1 hydraulic cylinder 1222 is equipped with by axis pin in ear mount 1221, No.1 hydraulic cylinder 1222 can be in ear mount
It is rotated on 1221, the top of No.1 hydraulic cylinder 1222 is equipped with connecting cylinder 1223 by screw thread, passes through screw thread on connecting cylinder 1223
Threaded post 1224 is installed, the end of threaded post 1224 is welded on mobile cylinder 1225, and mobile cylinder 1225 is set in movement
On axis 1226, mobile cylinder 1225 can be rotated on shifting axle 1226 or movement, and the both ends of shifting axle 1226 are separately fixed at
In two fixed ears 1227, two fixed ears 1227 are welded on the upper surface of moving platform 123, and the present invention passes through No.1 hydraulic pressure
Prismatic pair P that revolute pair R that cylinder 1222 is formed in ear mount 1221, No.1 hydraulic cylinder 1222 are formed when moving, mobile cylinder 1225
The cylindrical pair C formed on shifting axle 1226 constitutes the branch in parallel 122 of RPC types, and the fixed platform 121, three in the present invention
The branch in parallel 122 and moving platform 123 of a RPC types constitute 3-RPC parallel institutions, and 3-RPC parallel institutions have dynamic response
Good, rigidity height, large carrying capacity, stability are good and the advantages that kinematic accuracy is high, it is of the invention by 3-RPC parallel institutions the advantages of
So that the present invention remains plateau in sewer scale removal process, eliminate and situation shaken present in scale removal process,
Stability is good.
The index decontamination apparatus 9 includes the decontamination round platform 91 for being welded on 123 lower face of moving platform, decontaminates under round platform 91
End surface symmetric installation is there are four No. seven hydraulic cylinders 92, and the top of four No. seven hydraulic cylinders 92, which to be equipped with, decontaminates jacking block 93, decontamination top
It is welded with T-shaped fixed disk 94 in the middle part of the upper surface of block 93, T-shaped fixed disk 94 plays positioning and fixes four No. seven hydraulic cylinders 92
Effect is symmetrical arranged on T-shaped fixed disk 94 there are four No. two location holes, and four seven are equipped with respectively inside No. four No. two location holes
Number hydraulic cylinder 92, four No. seven hydraulic cylinders 92 can drive decontamination under four No. two location holes auxiliary on T-shaped fixed disk 94
Jacking block 93 makees stable decontamination progressively feed function；The lower face of the decontamination jacking block 93 is equipped with No. eight hydraulic cylinders 95, No. eight
The middle part of hydraulic cylinder 95 is fixedly mounted on No. two frame-type stents 96, on No. two 96 upper end of frame-type stent welding decontamination jacking blocks 93,
No. two frame-type stents 96 play the role of No. eight hydraulic cylinders 95 of fixed support；The lower face of the decontamination jacking block 93 is symmetrically installed with
Four rotary-cuts crush branch 97, and it is miscellaneous all to crush the sewer of index to crush branch 97 by four rotary-cuts being uniformly arranged
Object crushes the inclusion particles finished and can be washed away automatically by sewage, and dredging effect is good, and there is no the short time secondary wind blocked again
Danger, without artificial after-treatment sundries and sludge, work efficiency is high；It is installed by screw thread on the top of No. eight hydraulic cylinders 95
There are No. three connecting flanges 98, No. three connecting flanges 98 are mounted on by screw on index support plate 99, the lower end weldering of index support plate 99
Index fulcrum 910 is connected to, the top of index fulcrum 910 is welded with taper guide way 911, and 911 lower end of taper guide way is pointed
Conical structure, the pointed conical structure of taper guide way 911, which can be quickly inserted into sewer blockage sundries, carries out rope
Draw, the upper end of taper guide way 911 is symmetrically installed with four pieces of fan-shaped index plates 912 by hinge, four pieces of fan-shaped index plates 912 with
Four index branches 90 are separately installed between 99 lower face of index support plate, four pieces of fan-shaped ropes are driven by four index branches 90
Opening and closing of the corbel back slab 912 in taper guide way 911, when No. eight hydraulic cylinders 95 drive four pieces of fan-shaped indexes in closed state
