A hair cutting machine

Abstract

The present invention discloses a haircutting machine, comprising a base, a mechanical arm arranged on the base, and a haircutting unit arranged on the mechanical arm, wherein the haircutting unit is hinged to an end of the mechanical arm away from the base, and the mechanical arm is provided with a forward and backward swing driving member for driving the haircutting unit to swing forward and backward. The present invention has the advantages of simple structure, and is conducive to the haircutting unit to keep parallel with the surface to be haircutted when moving along the longitudinal direction of the tunnel.

Description

Technical Field

[0001] The invention relates to tunnel construction equipment, in particular to a chiseling machine. Background Art

[0002] During the tunnel construction process, the secondary lining concrete needs to be roughened to improve the adhesion of the concrete surface and ensure that the construction surfaces of the two construction stages are firmly bonded. At present, the main methods of tunnel roughening are manual roughening, airborne roughening machine roughening and tunnel-specific roughening machine roughening. Manual roughening mainly involves workers using small handheld roughening machines or electric picks (or hydraulic picks) for roughening. This roughening method is inefficient, labor-intensive and cannot guarantee the quality of roughening. Substandard roughening quality will lead to loose adhesion between the two construction surfaces, water seepage or cracking. Airborne roughening machines are generally installed on excavators or simple trusses for roughening. Due to the limited space in the tunnel, this construction method will affect the entry and exit of other tunnel construction machinery. The roughening part of the existing tunnel-specific roughening machine is generally matched with a certain size of tunnel lining curved surface. This roughening machine has a good roughening effect when used for roughening tunnels of this size, but when used for roughening tunnels of other sizes, the roughening part and the tunnel curved surface do not match, resulting in the problem of substandard roughening quality. Therefore, different-sized tunnels must be equipped with a corresponding-sized chiseling machine, which greatly increases the cost of tunnel construction. Since the tunnel surface to be chiseled has a certain longitudinal offset, or the chiseling machine is offset when moving longitudinally, it is no longer parallel to the tunnel surface to be chiseled, and the chiseling effect cannot be guaranteed at this time. In addition, chiseling tools such as chiseling units, electric picks and hydraulic picks are required to be as perpendicular to the working surface as possible. The side wall of the tunnel is a curved surface. When the chiseling tool moves up and down along the curved surface with the manipulator, the stability is poor and it is not conducive to maintaining perpendicularity to the working surface. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a roughening machine with a simple structure which is conducive to maintaining parallelism with the surface to be roughened when moving along the longitudinal direction of the tunnel.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A hair cutting machine comprises a base, a mechanical arm arranged on the base, and a hair cutting unit arranged on the mechanical arm. The hair cutting unit is hinged to one end of the mechanical arm away from the base. The mechanical arm is provided with a forward and backward swinging driving member for driving the hair cutting unit to swing forward and backward.

[0006] As a further improvement of the above technical solution: the front-rear swing driving member is a telescopic structure and is provided with two members, and the two front-rear swing driving members are respectively arranged on the front and rear sides of the haircutting unit.

[0007] As a further improvement of the above technical solution: the mechanical arm includes a horizontal telescopic arm arranged on a base, a swing arm hinged to the horizontal telescopic arm, and an up and down swing driving member for driving the swing arm to swing up and down, the haircutting unit is hinged to the swing arm, and the front and rear swing driving member is arranged on the swing arm.

[0008] As a further improvement of the above technical solution: the horizontal telescopic arm includes an outer box body arranged on a base, an inner box body arranged in the outer box body, and a telescopic driving member for driving the inner box body to be horizontally telescopic, the swing arm is hinged to the inner box body, and the up and down swing driving member is connected between the inner box body and the swing arm.

[0009] As a further improvement of the above technical solution: the swing arm is a telescopic structure.

[0010] As a further improvement of the above technical solution: the up and down swinging driving member and the front and back swinging driving member are both telescopic cylinders, the swing arm is a bending structure and is hinged to the inner box at the bending point, one end of the up and down swinging driving member is hinged to the inner box, the other end of the up and down swinging driving member is hinged to one end of the swing arm, and both ends of the front and back swinging driving member are respectively hinged to the other end of the swing arm and the haircutting unit.

[0011] As a further improvement of the above technical solution: the chiseling unit includes a swing seat, a chiseling component and two groups of limiting rollers, the swing seat is hinged to the mechanical arm, the chiseling component and the limiting rollers are arranged on the swing seat, the two groups of limiting rollers are respectively arranged on the front and rear sides of the chiseling component, and the limiting rollers in the same group are respectively arranged on the upper and lower sides of the chiseling component.

