CN108678374A - A kind of Construction of Civil Engineering environment-friendly type implement - Google Patents
A kind of Construction of Civil Engineering environment-friendly type implement Download PDFInfo
- Publication number
- CN108678374A CN108678374A CN201810540251.7A CN201810540251A CN108678374A CN 108678374 A CN108678374 A CN 108678374A CN 201810540251 A CN201810540251 A CN 201810540251A CN 108678374 A CN108678374 A CN 108678374A
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- CN
- China
- Prior art keywords
- rack
- rail
- foot tool
- shaft
- gear
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Construction of Civil Engineering environment-friendly type implements, including rack, the rack is equipped with running gear, the running gear includes that movable motor and six groups of walkings have enough, the movable motor is set in rack, there are three rack rails disposed in parallel for setting in the rack, the rack rail is set in same level, the length direction of the rack rail is identical as the direction of advance of running gear, one group of walking is respectively provided in the front and back position of each rack rail enough to have, the walking foot tool includes the vertical slide guide rail being arranged along rack rail sliding and the rail brackets being fixedly installed on above rack rail.The running gear of the present invention can steadily walk, it is only necessary to which the alternating movement of six support legs can be realized in a movable motor, to realize walking function, smart structural design.
Description
Technical field
The present invention relates to technical field of building construction, particularly relate to a kind of Construction of Civil Engineering environment-friendly type implement.
Background technology
The robot architecture of the prior art is complicated, needs multiple motor cooperations that could take action, needs to improve；In addition existing
It is complicated to beat apparatus structure design, of high cost, design is unreasonable.
Invention content
Technical problem to be solved by the invention is to provide a kind of Construction of Civil Engineering environment-friendly type implements, to solve
Robot architecture is complicated in the prior art, needs multiple motor cooperations that could take action, needs to improve；In addition existing to beat device
Complex structural designs, it is of high cost, design unreasonable technical problem.
In order to solve the above technical problems, a kind of Construction of Civil Engineering of the embodiment of the present invention offer is set with environment-friendly type operation
It is standby, including rack, the rack is equipped with running gear, and the running gear includes that movable motor and six groups of walkings have enough, institute
It states movable motor to be set in rack, there are three rack rails disposed in parallel, the rack rail to set for setting in the rack
In in same level, the length direction of the rack rail is identical as the direction of advance of running gear, and each rack is led
It is respectively provided with one group of walking in the front and back position of rail enough to have, the walking foot tool includes the vertical slide guide along rack rail sliding setting
Rail and the rail brackets being fixedly installed on above rack rail, on the rail brackets rotation be equipped with foot tool shaft, the foot
One end of tool shaft is fixedly connected with belt wheel, and the other end is fixedly connected with foot tool crank, the other end rotation connection of the foot tool crank
Foot has gear, and gear ring is also fixed on the rail brackets, and the gear ring is to be coaxially disposed with foot tool shaft, the foot tool tooth
Wheel is set in gear ring and is meshed with gear ring, and the lateral surface of the foot tool gear is installed with a foot tool connecting rod, and the foot tool connects
One end of bar is fixedly arranged on the circle centre position of the sufficient tool gear, and the other end is rotatably connected to foot tool guide rod, and the foot has under guide rod
End is installed with landing part, and the horizontal slider guide slided is being provided on the rack rail, and the slider guide is equipped with the vertical chute,
The foot tool guide rod is slideably positioned in the vertical chute, and there are three driving wheels for setting on the output shaft of the movable motor, same
Each belt wheel and a driving wheel in front and back position on rack rail are tensioned by same tension band to link；
The rack is equipped with and beats device, and the device of beating includes the pedestal being fixed in rack and the first sliding groove,
Sliding, which is provided with, in the first sliding groove beats block, on the pedestal rotation be equipped with the first drive shaft, first drive shaft by
Second motor drives its rotation, one end of first drive shaft to be fixed with first support, and first drive shaft is fixed on
The both ends at the center of one holder, the first support are arranged with a guide post by symmetrical centre of the first drive shaft, described to beat
Block is equipped with first rotating shaft, and an interlocking bar is rotatablely connected in the first rotating shaft, and one end of the interlocking bar is equipped with annular ring, institute
The madial wall for stating annular ring is equipped with annular protrusion, and the annular protrusion sliding is provided with disk, the eccentric position of the disk
Upper rotation connection first drive shaft using first drive shaft is that the center of circle sets that there are two symmetrical arc cunnings on the disk
Slot, two guide posts in the first support are slideably positioned in respectively in one of arc chute, and the disk leans on proximal edge
