CN106835909B

CN106835909B - Support type walking device and integral rotation method thereof

Info

Publication number: CN106835909B
Application number: CN201710157409.8A
Authority: CN
Inventors: 孙建龙; 胡进
Original assignee: Suzhou Hongying Engineering Equipment Technology Co ltd
Current assignee: Jiangyin Jiafei Industrial Co ltd
Priority date: 2017-03-16
Filing date: 2017-03-16
Publication date: 2022-06-03
Anticipated expiration: 2037-03-16
Also published as: CN106835909A

Abstract

The application discloses a posture running gear, including first track, second track and span beam, span beam extends along the first direction, span beam's both ends support respectively in on first track and the second track, span beam is portable along first track and second track direction, it has the work portion to support on the span beam, and this work portion is relative span beam is portable on the first direction, the work portion is including strickleing the vibration head, strickle the vibration head and be located span beam's below, first track is relative span beam is rotatable in the horizontal plane, and can overturn in vertical plane, the second track is relative span beam is rotatable in the horizontal plane, and can overturn in vertical plane. The invention also discloses an integral rotation method of the bracket type walking device, which realizes the rotation of the device through a two-step method. The walking device has the advantages of large span, small ground pressure, high stability (adapting to a rough road surface) and flexible walking.

Description

Support type walking device and integral rotation method thereof

Technical Field

The application relates to a support type walking device for undulating ground construction or detection, which is mainly applied to the technical fields of factory floor construction, road or bridge surface concrete (cement) pavement, agricultural flat ground construction and the like.

Background

The structure of various engineering machines and construction equipment mainly comprises a frame and a working part. Wherein the frame part needs to realize functions such as transportation, construction transition and the support and the direction of work portion of vehicle, and good frame structural design must guarantee that the whole removal is nimble, adapt to rugged ground, support stable and accurate to work portion. On the basis of the above, the mechanical structure should be designed as simply, reliably, efficiently and inexpensively as possible, and simultaneously, the simplification of auxiliary structures and personnel operation should be realized to the greatest extent.

For small and medium-sized construction equipment, taking pavement (or factory) concrete paving equipment as an example, the frame is particularly important for stably supporting and guiding the working part. The working part of concrete construction usually consists of an auger, a vibrating plate and a leveling control mechanism, and usually has larger weight, the leveling control mechanism usually adopts an electric control hydraulic system, and the response speed of the hydraulic control system is usually slower. When the posture of the vehicle body jolts and shakes, the leveling control effect is greatly influenced.

The existing concrete paving equipment mainly comprises the following types:

track span beam type

Chinese patent applications CN01238311.2 and CN201520819529.6 each disclose a paving screed comprising two and three roll-shaft screeds running along a paving track, and two roll-shaft screeds already on a guardrail or track.

The main advantages of this structural solution are: for the road surface and the bridge floor with fixed width, the construction efficiency is extremely high. The support span is large, the posture of the vehicle body is stable, the rail supports the working part stably and accurately, and good construction precision, such as pavement flatness, can be obtained.

The main problems are as follows: 1. the steel mould needs to be laid in advance to be used as a track for the vehicle to run, and extra labor and materials are consumed. 2. The flexibility is poor. The equipment can only move linearly along the length direction of the road surface, the paving width is difficult to adjust, and the equipment is not suitable for construction on the road surface of a curve and in a factory.

Two, whole vehicle carried type

The model is mainly represented by a model S-840 model of the American Syngnathus Somero company, a model M-3000 model of the British Mannmaripav company and the like. The working part moves integrally with the frame, and the moving mode is usually a motor-driven wheel type (or crawler type). Corresponding patents include US8038366 and US 7559719.

The main problems are as follows: 1. the span of the wheel base and the wheel base of the vehicle body is small, the posture of the vehicle frame on a rough road surface changes violently, the accurate work of a working part is not facilitated, and the construction quality is influenced. 2. When the construction is carried out on the working surface of the reinforcing mesh or the soft roadbed, the working surface is sunken, and the vehicle runs more bumpy. To avoid the working face from sinking, reinforcement measures can be taken, which inevitably increases the construction costs. 3. The construction efficiency is low. When the working surface is wide, the reciprocating travel is required to be performed many times, and ruts are easily left on the finished surface.

Three, half vehicle-mounted + floating type

Representative of the Copperhead and ministered vehicle models by the American Syngnathus corporation. The main weight of the frame is borne by the wheel shaft, the vibration plate is used as an auxiliary support, and the vibration plate is semi-rigidly connected with the frame main body. Because the concrete has larger viscosity and the vibrating plate has larger area, the vibrating plate can obtain certain support when floating on the concrete. The main advantages of this arrangement are: the span of the frame is increased, and the posture change of the vehicle running on the rough road surface is reduced. The working part of the equipment is close to the vibrating plate and is close to the ground, thus being beneficial to realizing high-precision leveling control. Related patents include: US7850396, US7407339, US5129803, US4752156, US 20100183369.

