CN109335989B

CN109335989B - Dam runner maintenance platform with mechanical arm

Info

Publication number: CN109335989B
Application number: CN201811378002.9A
Authority: CN
Inventors: 王雷; 汪凌; 陈源; 汪丛
Original assignee: Hubei University of Technology
Current assignee: Hubei University of Technology
Priority date: 2018-11-19
Filing date: 2018-11-19
Publication date: 2020-07-14
Anticipated expiration: 2038-11-19
Also published as: CN109335989A

Abstract

The invention relates to a dam flow passage maintenance platform with a mechanical arm, and solves the problems of complex structure, poor flexibility and adaptability and high maintenance cost of the conventional maintenance platform. The technical scheme includes that the self-balancing lifting platform comprises a frame with wheels, wherein the middle of the frame is provided with the self-balancing lifting platform, and the self-balancing lifting platform comprises a front lifter, a rear lifter and a lifting platform which is jointly supported by the two lifters, and the front lifter and the rear lifter are positioned on the frame; the lifting platform is provided with at least one front mechanical arm and a front tensioning assembly, the front tensioning assembly comprises a left telescopic bottom plate, a right telescopic bottom plate and a left tensioning arm group and a right tensioning arm group, the left telescopic bottom plate and the right telescopic bottom plate are respectively arranged in an upper sliding channel and a lower sliding channel which are positioned at the bottom of the lifting platform, the left tensioning arm group and the right tensioning arm group are arranged on the lifting platform, and the telescopic arms of the left tensioning arm group and the right tensioning arm group are respectively connected with the left telescopic. The invention has the advantages of simple structure, good operation adaptability, good working reliability, convenient operation, low detection cost and high overhaul efficiency.

Description

Dam runner maintenance platform with mechanical arm

Technical Field

The invention relates to the field of machinery, in particular to a dam flow channel maintenance platform with a mechanical arm.

Background

The high-speed water flow passes through the concrete surface of the runner, and the surface concrete can be continuously degraded due to the cavitation action of the water flow. And the high-speed sand-containing water flow continuously washes and grinds the surface of the concrete and can cause damage to the flow passage. (consequently need often overhaul the runner), because the runner slope is big, high, the distance that maintainer need remove when overhauing is far away, the physical demands is big and lack the protection, takes place danger easily, needs a neotype dam runner to overhaul the platform and solves above-mentioned problem now.

When the dam flow channel is overhauled, the dam flow channel is limited by overhauling conditions and overhauling environments, so that the dam flow channel is high in working strength, and an overhauling platform is usually erected in a large area to start overhauling operation again.

The method requires the participation of a plurality of people for maintenance, consumes a large amount of manpower and financial resources, and increases the engineering quantity along with the increase of the length of the flow passage, thereby increasing the maintenance cost. Meanwhile, the maintenance platform is erected in a large area and needs to be fixed in the runner, and the maintenance platform is dismantled after being completed, so that the quality of the runner bottom plate is damaged, and subsequent use is inconvenient.

Disclosure of Invention

The dam runner maintenance platform with the mechanical arm is simple in structure, convenient to move and maintain, good in operation adaptability, good in working reliability, convenient to operate, low in detection cost and high in maintenance efficiency.

The technical scheme includes that the self-balancing lifting platform comprises a frame with wheels, wherein the middle of the frame is provided with the self-balancing lifting platform, and the self-balancing lifting platform comprises a front lifter, a rear lifter and a lifting platform which is jointly supported by the two lifters, and the front lifter and the rear lifter are positioned on the frame; the lifting platform is provided with at least one front mechanical arm and a front tensioning assembly, the front tensioning assembly comprises a left telescopic bottom plate and a right telescopic bottom plate which are positioned in an upper sliding channel and a lower sliding channel at the bottom of the lifting platform, and a left tensioning arm group and a right tensioning arm group which are arranged on the lifting platform, and the telescopic arms of the left tensioning arm group and the right tensioning arm group are respectively connected with the left telescopic bottom plate and the right telescopic bottom plate in a corresponding mode.

The rear end of the frame is also provided with a rear operation platform, the rear operation platform is provided with at least one rear mechanical arm and a rear tensioning assembly, and the rear tensioning assembly is the same as the front tensioning assembly in structure.

The front end and the rear end of the frame are respectively provided with a front telescopic wheel and a rear telescopic wheel.