Place is equipped with a connecting pole, and tension spring is equipped between the connecting pole and rack；The block of beating includes beating head, beats sleeve and
One spring, the beating head, which is sheathed on, to be beaten in sleeve, and the bottom beaten in sleeve is equipped with the first spring, first bullet
The other end of spring connects the beating head, and sleeve is beaten described in the other end stretching of the beating head；
Lighting device is additionally provided in the rack, the lighting device includes babinet, accommodating groove, platen, rotating seat and
Two shafts, the babinet are internally provided with accumulator cell assembly, and the bottom of the babinet is set in rack, and the top of the babinet is set
There are accommodating groove, the upper end of the babinet to be equipped with mounting base, the upper end of the mounting base is rotatably connected to first by the 4th shaft
The upper end of connecting rod, the first connecting rod is rotatably connected to the first rotary connector by the second shaft, is equipped on the platen
One end of lamp body, the platen is rotatably connected to the second rotary connector by third shaft, connects between two rotary connectors
It is connected to rotating seat.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
The running gear of the present invention can steadily walk, it is only necessary to which the alternating fortune of six support legs can be realized in a movable motor
It is dynamic, to realize walking function, smart structural design.Simple, the reasonable design of beating apparatus structure of the present invention, has practicability.
Description of the drawings
Fig. 1 is the structural diagram of the present invention, and figure section line part is rack.
Fig. 2 is the structure chart of the running gear of the present invention.
Fig. 3 is the part-structure figure one of the running gear of the present invention.
Fig. 4 is the part-structure figure two of the running gear of the present invention, is shown in one group of walking and has enough.
Fig. 5 is the part-structure explosive view of the running gear of the present invention, is shown as one group of walking and has enough.
Fig. 6 is the part-structure figure three of the running gear of the present invention, is shown as the position relationship of six foot tool cranks.
Fig. 7 is the part-structure figure four of the running gear of the present invention, is shown as the position relationship of six foot tool connecting rods.
Fig. 8 is the three-dimensional structure diagram for beating device of the present invention.
Fig. 9 is the explosive view for beating device of the present invention.
The structure chart for beating block of the positions Figure 10 present invention.
Figure 11 is the state diagram one for beating device of the present invention.
Figure 12 is the state diagram two for beating device of the present invention.
Figure 13 is the state diagram three for beating device of the present invention.
Figure 14 is the state diagram four for beating device of the present invention.
Figure 15 is the structure chart of the lighting device of the present invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before right direction is in Fig. 1, front end, front, direction of advance, left direction be after, rear end, after
Portion, direction of retreat.
As shown in Figures 1 to 7, the embodiment of the present invention provides a kind of Construction of Civil Engineering environment-friendly type implement, including
Rack 100, the rack are equipped with running gear 10, and the running gear 10 includes that movable motor 11 and six groups of walkings have enough,
The movable motor 11 is set in rack 100, and there are three rack rail 12 disposed in parallel, institutes for setting in the rack 100
Rack rail 12 is stated in same level, the length direction of the rack rail 12 and the direction of advance phase of running gear
Together, it is respectively provided with one group of walking in the front and back position of each rack rail 12 enough to have, tool includes leading along rack enough for the walking
The vertical slide guide rail 13 of the sliding setting of rail 12 and the rail brackets 14 for being fixedly installed on 12 top of rack rail, the guide rail branch
Rotation is equipped with foot tool shaft 15 on frame 14, and one end of the foot tool shaft 15 is fixedly connected with belt wheel 16, and the other end is fixedly connected with foot
Has crank 17, the other end of the foot tool crank 17 is rotatablely connected foot tool gear 18, is also fixed on the rail brackets 14
Gear ring 19, the gear ring 19 are coaxial arrangement with foot tool shaft 15, and the foot tool gear 18 is set in gear ring 19 and and gear ring
19 are meshed, and the lateral surface of the foot tool gear 18 is installed with a foot tool connecting rod 20, and one end of the foot tool connecting rod 20 is fixedly arranged on
The circle centre position of the foot tool gear 18, the other end are rotatably connected to foot tool guide rod 21, and the lower end of the foot tool guide rod 21 is installed with
Landing part 22 is equipped with the vertical chute on the rack rail 12 in the slider guide 25 for being provided with horizontal sliding, the slider guide 25,
The foot tool guide rod 21 is slideably positioned in the vertical chute, and there are three driving wheels for setting on the output shaft of the movable motor 11
23, each belt wheel 16 in front and back position and a driving wheel 23 on same rack rail 12 are tensioned by same tension band 24 and are joined
Dynamic, the driving wheel and two belt wheels be tensioned by same tension band is in the same plane.