The main problems are as follows: 1. the bearing capacity of floating supports such as vibrating plates is limited, heavy working parts such as packing augers and the like cannot be supported for a long time, and when the cement viscosity is high and the pavement cement thickness is large, the construction quality is difficult to guarantee. 2. There is still a limitation of low construction efficiency.

Four, vehicle-mounted cantilever type

Represented by the T250 telescopic-arm paver of the american dragon somero company. The structure of the crane body is basically similar to that of a telescopic boom crane, and the working part is positioned at the tail end of the telescopic boom. Its main advantage lies in that the automobile body is motionless during the construction, and flexible arm can provide stable support and accurate direction for the motion of work portion. Related patents include US 4655633.

The main problems are as follows: 1. the cost is high 2, the vehicle body structure is heavy, and the construction surfaces such as the reinforcing mesh or the soft roadbed and the like are easy to damage. 3. The working part is positioned at the outer side of the frame, and the equipment has to have a wide rotating space during construction, so the flexibility is limited to a certain extent.

Five, moving bracket type

Take utility model CN201620579227.0 as representative, it takes the track span beam formula as the basis, and the main improvement is embodied in: the frame is provided with a track without laying the track in advance; the working part is provided with a floor lifting mechanism, and when the lifting mechanism lifts the working part and the frame connected with the working part, the rail is suspended and can move forwards relative to the frame, so that the integral advance of the vehicle body can be realized.

The main problems are as follows: 1. when the rails and the bridge are moved by the working part lift mechanism, since the support span of the working part lift mechanism is very small (about 2 meters), the vehicle body is liable to be inclined to one side and to touch the ground, even topple. This problem is significant because the length of the bridge and track is long (about 10 meters). To overcome this problem, it is conceivable to considerably increase the support span of the working part lifting mechanism, but this obviously reduces the displacement stroke of the working part. 2. The rotation of the angle of the vehicle body cannot be achieved. Due to the limitation of the arrangement direction of the rails, the vehicle body can only move horizontally in the front-back direction and the left-right direction, and the construction of oblique crossing roads, curved roads and irregular area areas is difficult to complete. 3. The track and the span beam are only connected by adopting a sliding pair, and the adaptability to the undulating construction surface is not enough. On a rugged road surface, the tracks on the two sides cannot be parallel and coplanar, and when the cross beam runs along the tracks, if the driving force is insufficient, slipping or jamming is easy to occur; if the driving force is sufficient, the span beam can drag the track, so that the vehicle body shakes, and the construction quality is affected. 4. During operation, the support does not have leveling and height adjusting functions. To overcome this problem, a self-leveling support structure may be used for the two side rails, so that the two side rails are parallel and coplanar, but this obviously results in increased system complexity and cost.

By combining the analysis, the frame structure scheme of the existing equipment is difficult to simultaneously obtain the advantages of large span, small ground pressure, high stability (adapting to the rough road surface) and flexible walking.

Disclosure of Invention

The invention aims to provide a support type walking device to overcome the defects in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

the embodiment of the application discloses a posture running gear, including first track, second track and span beam, span beam extends along first direction, span beam's both ends support respectively in on first track and the second track, span beam is portable along first track and second track direction, it has the working part to support on the span beam, and this working part is relative span beam is portable on first direction, the working part is including strickleing the vibration head, strickle the vibration head and be located span beam's below, first track is relative span beam is rotatable in the horizontal plane, the second track is relative span beam is rotatable in the horizontal plane.

Preferably, in the above-mentioned outrigger type traveling apparatus, the first rail may be turned in a vertical plane with respect to the bridge, and/or

The second track is tiltable in a vertical plane relative to the bridge.

Preferably, in the above-mentioned rack-type traveling device, a first adapter is supported between the first rail and the cross beam, the first adapter includes a first upper plate and a first lower plate which are disposed opposite to each other in an up-down direction, a first spatial rotation device is supported between the first upper plate and the first lower plate, the first upper plate is rotatable in a horizontal plane and is turnable in a vertical plane with respect to the first lower plate, the first lower plate is supported on the first rail and is movable along the first rail, and the first upper plate is connected below the cross beam.

Preferably, in the above-mentioned support-type traveling device, a sliding rail and a sliding block are provided between the first lower plate and the first rail, the sliding block is provided with a groove for accommodating the sliding rail, and a roller is further provided between the first lower plate and the first rail, the roller being at least formed on one side of the sliding rail.