[0012] As a further improvement of the above technical solution: the chiseling component is arranged along the perpendicular midline of the line connecting the center points of the limiting rollers on the upper and lower sides.

[0013] As a further improvement of the above technical solution: the hinge between the front and rear swing driving member and the swing seat is located between the upper and lower limiting rollers, and between the line connecting the center points of the upper and lower limiting rollers and the surface to be roughened.

[0014] As a further improvement of the above technical solution: the base is provided with walking wheels and guide rails arranged along the front-rear direction, the guide rails are provided with a sliding seat, the sliding seat is provided with a rotating seat, and the mechanical arm is provided on the rotating seat.

[0015] Compared with the prior art, the advantages of the present invention are: the chiseling unit of the chiseling machine disclosed in the present invention is hinged with the mechanical arm, and the mechanical arm is provided with a forward and backward swinging driving member for driving the chiseling unit to swing forward and backward. When the tunnel surface to be chiseled itself has a certain offset in the longitudinal direction, or the chiseling machine base is offset when moving in the longitudinal direction so that it is no longer parallel to the tunnel surface to be chiseled, the chiseling unit can be driven to swing forward and backward by the forward and backward swinging driving member, thereby correcting the non-parallel angle between the base and the longitudinal surface to be chiseled, which is beneficial to ensuring the chiseling quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front structural schematic diagram of the hair cutting machine of the present invention.

[0017] Figure 2 It is a schematic diagram of the top view of the structure of the hair cutting machine of the present invention.

[0018] The numbers in the figure represent: 1. base; 11. walking wheel; 12. guide rail; 13. sliding seat; 14. rotating seat; 2. roughening unit; 21. swing seat; 22. limiting roller; 23. roughening component; 3. mechanical arm; 31. horizontal telescopic arm; 311. outer box; 312. inner box; 313. telescopic driving member; 32. swing arm; 33. up and down swing driving member; 34. front and back swing driving member; 4. surface to be roughened. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 to Figure 2 An embodiment of the hair cutting machine of the present invention is shown. The hair cutting machine of this embodiment includes a base 1, a mechanical arm 3 arranged on the base 1, and a hair cutting unit 2 arranged on the mechanical arm 3. The hair cutting unit 2 is hinged to the end of the mechanical arm 3 away from the base 1. The mechanical arm 3 is provided with a forward and backward swinging driving member 34 for driving the hair cutting unit 2 to swing forward and backward.

[0021] The roughening machine has a roughening unit 2 which is hinged to a mechanical arm 3, and a forward and backward swinging driving member 34 is provided on the mechanical arm 3 for driving the roughening unit 2 to swing forward and backward. When the roughening surface 4 of the tunnel to be roughened has a certain offset in the longitudinal direction, or the base 1 of the roughening machine is offset when moving in the longitudinal direction so that it is no longer parallel to the roughening surface 4 of the tunnel, the roughening unit 2 can be driven to swing forward and backward by the forward and backward swinging driving member 34, thereby correcting the non-parallel angle between the base 1 and the roughening surface 4 in the longitudinal direction, which is beneficial to ensuring the roughening quality.

[0022] As a preferred technical solution, in this embodiment, the front and rear swing driving member 34 is a telescopic structure and is provided with two members, and the two front and rear swing driving members 34 are respectively provided at the front and rear sides of the hair cutting unit 2. Figure 2As shown, when the haircutting unit 2 needs to swing backward, the front-rear swing driving member 34 on the rear side retracts and the front-rear swing driving member 34 on the front side extends, which can effectively correct the non-parallel angle between the base 1 and the surface to be haircut 4 in the longitudinal direction, and at the same time, the haircutting unit 2 is reliably pressed against the surface to be haircut 4, and the stability of the haircutting unit 2 on the robot arm 3 is ensured. The front-rear swing driving member 34 can be, for example, a cylinder, a spring strut or an air spring.

[0023] Furthermore, in this embodiment, the mechanical arm 3 includes a horizontal telescopic arm 31 provided on the base 1, a swing arm 32 hinged to the horizontal telescopic arm 31, and an up-down swing driving member 33 for driving the swing arm 32 to swing up and down, the haircutting unit 2 is hinged to the swing arm 32, and a front-back swing driving member 34 is provided on the swing arm 32. During operation, the swing arm 32 and the haircutting unit 2 are driven to move toward the working curved surface as a whole by the telescopic movement of the horizontal telescopic arm 31, the swing arm 32 and the haircutting unit 2 are driven to swing up and down as a whole by the up-down swing driving member 33, and the haircutting unit 2 is driven to swing relative to the swing arm 32 by the front-back swing driving member 34, and the angle of the haircutting unit 2 is adjusted to be nearly perpendicular to the working curved surface 6, which is conducive to further improving the haircutting quality.