Belt wheel 16 is rotated with action spot tool crank 17, and foot has crank 17 and transported along 19 inside edge of gear ring with action spot tool gear 18
Dynamic, foot has the rotation direction of crank 17 and foot tool connecting rod 20 on the contrary, foot tool connecting rod 20 is to be rotated with the center of circle of foot tool gear 18,
Again as the planetary gear type of foot tool gear 18 moves and displacement spatially occurs, then conduct to foot tool guide rod 21 to drive
Complete walking motion in landing part 22.
The walking movement of running gear is as follows, is the initial position of running gear, six institutes as shown in Fig. 2, Fig. 6 and Fig. 7
It states foot tool crank 17 and is respectively designated as previous crank 171, the first two crank 172, first three crank 173, latter crank 174, rear two song
Handle 175, rear three crank 176, the first two described crank 172 are set between previous crank 171 and first three crank 173, and described rear two is bent
Handle 175 is set between latter crank 174 and rear three crank 176, and the previous crank 171, latter crank 174 are located at same flat
Face, first three described crank 173, rear three crank 176 are generally aligned in the same plane, the previous crank 171, the first two crank 172, first three song
The angle of rotation angle that handle 173 mutually forms is 120 °, and the latter crank 174, rear two crank 175, rear three crank 176 are mutual
The angle of rotation angle of formation is 120 °, the first two described crank 172,175 initial position having the same of rear two crank, before described
One crank 171,176 initial position having the same of rear three crank, first three described crank 173, latter crank 174 are having the same
Initial position, the previous crank 171 drive forwards in (direction that i.e. drive wheel running gear advances) along driving wheel 25
The initial position that rotation direction is rotated further after 120 ° just with the latter crank 174 coincides.Initial position refers to walking
When motor 11 is stopped, each foot tool the location of crank relationship, i.e. position shown in Fig. 6, at this point, each foot tool connects
Bar is located along the same line with corresponding foot tool crank, and the outer end of each foot tool connecting rod has the center of rotation of crank far from corresponding foot.
Since the initial position of Fig. 2, Fig. 6 and Fig. 7, movable motor drives driving wheel to rotate counterclockwise, therefore foot tool gear is along tooth
Circle rotates counterclockwise, and clockwise rotation occurs for the foot tool connecting rod being connected with foot tool gear again as space occurs for foot tool gear
On movement.As shown in Fig. 2, phase on the first two crank 172 at this time, first three crank 173, latter crank 174, rear two crank 175
Landing part even is contacted to earth simultaneously, and the landing part being connected on previous crank 171 and rear three crank 176 is liftoff and is in extreme higher position
Place；The landing part moved beneath facing forward being connected on subsequent time, previous crank 171 and rear three crank 176, the first two 172 He of crank
The landing part upper direction facing forward being connected on two cranks 175 afterwards, the landing part being connected on first three crank 173 and latter crank 174
Holding is contacted to earth state；Subsequent time again, previous crank 171 start to contact to earth with the landing part being connected on rear three crank 176, first three
The landing part being connected on crank 173 and latter crank 174 starts liftoff.