Preferably, in the above-described leg type traveling apparatus, a first stopper is provided between the first upper plate and the first lower plate, and the first stopper extends and contracts to restrict a rotation angle of the first upper plate in a horizontal plane and to position the first upper plate at a specific rotation angle.

Preferably, in the above-described rack-type traveling apparatus, a second stopper is provided between the first upper plate and the first lower plate, and the second stopper extends and retracts to restrict an angle at which the first upper plate is turned and to position the first upper plate at a specific inclination angle.

Preferably, in the above-mentioned support-type traveling device, a second adapter is supported between the second rail and the cross beam, the second adapter includes a second upper plate and a second lower plate which are vertically arranged, a bearing is arranged between the second upper plate and the second lower plate, the second upper plate is rotatable in a horizontal plane relative to the second lower plate, the second lower plate is supported on the second rail and is movable along the second rail, and the second upper plate is connected below the cross beam.

Preferably, in the above-described rack-type traveling device, a middle plate is disposed between the second upper plate and the second lower plate, the bearing is supported between the middle plate and the lower plate, a guide rail is disposed between the middle plate and the second upper plate, and the second upper plate is movable in a first direction with respect to the middle plate.

Preferably, in the above-mentioned support-type traveling device, a slide rail and a slide block are provided between the second lower plate and the second rail, the slide block is provided with a groove for accommodating the slide rail, and a roller is further provided between the second lower plate and the second rail, the roller being formed at least on one side of the slide rail.

Preferably, in the above-described rack-type traveling apparatus, a third stopper is provided between the second upper plate and the second lower plate, and the third stopper extends and retracts to restrict a rotation angle of the middle plate in a horizontal plane and to position the middle plate at a specific rotation angle.

Preferably, in the above-described rack-type traveling apparatus, a fourth stopper is provided between the second upper plate and the second lower plate, and the fourth stopper extends and contracts to restrict a range of movement of the middle plate in the first direction and to position the middle plate at a specific position in the first direction.

Preferably, in the above-described outrigger type traveling apparatus, the first rail is movable in a first direction with respect to the bridge, and/or

The second track is movable in a first direction relative to the bridge.

Preferably, in the above-mentioned support-type traveling device, the first trolley and the second trolley are arranged on the cross beam, the first trolley and the second trolley are movable in a first direction relative to the cross beam, the first trolley and the second trolley are respectively located at two sides of the working portion, and first support legs are respectively arranged below the first trolley, the second trolley and the working portion, and are foldable or retractable.

Preferably, in the above-described leg type traveling apparatus, a second support leg is provided below the first rail and the second rail, and the second support leg is foldable or retractable.

The application also discloses an integral rotating method of the support type walking device, which comprises the following steps:

s1, the second supporting leg is supported on the ground, the first track and the second track are kept static, and two ends of the span beam respectively slide along the first track and the second track independently, so that the span beam is arranged at a required angle in a horizontal plane;

s2, the first trolley, the second trolley and the first support leg below the working part, wherein one or more of the first support leg and the second support leg are supported on the ground;

s3, keeping the bridge beam still, rotating the first track and the second track to make the bridge beam perpendicular to the first track and the second track respectively;

s4, the first rail and the second rail respectively move to the construction position along the extending direction;

s5, the second support leg is supported on the floor, and all the first support legs are lifted off the ground.

Compared with the prior art, the invention has the advantages that: the walking device has the advantages of large span, small ground pressure, high stability (adapting to a rough road surface) and flexible walking.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic perspective view of a stand-type walking device according to an embodiment of the present invention;

FIG. 2 is an exploded perspective view of a first adapter in accordance with an embodiment of the present invention;

FIG. 3 is an exploded perspective view of a second adapter in accordance with an embodiment of the present invention;

FIG. 4 is a schematic structural view of a driving mechanism of a working portion according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the mechanical degrees of freedom of the running gear according to an embodiment of the present invention;

FIG. 6 is a schematic view of the operation flow of the traveling device along the length of the bridge according to the embodiment of the present invention;

fig. 7 is a schematic view illustrating the overall rotation of the walking device according to an embodiment of the present invention.

Detailed Description

The invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed embodiment.

Referring to fig. 1, the leg type traveling device includes a first track 1, a second track 2 and a bridge 3, the bridge 3 extends along a first direction, two ends of the bridge 3 are respectively supported on the first track 1 and the second track 2, the bridge 3 is movable along the first track 1 and the second track 2, a working portion 4 is supported on the bridge 3, the working portion 4 is movable in the first direction relative to the bridge 3, the working portion 4 includes a scraping vibration head 41, and the scraping vibration head 41 is located below the bridge 3.