And a cable carrying mechanism is arranged at the front end of the frame.

And the frame is provided with a cable tightening device and a safety rope storage device.

And an attitude sensor for detecting the horizontal state of the lifting platform is arranged on the (self-balancing) lifting platform.

Has the advantages that:

(1) the front mechanical arm is arranged on the frame through the (self) balance lifting platform, so that the front mechanical arm can vertically move up and down on the frame under the driving of the (self) balance lifting platform, and the operation requirements of different height areas in a flow channel are met; the attitude sensor can detect the horizontal state of the lifting platform and feed back signals to the control device for (self-) balancing the lifting platform so as to control the lifting platform to be in the horizontal state, thereby being beneficial to flow channel operation.

(2) A rear operation platform is arranged at the rear end of the frame and used for installing a rear mechanical arm, so that the requirement of multi-point construction is met, and the working efficiency is improved;

(3) the front mechanical arm and the rear mechanical arm have the same structure and can completely or partially replace manual work to carry out construction operation, the telescopic arms of the tensioning arms are connected with the corresponding telescopic bottom plates, when the width of the runner changes, the telescopic arms of the left tensioning arm and the right tensioning arm are controlled to extend out to drive the left telescopic plate and the right telescopic plate to expand, and finally the end parts of the telescopic arms are abutted against the two side walls of the runner, so that a tensioning effect is formed, the working space is expanded, and the stability of the working platform is ensured;

(4) the front end and the rear end of frame are equallyd divide and do not are equipped with preceding, the back retractable wheel that has flexible function, and when meetting the exhaust ditch, preceding, back retractable wheel protractile cross the exhaust ditch and support downwards, guarantee to overhaul the platform and can normally pass through.

(5) The (self) balance lifting platform, the front telescopic operation basket, the front telescopic wheel and the rear telescopic wheel can be controlled to be in a telescopic state, and can be in a telescopic state in a non-operation state or when the front telescopic operation basket and the rear telescopic wheel are hoisted to enter and exit a runner, so that the minimum volume of a vehicle is ensured, and the safety and reliability are improved.

(6) The dam runner maintenance device is simple in structure, high in working efficiency, convenient to produce, assemble and maintain, good in operation adaptability, flexible and mobile, good in reliability, convenient to operate, capable of adapting to dam runner maintenance work in a complex environment and capable of improving maintenance efficiency, and the quality of a runner bottom plate is not affected.

Drawings

FIG. 1 is a general diagram of the present invention.

Fig. 2 is a partial installation schematic of the front robotic arm.

FIG. 3 is a partial installation schematic of the rear robotic arm.

Fig. 4 is an installation view of the front and rear retractable wheels.

The system comprises a frame 1, a self-balancing lifting platform 2, a front lifting machine 2.1, a rear lifting machine 2.2, a lifting platform 2.3, a front tensioning assembly 3, a left telescopic bottom plate 3.1, a right telescopic bottom plate 3.2, a left tensioning arm 3.3, a right tensioning arm 3.4, an upper slideway 4, a lower slideway 5, a rear operation platform 6, a rear tensioning assembly 7, a front telescopic wheel 8, a rear telescopic wheel 9, a cable hanging mechanism 10, a cable tightening device 11, a safety rope storage device 12, a posture sensor 13, a front mechanical arm 14 and a rear mechanical arm 15.

Detailed Description

The invention is further explained below with reference to the drawings in which:

referring to fig. 1, wheels are arranged at the bottom of a frame 1, a self-balancing lifting platform 2 is arranged in the middle of the frame 1, the self-balancing lifting platform 2 comprises a front lifter 2.1 and a rear lifter 2.2 which are fixed at the bottom of the frame 1, and a lifting platform 2.3 which is jointly supported by the two lifters, and a posture sensor 13 for detecting the horizontal state of the lifting platform is arranged on the lifting platform 2.3; referring to fig. 2, a front tensioning assembly 3 and two front mechanical arms 14 are arranged on a lifting platform 2.3, the front tensioning assembly 3 comprises a left telescopic bottom plate 3.1, a right telescopic bottom plate 3.2, a left group of tensioning arms 3.3, a right group of tensioning arms 3.3, and a right group of tensioning arms 3.4, the left telescopic bottom plate 3.1, the right telescopic bottom plate 3.2 are respectively positioned in an upper slideway 4, a lower slideway 5 of the lifting platform bottom 2.3 and can slide in the corresponding slideways, the slideways provide supporting force and guiding for the telescopic bottom plates to stretch, the left group of tensioning arms 3.3, the right group of tensioning arms 3.4 are fixed on the lifting platform 2.3, and the telescopic arms are connected with. Referring to fig. 3, a rear work platform 6 is further disposed at the rear section of the frame 1, a rear tensioning assembly 7 and two rear mechanical arms 15 are disposed on the rear work platform 6, and the structure of the rear tensioning assembly 7 is the same as that of the front tensioning assembly 3, which is not described herein.