As shown in Fig. 1, Fig. 8 to Figure 14, the rack 100, which is equipped with, beats device 30, and the device 30 of beating includes solid
It is provided with due to sliding in the pedestal 31 and the first sliding groove 32 in rack 100, the first sliding groove 32 and beats block 33, the pedestal
Rotation is equipped with the first drive shaft 34 on 31, and first drive shaft 34 drives its rotation by the second motor (not shown), and described the
One end of one drive shaft 34 is fixed with first support 35, and first drive shaft 34 is fixed on the center of first support 35, described
The both ends of first support 35 are that symmetrical centre is arranged with a guide post 36 with the first drive shaft 34, and the block 33 of beating is equipped with
First rotating shaft 361, an interlocking bar 37 is rotatablely connected in the first rotating shaft 361, and one end of the interlocking bar 37 is equipped with annular ring
38, the madial wall of annular ring 38 is equipped with annular protrusion 381, and the sliding of the annular protrusion 381 is provided with disk 39, described
It is rotatablely connected first drive shaft 34 on the eccentric position of disk 39, with first drive shaft 34 is circle on the disk 39
The heart is set there are two symmetrical arc chute 40, and two guide posts 36 in the first support 35 are slideably positioned in one of them respectively
In arc chute 40, the disk 39 is equipped with a connecting pole 41 close to edge, is set between the connecting pole 41 and rack 100
There is a tension spring 42, after the disk rotational, periodically drives tension spring Rapid reset and beat block to drive and carry out beating operation.Institute
State beat block 33 include beating head 331, beat sleeve 332 and the first spring 333, the beating head 331, which is sheathed on, beats sleeve
In 332, the bottom beaten in sleeve 332 be equipped with the first spring 333, first spring 333 the other end connection described in
Beating head 331, the other end of the beating head 331 stretch out described in beat sleeve 332.The motion state description for beating device
It is as follows：If the state A of Figure 11 starts, the first drive shaft 34 drives first support 35 to rotate, the phase in arc chute 40 of guide post 36
To sliding, first support 35 be in idling conditions, does not drive the rotation of disk 39, until guide post 36 turns to the state B in Figure 12,
Guide post 36 starts that disk 39 is driven to rotate, and the first drive shaft 34 is at the eccentric position of disk, therefore the movement locus of disk
It is exactly the movement of similar eccentric turntable, thus drives and beat block movement, from the state C of state B to Figure 13 of Figure 12, disk passes through
Block retrogressing, when to state C in Figure 13, the straight line where tension spring 42 is elongated and the first drive shaft are beaten in annular ring drive
It coincides, disk is in critical condition, and disk have rotated rapidly nearly half-turn due to the pulling force effect of tension spring at lower a moment, thus
Drive beats block and travels forward rapidly, and operation is beaten in realization, as shown in the state D in Figure 14, illustrates a cycle in this way and makees
Industry process.
As shown in Fig. 1 and Figure 15, lighting device 70 is additionally provided in the rack 100, the lighting device 70 includes babinet
71, accommodating groove 72, platen 73, rotating seat 74 and the second shaft 75, the babinet 71 are internally provided with accumulator cell assembly 76, institute
The bottom for stating babinet 71 is set in rack 100, and the top of the babinet 71 is equipped with accommodating groove 72, and the upper end of the babinet 71 is set
There are mounting base 78, the upper end of the mounting base 78 to be rotatably connected to first connecting rod 80, the first connecting rod by the 4th shaft 79
80 upper end is rotatably connected to the first rotary connector 741 by the second shaft 75, and lamp body 81, institute are equipped on the platen 73
The one end for stating platen 73 is rotatably connected to the second rotary connector 742 by third shaft 82, connects between two rotary connectors
It is connected to rotating seat 74.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of Construction of Civil Engineering environment-friendly type implement, including rack, which is characterized in that the rack is equipped with walking
Device, the running gear include that movable motor and six groups of walkings have enough, and the movable motor is set in rack, the rack
There are three rack rail disposed in parallel, the rack rails to be set in same level for upper setting, the length of the rack rail
Degree direction is identical as the direction of advance of running gear, and one group of walking foot is respectively provided in the front and back position of each rack rail
Tool, the walking foot tool include sliding the vertical slide guide rail of setting along rack rail and being fixedly installed on above rack rail
Rail brackets, on the rail brackets rotation be equipped with foot tool shaft, one end of the foot tool shaft is fixedly connected with belt wheel, the other end
It is fixedly connected with foot tool crank, the other end rotation connection foot tool gear of the foot tool crank, also fixation is set on the rail brackets
Rack gear, the gear ring are coaxial arrangement with foot tool shaft, and the foot tool gear is set in gear ring and is meshed with gear ring, institute
The lateral surface for stating foot tool gear is installed with a foot tool connecting rod, and one end of the foot tool connecting rod is fixedly arranged on the center of circle of the foot tool gear