Under the state of general construction, the span beam is basically perpendicular to the first track and the second track, the two ends of the span beam can slide along the extending direction of the first track and the second track to drive the working part to realize longitudinal pavement construction, and the working part moves along the span beam to realize transverse pavement construction.

The length of the bridge can be selected according to the actual situation, for example: when the full-width pavement is needed, the length of the span beam is more than or equal to the width of a surface to be paved; when half-width construction is needed, the length of the span beam is more than or equal to half of the width of the surface to be paved; of course, the length of the span beam can be specifically set according to other construction conditions according to specific conditions.

The bridge may have a variety of options, for example: the small units are spliced to form the integral span beam, so that when the length of the span beam is required to be adjusted according to actual conditions, the span beam can be realized by disassembling the small units; of course the bridge may also be a single piece.

Typically, the length of the bridge 3 covers the width of the road surface in order to obtain a good working efficiency, typically 12 meters. The length of the track is relatively short to facilitate transport and storage, typically 4 metres.

In a preferred embodiment, the span beam is spliced in multiple sections to facilitate length adjustment and transportation and storage. The length of the middle section is about 3 meters, and the number of the middle sections can be freely selected according to the width of the operation surface when the device is built on site.

The span beam can be a truss beam, a box beam or a honeycomb beam, etc.; the material can be steel, industrial aluminum profile, and the like; of course, a combination of the above beams is also possible, for example: the combination of the truss girder and the box girder, the combination of the truss girder and the honeycomb girder or the combination of the box girder and the honeycomb girder, and even the combination of the truss girder, the box girder and the honeycomb girder; it should be noted that the connection mode between the beams may be a detachable connection or a fixed connection, for example: bolted or welded, etc.

In one embodiment, the first track 1 is rotatable in a horizontal plane with respect to the bridge 3, and the second track 2 is rotatable in a horizontal plane with respect to the bridge 3.

In some embodiments, one of the first rail and the second rail is rotatable in a horizontal plane relative to the bridge.

In an embodiment, the first track 1 is turnable in a vertical plane with respect to the bridge 3 and/or the second track 2 is turnable in a vertical plane with respect to the bridge 3.

In the technical scheme, any one of the first track and the second track can be overturned relative to the span beam, and the two tracks can also be overturned relative to the span beam.

In a preferred embodiment, as shown in fig. 2, a first connecting member 5 is supported between the first track 1 and the bridge 3, the first connecting member 5 includes a first upper plate 51 and a first lower plate 52 which are oppositely disposed, a first spatial rotating device, preferably a ball bearing 53, is supported between the first upper plate 51 and the first lower plate 52, the first upper plate 51 is rotatable in a horizontal plane and is turnable in a vertical plane relative to the first lower plate 52, the first lower plate 52 is supported on the first track 1 and is movable along the first track 1, and the first upper plate 51 is connected below the bridge 3.

Further, a sliding rail 54 and a sliding block 55 which are matched with each other are arranged between the first lower plate 52 and the first rail 1, a groove for accommodating the sliding rail 54 is formed in the sliding block 55, and a roller 56 is further arranged between the first lower plate 52 and the first rail 1, wherein the roller 56 is at least formed on one side of the sliding rail.

In this technical scheme, the sliding connection of first track and first adaptor adopts the form of slider + gyro wheel, has its advantage to include at least:

1. on the premise of ensuring the precision, the cost is reduced, and the bearing capacity is improved. In the construction state of the device, the sliding connection needs to bear the huge weight on the span beam, and the roller and the sliding block bear together, so that the abrasion of the sliding block-guide rail precision part can be reduced. In the moving state of the device, the sliding connection only needs to bear the smaller weight of the track, which is mainly borne by the sliding block, and the roller is separated from the upper surface of the track due to the gap.

2. And the maintenance is convenient. The cylindrical guide rail is adopted, and the supporting surface of the roller is also a complete plane on the track, so that the contaminated cement in the construction process can be cleaned more conveniently. This is clearly superior to the common solution of sliding coupling-U-rollers or U-runners.

Further, a first stopper 57 is provided between the first upper plate 51 and the first lower plate 52, and the first stopper 57 extends and contracts to restrict a rotation angle of the upper plate in a horizontal plane and to position the upper plate at a specific rotation angle.

Among this technical scheme, first locating part 57 includes 4 horizontal angle ejector pins, and these 4 horizontal angle ejector pin symmetric distribution are 59 both sides of double riser, and when the horizontal angle ejector pin stretched out and withstood the double riser of upper plate, spherical pair horizontal angle was zero degree. When the horizontal angle ejector rod retracts, the spherical pair has a horizontal rotation angle range.