[0024] Furthermore, in this embodiment, the horizontal telescopic arm 31 includes an outer box 311 disposed on the base 1, an inner box 312 disposed in the outer box 311, and a telescopic drive member 313 for driving the inner box 312 to telescope horizontally, the swing arm 32 is hinged to the inner box 312, and the up and down swing drive member 33 is connected between the inner box 312 and the swing arm 32. When in use, the telescopic drive member 313 drives the inner box 312 to telescope horizontally relative to the outer box 311, the inner box 312 drives the up and down swing drive member 33, the swing arm 32, and the haircutting unit 2 to move horizontally as a whole, and the up and down swing drive member 33 drives the swing arm 32 and the haircutting unit 2 to swing up and down as a whole to adjust the angle of the haircutting unit 2 to be nearly perpendicular to the working curved surface 6, so as to ensure the haircutting quality. As a preferred technical solution, the swing arm 32 can also be an inner and outer box structure to achieve telescoping, so as to facilitate fine-tuning the distance between the haircutting unit 2 and the surface 4 to be haircutted.

[0025] Furthermore, in this embodiment, the up-down swing driving member 33 and the front-back swing driving member 34 are telescopic oil cylinders, the swing arm 32 is a bent structure and is hinged to the inner box 312 at the bend, one end of the up-down swing driving member 33 is hinged to the inner box 312, the other end of the up-down swing driving member 33 is hinged to one end of the swing arm 32, and the two ends of the front-back swing driving member 34 are respectively hinged to the other end of the swing arm 32 and the haircutting unit 2. As a preferred technical solution, the up-down swing driving member 33 and the front-back swing driving member 34 use oil cylinders with articulated bearing hanging earrings to ensure that the horizontal telescopic arm 31, the swing arm 32 and the haircutting unit 2 form a universal hinge structure together, so that the vertical swing (i.e., up-down swing) and lateral swing (i.e., front-back swing) of the haircutting unit 2 can be flexibly adjusted to make it always perpendicular to the surface to be haircutted.

[0026] Furthermore, in this embodiment, the chiseling unit 2 includes a swing seat 21, a chiseling component 23 and two groups of limiting rollers 22. The swing seat 21 is hinged with the mechanical arm 3. The chiseling component 23 and the limiting rollers 22 are arranged on the swing seat 21. The two groups of limiting rollers 22 are arranged on the front and rear sides of the chiseling component 23, and the limiting rollers 22 in the same group are arranged on the upper and lower sides of the chiseling component 23. When working, the swing seat 21 and the chiseling component 23 and the limiting rollers 22 thereon are driven by the up and down swing driving member 33 to swing up and down, and the swing seat 21 is provided with limiting rollers 22 on both the front and rear sides and the upper and lower sides. The swing seat 21 can adjust the up and down swing angle according to the curvature of the surface 4 to be chiseled, and the limiting rollers 22 are used to prevent the chiseling component 23 from being damaged, and to maintain the stability of the swing seat 21 and the chiseling component 23 during the construction process. The chiseling component 23 can be, for example, a pneumatic chiseling machine, an electric pick or a hydraulic pick.

[0027] As a preferred technical solution, in this embodiment, the chiseling component 23 is arranged along the perpendicular midline of the line connecting the center points of the upper and lower limiting rollers 22, which is beneficial to improving the stability of the chiseling component 23 during the construction process and ensuring that the chiseling component 23 has a certain impact stroke.

[0028] As a preferred technical solution, in this embodiment, along the vertical direction, the hinge of the front and rear swing driving member 34 and the swing seat 21 is located between the upper and lower limit rollers 22; and along the left and right direction, the hinge of the front and rear swing driving member 34 and the swing seat 21 is located between the line connecting the center points of the upper and lower limit rollers 22 and the surface to be roughened 4. This is conducive to ensuring that the front and rear swing driving member 34 can always provide a stable pressing force, so that the limit roller 22 is always close to the surface to be roughened 4, and the possibility of the roughening member 23 overturning is reduced.