After the taper guide way 911 of 912 lower section of plate is stretched into sewer blockage sundries, four index branches 90 are started to work, four ropes
Draw branch 90 while four pieces of fan-shaped index plates 912 is driven to open, sewer blockage sundries many at this time can enter four pieces of fans
912 inside of shape index plate, the sewer blockage sundries that No. eight drives of hydraulic cylinders 95 at this time index 99 lower section of support plates are up indexed to
Four rotary-cuts crush 97 position of branch and carry out rotary-cut crushing, and four pieces of fan-shaped index plates 912 are driven four by No. eight hydraulic cylinders 95
The auxiliary of a index branch 90 is got off to work back into line index, can index up at this position until four rotary-cuts crush branch 97
Sewer blockage sundries all crush；The rotary-cut, which crushes branch 97, to be included being mounted on 93 lower end of decontamination jacking block by motor cabinet
Electric rotating machine 971 on face, is installed with rotary-cut annulus 972 on the output terminal of electric rotating machine 971, rotary-cut annulus 972 it is outer
Uniform welding has horizontal peeling knife 973 in the axial direction on wall, is come up by the horizontal peeling knife 973 being uniformly arranged to index
Sewer blockage sundries laterally fully crush, and uniform welding has longitudinal rotation in the axial direction for the lower face of rotary-cut annulus 972
Cutter 974 carries out the abundant powder in longitudinal direction by the longitudinal peeling knife 974 being uniformly arranged to the sewer blockage sundries that index comes up
Broken, the sewer blockage sundries of the invention to be come up by laterally crushing and longitudinally crushing the mode being combined index can be complete
It is complete to crush；The index branch 90 includes being welded on No. two ear mounts 901 of 99 lower face of index support plate, No. two ear mounts 901
Between No. nine hydraulic cylinders 902 are equipped with by axis pin, the top of No. nine hydraulic cylinders 902 is mounted on two index ears by axis pin
On 903, two index ears 903 are welded on the inner wall of corresponding fan-shaped index plate 912, and sector is controlled by No. nine hydraulic cylinders 902
The opening of index plate 912 and closing.During work, four pieces of fan-shaped indexes in closed state are driven by No. eight hydraulic cylinders 95 first
After the taper guide way 911 of 912 lower section of plate is stretched into sewer blockage sundries, then four index branches 90 are started to work, and four
Four No. nine hydraulic cylinders 902 on a index branch 90 drive four pieces of fan-shaped index plates 912 to be beaten on taper guide way 911 simultaneously
It opens, while many sewer blockage sundries can enter four pieces of fan-shaped 912 insides of index plate, No. eight hydraulic cylinders 95 drive at this time
The sewer blockage sundries of 99 lower section of index support plate is up indexed to four rotary-cuts and crushes 97 position of branch, at this time four rotary-cut powder
Broken branch 97 is started to work, and electric rotating machine 971 is started to work, and electric rotating machine 971 drives the horizontal stroke being uniformly arranged on rotary-cut annulus 972
The longitudinal peeling knife for laterally fully crushing and being uniformly arranged is carried out to the sewer blockage sundries that index comes up to peeling knife 973
974 pairs index the sewer blockage sundries to come up and carry out the abundant crushing in longitudinal direction, and the present invention crushes phase by laterally crushing with longitudinal
With reference to mode the sewer blockage sundries that comes up of index is crushed completely, carry out multiplicating work according to the step
The sewer blockage sundries for making to crush branches 97 until four rotary-cuts and can index up at this position all crushes, and at the same time four
A No. seven hydraulic cylinders 92 drive decontamination jacking block 93 to make stable decontamination progressively feed motion, and the present invention passes through four No. seven hydraulic cylinders
92 decontamination driven the movement of index back and forth that progressively feed motion and No. eight hydraulic cylinders 95 drive carries out sewer blockage sundries
It fully crushes, crushes the inclusion particles finished and can be washed away automatically by sewage, dredging effect is good, secondary is blocked up again there is no the short time
The risk of plug, without artificial after-treatment sundries and sludge, work efficiency is high.