The front end and the rear end of the frame 1 are respectively provided with a front telescopic wheel 8 and a rear telescopic wheel 9, when encountering an exhaust ditch, the front telescopic wheel 8 and the rear telescopic wheel extend out 9 to cross the exhaust ditch and support downwards, so that the vehicle can normally pass through. The front end of the frame 1 is provided with a cable mounting mechanism 10 for mounting with a construction vehicle. The frame 1 is also provided with a cable tightening device 11 which is internally provided with a winch, so that the automatic winding and unwinding of cables are facilitated, and power is supplied to all equipment of the platform; the frame 1 is provided with a safety rope storage device 12, and a winch is also arranged in the frame to facilitate the winding and unwinding of the safety rope, so that the stability of the platform in the flow channel is ensured. The elevator, the tensioning arm, the telescopic wheel and the like in the platform can be controlled by full electric control or electro-hydraulic control or other control driving modes, and the elevator, the tensioning arm, the telescopic wheel and the like can be reasonably selected by a person skilled in the art according to needs.

Before operation, all parts of the dam flow passage maintenance platform are in a contraction state, a traction rope of a tractor is hung on a cable hanging mechanism 10 on a frame, the platform is dragged to the side of a flow passage of an operation point by the tractor, and then the platform is hung in the flow passage by a crane; the safety line storage device 12 releases the safety line for fixation.

During operation, the self-balancing lifting platform 2 is controlled to rise to a required height, in the rising process, the attitude sensor 13 monitors the horizontal state of the lifting platform 2.3 in real time, a detection signal is sent to the control device in real time, the control device controls the front lifter 2.1 and the rear lifter 2.2 to adjust the rising speed and the rising attitude in real time, so that the lifting platform 2.3 is kept in the horizontal state, and then the left tensioning arm 3.3 and the right tensioning arm 3.4 are controlled to extend out until the left tensioning arm 3.5 and the right tensioning arm 3.6 prop against two side walls of a flow channel, the overhaul operation space is enlarged, and the front mechanical arm 14 can perform operation. Similarly, the rear work platform 6 can also perform the above operations as needed.

Claims

1. A dam flow passage maintenance platform with a mechanical arm comprises a frame with wheels and is characterized in that a self-balancing lifting platform is arranged in the middle of the frame and comprises a front lifter, a rear lifter and a lifting platform, wherein the front lifter, the rear lifter and the lifting platform are positioned on the frame and are jointly supported by the two lifters; the lifting platform is provided with at least one front mechanical arm and a front tensioning assembly, the front tensioning assembly comprises a left telescopic bottom plate and a right telescopic bottom plate which are positioned in an upper sliding channel and a lower sliding channel at the bottom of the lifting platform, and a left tensioning arm group and a right tensioning arm group which are arranged on the lifting platform, and the telescopic arms of the left tensioning arm group and the right tensioning arm group are connected with the corresponding left telescopic bottom plate and the corresponding right telescopic bottom plate respectively; the front end and the rear end of the frame are respectively provided with a front telescopic wheel and a rear telescopic wheel.

2. The dam runner inspection platform with mechanical arms of claim 1, wherein the rear end of the frame is further provided with a rear work platform, the rear work platform is provided with at least one rear mechanical arm and a rear tensioning assembly, and the rear tensioning assembly is identical in structure to the front tensioning assembly.

3. The dam runner servicing platform with mechanical arm of claim 1 or 2, wherein the front end of the frame is provided with a cable carrying mechanism.

4. The dam runner inspection platform with mechanical arm of claim 1 or 2, wherein the frame is provided with a cable tightening device and a safety rope storage device.

5. The dam runner repair platform with mechanical arm of claim 1, wherein the self-balancing elevating platform is provided with a posture sensor for detecting the horizontal state of the elevating platform.