Further, a second stopper 58 is disposed between the first upper plate 51 and the first lower plate 52, and the second stopper 58 extends and contracts to limit the turning angle of the first upper plate 51 and position the first upper plate 51 at a specific inclination angle.

In this embodiment, the second limiting member 58 includes 4 vertical angle push rods, the 4 vertical angle push rods are vertically installed at four vertex angles of the first lower plate 52, and when the vertical angle push rods extend out and push against the bottom surface of the upper plate, the vertical pivot angle of the spherical pair is zero degree. When the vertical angle mandril retracts, the spherical pair has a vertical swing angle range.

Further, a double vertical plate 59 is fixedly connected below the first upper plate 51, and the double vertical plate 59 is fixedly connected with the inner ring of the ball bearing 53 through a mandrel. The lower plate is fixedly connected with the outer ring of the ball bearing 53 through the base of the ball bearing. Thereby, the first upper plate 51 and the first lower plate 52 are coupled by a spherical revolute pair.

In some embodiments, the first track 1 is movable in a first direction relative to the bridge 3.

In a preferred embodiment, as shown in fig. 3, a second adaptor 6 is supported between the second rail 2 and the bridge 3, the second adaptor includes a second upper plate 61 and a second lower plate 62 which are arranged up and down, a bearing 63 is arranged between the second upper plate 61 and the second lower plate 62, the second upper plate 61 is rotatable in a horizontal plane relative to the second lower plate 62, the second lower plate 62 is supported on the second rail 2 and is movable along the second rail 2, and the second upper plate 61 is connected below the bridge 3.

Further, an intermediate plate 64 is provided between the second upper plate 61 and the second lower plate 62, a bearing 63 is supported between the intermediate plate 64 and the second lower plate 62, a guide rail 641 is provided between the intermediate plate 64 and the second upper plate 61, and the second upper plate 61 is movable in the first direction with respect to the intermediate plate 64.

In this technical solution, the upper plate and the middle plate are connected by a sliding pair, and the sliding pair is implemented by a sliding block and a guide rail 641. The moving direction is a longitudinal direction (first direction) of the bridge. The middle plate and the lower plate are connected by a horizontal revolute pair. Specifically, the middle plate is fixedly connected to the outer ring of the bearing 63, and the lower plate is fixedly connected to the inner ring of the bearing 63. A typical implementation of the bearing 63 is a pair of conical roller bearings mounted back-to-back.

In order to avoid the complexity of the mechanism being too concentrated in a certain part, it is preferable to place the sliding pair between the second adapter and the bridge, in series with the horizontal revolute pair. Because the transverse supporting span of the track is small, in order to avoid overturning when the second track supports the span beam, the sliding pair is preferably close to the span beam, and the horizontal rotating pair is close to the second track.

In some embodiments, the middle plate may not be provided, and the bridge and the second adaptor may be relatively fixed.

Further, a sliding rail 65 and a sliding block 66 which are matched with each other are arranged between the second lower plate 62 and the second rail 2, a groove for accommodating the sliding rail is formed in the sliding block 66, and a roller is further arranged between the second lower plate 62 and the second rail 2 and at least formed on one side of the sliding rail.

In this technical scheme, the sliding connection of second track and second adaptor adopts the form of slider + gyro wheel, has its advantage to include at least:

Further, a third stopper 68 is provided between the second upper plate 61 and the second lower plate 62, and the third stopper 68 extends and contracts to limit the rotation angle of the middle plate 64 in the horizontal plane and to position the middle plate 64 at a specific rotation angle.

The outer race of the bearing 63 has associated therewith a transversely extending wing 631. The third limiting member 68 includes 4 horizontal angle push rods, and the 4 horizontal angle push rods are symmetrically distributed on two sides of the wing plate 631. When the horizontal angle mandril extends out and clamps the wing plate, the rotation angle of the horizontal rotation pair is limited to zero degree. When the horizontal angle ejector rod retracts, the horizontal rotating pair has a horizontal rotating angle range.

Further, a fourth stopper 69 is provided between the second upper plate 61 and the second lower plate 62, and the fourth stopper 69 extends and contracts to limit the range of movement of the middle plate 64 in the first direction and to position the middle plate 64 at a specific position in the first direction.

The fourth limiting member 69 includes 4 horizontal position push rods, the 4 horizontal position push rods are symmetrically distributed on two sides of the middle plate, and when the horizontal position push rods extend out and push against the middle plate, the sliding pair is located at the middle position. When the ejector rod retracts in the horizontal position, the sliding pair has a certain horizontal range.