During work, the present invention is mounted in existing mobile equipment first, it is by existing mobile equipment that the present invention is mobile
To required decontamination sewer road, after location determination is good, index decontamination apparatus 9 is started to work, and passes through No. eight hydraulic cylinders
After 95 drive the taper guide way 911 below four pieces of fan-shaped index plates 912 in closed state to stretch into sewer blockage sundries,
Then four index branches 90 are started to work, and four No. nine hydraulic cylinders 902 on four index branches 90 drive four pieces of fans simultaneously
Shape index plate 912 is opened on taper guide way 911, while many sewer blockage sundries can enter four pieces of fan-shaped indexes
912 inside of plate, the sewer blockage sundries that No. eight drives of hydraulic cylinders 95 at this time index 99 lower section of support plates are up indexed to four rotations
It cuts and crushes 97 position of branch, four rotary-cuts at this time crush branch 97 and start to work, and electric rotating machine 971 is started to work, electric rotating machine
The horizontal peeling knife 973 being uniformly arranged on 971 drive rotary-cut annulus 972 carries out laterally the sewer blockage sundries that index comes up
The longitudinal peeling knife 974 for fully crushing and being uniformly arranged carries out longitudinal direction to the sewer blockage sundries that index comes up and fully crushes,
The present invention by laterally crush and longitudinally crush the mode that is combined index the sewer blockage sundries to come up can be complete
It crushes, work be repeated several times under four rotary-cuts crushing branches 97 can index up at this position according to the step
Water channel blocks sundries and all crushes, at the same time four No. seven hydraulic cylinders 92 drive decontamination jacking blocks 93 make stable decontamination progressively into
To movement, decontamination that the present invention is driven by four No. seven hydraulic cylinders 92 progressively feed motion and No. eight hydraulic cylinders 95 drive come
It returns index movement fully to crush sewer blockage sundries, crushes the inclusion particles finished and can be washed away automatically by sewage,
It is good to dredge effect, there is no the short time secondary risk blocked again, without artificial after-treatment sundries and sludge, work efficiency
Height, without human intervention, cleaning speed are fast, and cleaning efficiency is high；Simultaneously the present invention by No.1 hydraulic cylinder 1222 in ear mount 1221
Prismatic pair P that the revolute pair R of formation, No.1 hydraulic cylinder 1222 are formed when moving, the mobile shape on shifting axle 1226 of cylinder 1225
Into cylindrical pair C constitute the branches in parallel 122 of RPC types, and the branch in parallel of 121, three RPC types of fixed platform in the present invention
122 and moving platform 123 constitute 3-RPC parallel institutions, 3-RPC parallel institutions have that dynamic response is good, rigidity is high, bearing capacity
Greatly, stability is good and the advantages that kinematic accuracy is high, and the present invention causes the present invention in sewer by the advantages of 3-RPC parallel institutions
Plateau is remained in scale removal process, eliminates and situation is shaken present in scale removal process, stability is good, final to realize
The full-automatic dredging function of sewer, solves existing sewer cleaning equipment by needing people existing for manual cleaning mode
Work operation, labor intensity are greatly, cleaning speed is slow, cleaning efficiency is low, there are jitter phenomenon, equipment during equipment cleaning to stablize
Poor performance, manually dredging effect are poor, there are short time secondary risk, cleaning sundries and the sludge of blocking again to need after-treatment and work
Make the problems such as inefficiency, reach purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (2)
1. a kind of concrete road sewer intelligently decontaminates manipulator, it is characterised in that：It is described including supporting mechanism in parallel (12)
Index decontamination apparatus (9) is installed in the middle part of supporting mechanism (12) upper surface in parallel；The parallel connection supporting mechanism (12) includes allocating
Platform (121), uniformly there are three branch (122) in parallel, three branches in parallel for installation in the axial direction for fixed platform (121) lower face
(122) top is installed on moving platform (123)；The parallel connection branch (122) includes being welded on fixed platform (121) lower face
On ear mount (1221), No.1 hydraulic cylinder (1222) is equipped with by axis pin in ear mount (1221), No.1 hydraulic cylinder (1222)
Top is equipped with connecting cylinder (1223) by screw thread, and threaded post (1224), screw thread are equipped with by screw thread on connecting cylinder (1223)
The end of column (1224) is welded on mobile cylinder (1225), and mobile cylinder (1225) is set on shifting axle (1226), mobile
The both ends of axis (1226) are separately fixed on two fixed ears (1227), and two fixed ears (1227) are welded on moving platform
(123) on upper surface；
The index decontamination apparatus (9) includes being welded on the decontamination round platform (91) of moving platform (123) lower face, decontamination round platform (91)
Lower face be symmetrically installed there are four No. seven hydraulic cylinders (92), the top of four No. seven hydraulic cylinders (92) is equipped with decontamination jacking block
(93), decontaminate and be welded with T-shaped fixed disk (94) in the middle part of the upper surface of jacking block (93), four are symmetrically arranged on T-shaped fixed disk (94)
A No. two location holes are equipped with four No. seven hydraulic cylinders (92) inside No. four No. two location holes respectively；The decontamination jacking block (93)
Lower face No. eight hydraulic cylinders (95) are installed, No. two frame-type stents (96) are fixedly mounted in the middle part of No. eight hydraulic cylinders (95)
On, on No. two frame-type stent (96) upper end welding decontamination jacking blocks (93)；The lower face of the decontamination jacking block (93) is symmetrically installed with
Four rotary-cuts crush branch (97)；The top of No. eight hydraulic cylinders (95) is equipped with No. three connecting flanges (98) by screw thread,
No. three connecting flanges (98) are mounted on by screw on index support plate (99), and the lower end of index support plate (99) is welded with index fulcrum
(910), the top for indexing fulcrum (910) is welded with taper guide way (911), and the upper end of taper guide way (911) passes through hinge
Four pieces of fan-shaped index plates (912) are symmetrically installed with, between four pieces of fan-shaped index plates (912) and index support plate (99) lower face respectively
There are four index branches (90) for installation；The rotary-cut, which crushes branch (97), to be included being mounted under decontamination jacking block (93) by motor cabinet
Electric rotating machine (971) on end face is installed with rotary-cut annulus (972), rotary-cut annulus on the output terminal of electric rotating machine (971)
(972) uniform welding has a horizontal peeling knife (973) in the axial direction on outer wall, and the lower face of rotary-cut annulus (972) is along axis
Direction uniform welding has longitudinal peeling knife (974).