[0029] Furthermore, in this embodiment, the base 1 is provided with a walking wheel 11 and a guide rail 12 arranged in the front-back direction, the guide rail 12 is provided with a sliding seat 13, the sliding seat 13 is provided with a swivel seat 14, and the mechanical arm 3 is arranged on the swivel seat 14. The base 1 can drive the guide rail 12, the sliding seat 13, the swivel seat 14, the mechanical arm 3, etc. to move forward and backward as a whole. When the sliding seat 13 slides along the guide rail 12, it can drive the swivel seat 14, the mechanical arm 3, etc. to move forward and backward as a whole. When the base 1 reaches the construction position, the roughening unit 2 can cover a larger working surface longitudinally, reducing the number of forward and backward movements of the base 1; the swivel seat 14 can drive the mechanical arm 3 and the roughening unit 2 to rotate, which is convenient for changing the direction in the narrow space of the tunnel, and constructing the roughening surface 4 on the other side of the tunnel, which is more convenient and flexible to use. Of course, in other embodiments, the base 1 can also be a non-powered frame, with only the sliding seat 13 moving forward and backward, or a crawler structure can be used to achieve forward and backward walking. A gear rack pair, a sprocket chain pair, etc. can be used between the sliding seat 13 and the base 1 to achieve forward and backward sliding.

[0030] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A hair cutting machine, comprising a base (1), a mechanical arm (3) arranged on the base (1), and a hair cutting unit (2) arranged on the mechanical arm (3), characterized in that: The chiseling unit (2) is hinged to an end of the mechanical arm (3) away from the base (1); the mechanical arm (3) is provided with a front-rear swing driving member (34) for driving the chiseling unit (2) to swing back and forth; the front-rear swing driving member (34) is provided with two members, and the two members are arranged at the front and rear sides of the chiseling unit (2); the chiseling unit (2) comprises a swing seat (21), a chiseling member (23) and two sets of limiting rollers (22); the swing seat (21) is hinged to the mechanical arm (3) The chiseling component (23) and the limiting roller (22) are arranged on the swing seat (21), the two groups of the limiting rollers (22) are respectively arranged on the front and rear sides of the chiseling component (23), and the limiting rollers (22) in the same group are respectively arranged on the upper and lower sides of the chiseling component (23); the base (1) is provided with a guide rail (12) arranged in the front and rear directions, the guide rail (12) is provided with a sliding seat (13), the sliding seat (13) is provided with a rotating seat (14), and the mechanical arm (3) is arranged on the rotating seat (14).

2. The hair cutting machine according to claim 1, characterized in that: The front-rear swing driving member (34) is a telescopic structure.

3. The hair cutting machine according to claim 1, characterized in that: The mechanical arm (3) comprises a horizontal telescopic arm (31) arranged on a base (1), a swing arm (32) hinged to the horizontal telescopic arm (31), and an up-and-down swing driving member (33) for driving the swing arm (32) to swing up and down; the haircutting unit (2) is hinged to the swing arm (32); and the front-and-back swing driving member (34) is arranged on the swing arm (32).

4. The hair cutting machine according to claim 3, characterized in that: The horizontal telescopic arm (31) comprises an outer box (311) arranged on a base (1), an inner box (312) arranged in the outer box (311), and a telescopic driving member (313) for driving the inner box (312) to telescope horizontally; the swing arm (32) is hinged to the inner box (312); and the up-and-down swing driving member (33) is connected between the inner box (312) and the swing arm (32).

5. The hair cutting machine according to claim 4, characterized in that: The swing arm (32) is a telescopic structure.

6. The hair cutting machine according to claim 4, characterized in that: The up-and-down swing driving member (33) and the front-and-back swing driving member (34) are both telescopic oil cylinders; the swing arm (32) is a bent structure and is hinged to the inner box (312) at the bent portion; one end of the up-and-down swing driving member (33) is hinged to the inner box (312); the other end of the up-and-down swing driving member (33) is hinged to one end of the swing arm (32); and both ends of the front-and-back swing driving member (34) are respectively hinged to the other end of the swing arm (32) and the haircutting unit (2).

7. The hair cutting machine according to any one of claims 1 to 6, characterized in that: The chiseling component (23) is arranged along the perpendicular midline of the line connecting the center points of the limiting rollers (22) on the upper and lower sides.

8. The hair cutting machine according to any one of claims 1 to 6, characterized in that: The hinged portion between the front and rear swing driving member (34) and the swing seat (21) is located between the upper and lower limiting rollers (22), and between the line connecting the center points of the upper and lower limiting rollers (22) and the surface to be roughened (4).

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