As shown in fig. 1, the working unit 4 further includes a frame 44, a driving mechanism 42, a horizontal adjustment telescopic rod 45 (two), and a horizontal detection sensor 46. The level detection sensor 46 has a longer support bar to achieve a higher working height for receiving the sweeping reference beam to avoid being blocked. The working principle is mature, and the scheme is not repeated.

As shown in fig. 4, the driving mechanism of the working unit 4 specifically includes a sprocket 421 (driven by a motor, not shown), a tension pulley 423 (two left and right), and a pulley 422. The chain wheel 421 realizes the transmission with the chain 33 on the span beam. The pulley 422 can roll along the rails 32 (two up and down) on the bridge 3. The pulley 422 has a U-shaped cross section to prevent disengagement from the rail 32. In the device-operating state, the pulley 422 is mainly in contact with the lower strip of the rail 32. In the device moving state, the pulley 422 is mainly in contact with the upper strip of the rail 32.

The transmission mode of the chain and the chain wheel is easy to splice, because the chain is only arranged and fixed at the head and the tail of the span beam, the middle section does not need to be additionally fixed.

Referring to fig. 1, a first trolley 34 and a second trolley 35 are arranged on the bridge 3, the first trolley 34 and the second trolley 35 are movable in a first direction relative to the bridge 3, the first trolley 34 and the second trolley 35 are respectively located on two sides of the working portion, support legs 7 are respectively arranged below the first trolley 34, the second trolley 35 and the working portion 4, and the support legs 7 can be folded or stretched. The landing support of the bridge 3 can be realized by the support legs 7.

Further, support legs 8 are provided below the first rail 1 and the second rail 2.

The supporting legs 8 preferably adopt rib plates, when the rails are supported, the rib plates are inserted into cement, the rib plate type design has a relatively large supporting range and a relatively small sectional area, stable support can be obtained, and holes left when the rails are extracted from the cement are easy to close and fill.

In other embodiments, the support rib plates under the first rail and the second rail can be changed into other structures, so that different working conditions can be adapted. For example, in one embodiment, the support rib plates are in the form of clamping claws, and the clamping claw type support legs can be arranged on the ground or on a guardrail of an elevated bridge floor, so that the damage to a steel bar mesh of the road surface can be avoided. In another embodiment, the columnar support rib plates are changed into a large-area bottom plate, and the pressure when the device falls on the steel bar net is small (the contact surface with the steel bar net is large), so that the device is small in breakage.

In the technical scheme, the first trolley, the second trolley and the working part are driven by independent power sources and can move along the length direction of the span beam 1.

When the walking device is in a construction state, and the vertical support rods of the working part 4, the first trolley 34 and the second trolley 35 are all retracted, the weight of the whole device is supported by the first track and the second track in a floor mode, the working part 4, the first trolley 34 and the second trolley 35 are hung on the cross beam 3, and the device is in the construction state at the moment. The working part 4 is movable along the length of the bridge 3, and the working part 4 is movable along the length of the first rail and the second rail together with the bridge 3. The breadth of a single construction depends on the length of the span 3 and the length of the first rail (or the second rail).

The degree of freedom of the operation of the traveling device will be described with reference to fig. 5:

in a construction state, five components, namely the cross beam 3, the first track 1, the second track 2, the first adapter 5 and the second adapter 6, form a movement mechanism body of the device, and the first track 1 and the second track 2 can be regarded as a frame (also called as a ground).

As shown in fig. 5 a). The calculation shows that the mechanical degree of freedom of the whole device is equal to 2 at the moment. In an application, the first and second adapters 5, 6 may slide independently along the first and second rails 1, 2, respectively, such that the bridge 3 may be at various angles to the rails, with a typical value of 90 ± 20 °.

As shown in fig. 5 b). Therefore, the construction flexibility can be obtained, and the construction method is suitable for working conditions of inclined crossing roads, curved pavements and the like. In the second application, the first rail 1 and the second rail 2 may be disposed non-parallel, that is, they may form an included angle in a horizontal plane, or form a spatial included angle, typically ± 20 °, and at this time, the bridge 3 may still freely move back and forth along the rails.

As shown in fig. 5 c). Whereby stability of the device and good adaptability to rough road surfaces can be obtained.

The apparatus can achieve a global movement along the length of the track, and a typical workflow is illustrated as follows:

the initial state of the device is a construction state;

firstly, any one or more of the working part 4, the first trolley 34 and the second trolley 35 extends out of the vertical supporting rod, the device is supported by the extended vertical supporting rod in a ground way, and the first track 1 and the second track 2 are suspended at the moment;

in a second step, the first rail 1 and the second rail 2 are moved forward relative to the first adapter 5 and the second adapter 6. The vertical support rod retracts, and the device is supported by the first rail 1 and the second rail 2 in a floor mode. Due to the connection mode of the spherical bearing, when the first track 1 moves relative to the first connecting piece 5, one end of the first track is easy to fall to the ground, so that the vertical angle supporting rod can be extended out to enable the first track to be kept horizontal.