2. a kind of concrete road sewer according to claim 1 intelligently decontaminates manipulator, it is characterised in that：The rope
Drawing branch (90) includes being welded on No. two ear mounts (901) of index support plate (99) lower face, leads between No. two ear mounts (901)
It crosses axis pin and No. nine hydraulic cylinders (902) is installed, the top of No. nine hydraulic cylinders (902) is mounted on two index ears by axis pin
(903) on, two index ears (903) are welded on the inner wall of corresponding fan-shaped index plate (912).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610513720.7A CN106078684B (en) | 2016-06-28 | 2016-06-28 | A kind of concrete road sewer intelligently decontaminates manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610513720.7A CN106078684B (en) | 2016-06-28 | 2016-06-28 | A kind of concrete road sewer intelligently decontaminates manipulator |
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| Publication Number | Publication Date |
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| CN106078684A CN106078684A (en) | 2016-11-09 |
| CN106078684B true CN106078684B (en) | 2018-05-18 |
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| CN201610513720.7A Expired - Fee Related CN106078684B (en) | 2016-06-28 | 2016-06-28 | A kind of concrete road sewer intelligently decontaminates manipulator |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108301502B (en) * | 2018-02-26 | 2020-05-22 | 泉州市九金机械设备有限公司 | Pipeline dredging device |
| CN108385823B (en) * | 2018-02-26 | 2020-01-17 | 山东力聚特种装备股份有限公司 | Sewer cleaning robot |
| CN111872711B (en) * | 2020-08-07 | 2022-04-15 | 谷城石花维福机械有限公司 | Automobile part machining jig capable of automatically positioning and using method thereof |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20050028306A1 (en) * | 2003-08-05 | 2005-02-10 | Bergstrom Skegs, Inc. | Apparatus and bit for cleaning pipes |
| DE202007007528U1 (en) * | 2007-05-26 | 2007-07-26 | Hermes Technologie Gmbh & Co. Kg | Wall cleaning device for use in channel pit, has each jet nozzle providing additional connection for sand hose extending upward and centrally from within channel pit |
| WO2011025255A2 (en) * | 2009-08-26 | 2011-03-03 | Kim Kwantae | Self-propelled apparatus for cleaning and repairing the entire surface of a buried underground pipe |
| KR101272137B1 (en) * | 2012-10-23 | 2013-06-07 | (주)아록이엔지 | An apparatus for removing a alien-material in a pipe |
| CN203569676U (en) * | 2013-11-29 | 2014-04-30 | 李茂实 | Urban sewer sludge loosening device |
| CN104929234B (en) * | 2015-06-16 | 2017-01-18 | 青岛科融新能源有限公司 | Sewer sewage treatment device |
| CN104912188B (en) * | 2015-06-16 | 2016-09-14 | 江苏凯欣电气设备有限公司 | A kind of sewer scrubbing grab bucket |
| CN106351329A (en) * | 2015-10-15 | 2017-01-25 | 安徽鹰龙工业设计有限公司 | Small portable sewer desilting device |
| CN105507421A (en) * | 2016-02-04 | 2016-04-20 | 冯振鹏 | Sewer cleaning robot |
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