Place, the other end are rotatably connected to foot tool guide rod, and the lower end of the foot tool guide rod is installed with landing part, is being set on the rack rail
It is equipped with the slider guide of horizontal sliding, the slider guide is equipped with the vertical chute, and the foot tool guide rod is slideably positioned in the vertical chute,
Setting is there are three driving wheel on the output shaft of the movable motor, each belt wheel in front and back position on same rack rail with
One driving wheel is tensioned by same tension band and is linked；
The rack is equipped with and beats device, and the device of beating includes the pedestal being fixed in rack and the first sliding groove, described
Sliding, which is provided with, in the first sliding groove beats block, and rotation is equipped with the first drive shaft on the pedestal, and first drive shaft is by second
Motor drives its rotation, one end of first drive shaft to be fixed with first support, and first drive shaft is fixed on first
The both ends at the center of frame, the first support are arranged with a guide post by symmetrical centre of the first drive shaft, described to beat on block
Equipped with first rotating shaft, an interlocking bar is rotatablely connected in the first rotating shaft, one end of the interlocking bar is equipped with annular ring, the ring
The madial wall of shape circle is equipped with annular protrusion, and the annular protrusion sliding is provided with disk, turns on the eccentric position of the disk
It is dynamic to connect first drive shaft, it is set there are two symmetrical arc chute by the center of circle of first drive shaft on the disk,
Two guide posts in the first support are slideably positioned in respectively in one of arc chute, and the disk is set close to edge
There is a connecting pole, tension spring is equipped between the connecting pole and rack；The block of beating includes beating head, beats sleeve and the first bullet
Spring, the beating head, which is sheathed on, to be beaten in sleeve, and the bottom beaten in sleeve is equipped with the first spring, first spring
The other end connects the beating head, and sleeve is beaten described in the other end stretching of the beating head；
It is additionally provided with lighting device in the rack, the lighting device includes babinet, accommodating groove, platen, rotating seat and second turn
Axis, the babinet are internally provided with accumulator cell assembly, and the bottom of the babinet is set in rack, and the top of the babinet, which is equipped with, receives
Receive slot, the upper end of the babinet is equipped with mounting base, and the upper end of the mounting base is rotatably connected to first connecting rod by the 4th shaft,
The upper end of the first connecting rod is rotatably connected to the first rotary connector by the second shaft, and lamp body is equipped on the platen,
One end of the platen is rotatably connected to the second rotary connector by third shaft, and rotation is connected between two rotary connectors
Swivel base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810540251.7A CN108678374A (en) | 2018-05-30 | 2018-05-30 | A kind of Construction of Civil Engineering environment-friendly type implement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810540251.7A CN108678374A (en) | 2018-05-30 | 2018-05-30 | A kind of Construction of Civil Engineering environment-friendly type implement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108678374A true CN108678374A (en) | 2018-10-19 |
Family
ID=63808931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810540251.7A Withdrawn CN108678374A (en) | 2018-05-30 | 2018-05-30 | A kind of Construction of Civil Engineering environment-friendly type implement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108678374A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114370163A (en) * | 2022-01-26 | 2022-04-19 | 湖南固工机器人有限公司 | Leveling robot and operation method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017196199A1 (en) * | 2016-05-12 | 2017-11-16 | Adrian Rosca | Motor vehicle provided with a moving system and method of moving a motor vehicle |
| CN206897480U (en) * | 2017-07-10 | 2018-01-19 | 陈元勇 | Ore perforating device |
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
| CN107776703A (en) * | 2016-08-31 | 2018-03-09 | 江苏金刚文化科技集团股份有限公司 | A kind of four-leg bionic walking robot |
-
2018
- 2018-05-30 CN CN201810540251.7A patent/CN108678374A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017196199A1 (en) * | 2016-05-12 | 2017-11-16 | Adrian Rosca | Motor vehicle provided with a moving system and method of moving a motor vehicle |
| CN107776703A (en) * | 2016-08-31 | 2018-03-09 | 江苏金刚文化科技集团股份有限公司 | A kind of four-leg bionic walking robot |
| CN206897480U (en) * | 2017-07-10 | 2018-01-19 | 陈元勇 | Ore perforating device |
| CN107662663A (en) * | 2017-09-25 | 2018-02-06 | 徐达 | A kind of energy-conserving and environment-protective implement for building |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114370163A (en) * | 2022-01-26 | 2022-04-19 | 湖南固工机器人有限公司 | Leveling robot and operation method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181019 |
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| WW01 | Invention patent application withdrawn after publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Wang Chuang Document name: Notification of Approving Refund |
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| DD01 | Delivery of document by public notice |