Referring to fig. 6, the device can move along the length of the bridge, and a typical work flow is illustrated as follows:

the initial state of the device is a construction state;

in a first step, the first carriage 34, the working part 4 and the second carriage 35 are moved to the left, middle and right ends of the bridge 3, respectively. The working part 4 and the second trolley 35 extend the vertical support rod, the device is supported by the extended vertical support rod in a floor mode, and the first rail 1 and the second rail 2 are suspended at the moment, as shown in fig. 6 a);

in the second step, the power sources of the working part 4 and the second trolley 35 are driven simultaneously (or one is driven, the other is powered off), and the first rail 1, the second rail 2, the first adapter 5, the second adapter 5, the first trolley 34 and the bridge 3 move to the right side, as shown in fig. 6 b);

in a third step, the aforesaid vertical support bars are retracted, the device is supported on the ground by the first track 1 and the second track 2, and the work portion 4 and the second trolley 35 are returned to the initial position, as shown in fig. 6 c). Without the counterweight, the maximum distance of a single movement of the device is about half the span of the bridge.

As shown in fig. 7, the device can realize integral rotation, and a typical work flow is illustrated as follows:

the initial state of the device is the construction state, and the first limiting member 57 on the first adaptor 5 and the third limiting member 68 on the second adaptor 6 are both retracted, thereby allowing the corresponding revolute pair to have a horizontal rotation angle range. The third limiting member 68 on the second adaptor 6 retracts, thereby allowing the corresponding sliding pair to have a forward and backward movement range, as shown in fig. 7 a);

in a first step, the first adaptor 5 and the second adaptor 6 slide independently along the first track 1 and the second track 2, respectively, so that the bridge 3 is swung at a desired angle and the center of the bridge 3 is located at a desired position, as shown in fig. 7 b);

secondly, any one or more of the working part 4, the first trolley 34 and the second trolley 35 extends out of the supporting leg 7, the device is supported by the extending supporting leg 7 falling to the ground, at the moment, the first rail 1 and the second rail 2 are suspended, and at the moment, the top view is completely the same as that in the figure 7 b);

in a third step, the first limiting member 57 on the first adaptor 5 and the third limiting member 68 on the second adaptor 6 both extend out, so that their respective corresponding revolute pairs rotate to 'zero degrees', and accordingly the first rail 1 and the second rail 2 are both perpendicular to the bridge 3. The third stop 68 on the second adaptor 6 extends out so that the corresponding moving pair is located in the middle position (the slider is located in the middle of the guide rail) for the next rotation operation, as shown in fig. 7 c).

Fourthly, the first track 1 and the second track 2 are respectively hung under the first adaptor 5 and the second adaptor 6 and respectively and independently move, so that the first adaptor 5 and the second adaptor 6 are respectively positioned in the middle of the first track 1 and the second track 2, as shown in fig. 7c) and d);

fifthly, the supporting legs 7 of the working part 4, the first trolley 34 and the second trolley 35 are all retracted, the weight of the whole set of device is supported by the supporting legs 8 of the first track 1 and the second track 2 in a floor mode, and the device enters the construction state again at the moment.

The aspects, embodiments, features and examples of the present invention should be considered as illustrative in all respects and not intended to be limiting of the invention, the scope of which is defined only by the claims. Other embodiments, modifications, and uses will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.

The use of headings and sections in this application is not meant to limit the invention; each section may apply to any aspect, embodiment, or feature of the disclosure.

Throughout this application, where a composition is described as having, containing, or comprising specific components or where a process is described as having, containing, or comprising specific process steps, it is contemplated that the composition of the present teachings also consist essentially of, or consist of, the recited components, and the process of the present teachings also consist essentially of, or consist of, the recited process steps.

In this application, where an element or component is referred to as being included in and/or selected from a list of recited elements or components, it is understood that the element or component can be any one of the recited elements or components and can be selected from a group consisting of two or more of the recited elements or components. Moreover, it should be understood that elements and/or features of the compositions, apparatus, or methods described herein may be combined in various ways, whether explicitly described or implicitly described herein, without departing from the spirit and scope of the present teachings.

Unless specifically stated otherwise, use of the terms "comprising", "including", "having" or "having" is generally to be understood as open-ended and not limiting.

The use of the singular herein includes the plural (and vice versa) unless specifically stated otherwise. Furthermore, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. In addition, where the term "about" is used before a quantity, the present teachings also encompass the particular quantity itself, unless specifically stated otherwise.

It should be understood that the order of steps or order in which certain actions are performed is not critical, so long as the present teachings remain operable. Further, two or more steps or actions may be performed simultaneously.

It is to be understood that the figures and descriptions of the present invention have been simplified to illustrate elements that are relevant for a clear understanding of the present invention, while eliminating, for purposes of clarity, other elements. However, those skilled in the art will recognize that these and other elements may be desirable. However, because such elements are well known in the art, and because they do not facilitate a better understanding of the present invention, a discussion of such elements is not provided herein. It should be understood that the figures are presented for illustrative purposes and not as construction diagrams. The omission of details and modifications or alternative embodiments is within the scope of one skilled in the art.

It is to be understood that in certain aspects of the invention, a single component may be replaced by multiple components and that multiple components may be replaced by a single component to provide an element or structure or to perform a given function or functions. Except where such substitution would not operate to practice a particular embodiment of the invention, such substitution is considered within the scope of the invention.

While the invention has been described with reference to illustrative embodiments, it will be understood by those skilled in the art that various other changes, omissions and/or additions may be made and substantial equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims. Moreover, unless specifically stated any use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another.

Claims

1. A support type walking device is characterized by comprising a first track, a second track and a bridge, wherein the bridge extends along a first direction, two ends of the bridge are respectively supported on the first track and the second track, the bridge can move along the first track and the second track, a working part is supported on the bridge and can move in the first direction relative to the bridge, the working part comprises a scraping vibration head, the scraping vibration head is positioned below the bridge, the first track can rotate in a horizontal plane relative to the bridge, the second track can rotate in the horizontal plane relative to the bridge,

a second adapter is supported between the second track and the span beam and comprises a second upper plate and a second lower plate which are arranged up and down, a bearing is arranged between the second upper plate and the second lower plate, the second upper plate can rotate in a horizontal plane relative to the second lower plate, the second lower plate is supported on the second track and can move along the second track, and the second upper plate is connected below the span beam,

a middle plate is arranged between the second upper plate and the second lower plate, the bearing is supported between the middle plate and the second lower plate, a guide rail is arranged between the middle plate and the second upper plate, and the second upper plate can move in a first direction relative to the middle plate;

a third limiting part is arranged between the second upper plate and the second lower plate, and the third limiting part stretches and retracts to limit the rotation angle of the middle plate in the horizontal plane and position the middle plate at a specific rotation angle, and/or

A fourth limiting piece is arranged between the second upper plate and the second lower plate, and the fourth limiting piece stretches and retracts to limit the moving range of the middle plate in the first direction and position the middle plate at a specific position in the first direction;

a first transfer piece is supported between the first track and the span beam and comprises a first upper plate and a first lower plate which are arranged oppositely up and down.

2. The outrigger walking device of claim 1, wherein: the first track is turnable in a vertical plane with respect to the bridge, and/or

The second track is tiltable in a vertical plane relative to the bridge.

3. The outrigger walking device of claim 1 or 2, wherein: a first space rotating device is supported between the first upper plate and the first lower plate, the first upper plate can rotate in a horizontal plane and can turn in a vertical plane relative to the first lower plate, the first lower plate is supported on the first track and can move along the first track, and the first upper plate is connected below the cross beam.

4. The outrigger walking device of claim 3, wherein: a first limit part is arranged between the first upper plate and the first lower plate, the first limit part stretches to limit the rotation angle of the first upper plate in the horizontal plane and position the first upper plate at a specific rotation angle, and/or

And a second limiting piece is arranged between the first upper plate and the first lower plate, and the second limiting piece stretches to limit the overturning angle of the first upper plate and position the first upper plate at a specific inclination angle.

5. The outrigger walking device of claim 1, wherein: the novel movable cross beam is characterized in that a first trolley and a second trolley are arranged on the cross beam, the first trolley and the second trolley are opposite to the cross beam and can move in the first direction, the first trolley and the second trolley are located on two sides of the working portion respectively, first supporting legs are arranged below the first trolley, the second trolley and the working portion respectively, second supporting legs are arranged below the first rail and the second rail, and the first supporting legs and the second supporting legs are foldable or telescopic.

6. The method of integrally rotating a stand type traveling apparatus according to claim 5, comprising the steps of:

s3, the span beam is kept static, and the first track and the second track are rotated to enable the span beam to be perpendicular to the first track and the second track respectively;

s4, the first rail and the second rail are respectively and independently moved to the construction position along the extending direction;