CN107827032B - An underground pipe gallery transport vehicle - Google Patents

Abstract

The invention discloses an underground pipe gallery carrier, and belongs to the technical field of design and manufacture. Comprises a travelling mechanism, a lifting mechanism and a clamping mechanism. The walking motor is fixed below two sides of the chassis and is provided with wheels. The universal ball and the bracket thereof are fixed at the front part of the chassis; the stepping motor is connected with the driving shaft through a coupler, a stand column is arranged between the upper box body and the lower box body, the hemispherical rollers are arranged on cantilever supports on the front surfaces of the stand column, and sliding rails are arranged on two sides of the stand column; the synchronous belt penetrates through the upright post cavity to be meshed with synchronous pulleys in the two box bodies, a lifting block provided with a cylindrical cam is connected with the synchronous belt, and a torsion spring is arranged between the lifting block and the cylindrical cam. The end part of the driving shaft is provided with a small bevel gear meshed with a large bevel gear at one end of the driven shaft, and the other end of the driven shaft is provided with a combined cam; two clamping tables are arranged on the right side of the chassis, and trapezoidal blocks are arranged beside the clamping tables; each clamping table is provided with a clamping block, the clamping blocks are fixedly connected with a connecting rod, and the connecting rod is matched with the combined cam. The small-sized pipeline carrying device is mainly used for carrying small-sized pipelines of underground pipe galleries.

Description

An underground pipe gallery transport vehicle

technical field

The invention belongs to the technical field of mechanical device design and manufacture.

Background technique

With the continuous advancement of the construction of urban underground pipe corridors, the problem of handling small pipes during the construction of underground pipe corridors has become increasingly prominent. Especially in the narrow pipe gallery, it is troublesome to carry the pipeline. At present, most of the transportation of small pipelines is still in the mode of manual transportation, and few underground pipe galleries are equipped with devices for transporting pipelines, so there are many problems in the pipeline transportation process. On the one hand, many pipelines are relatively heavy, and it takes time and effort for workers to carry them, and at the same time, there are great safety hazards; on the other hand, it is inconvenient for people to enter in some narrow spaces, which makes the transportation difficult and slow. Therefore, be badly in need of designing a kind of small and exquisite flexible pipe carrier that can replace manual handling at present. According to the search, there are related pipeline handling devices at present, such as the "Pipeline Transportation Device for Underground Pipe Gallery" disclosed in Chinese Patent Application No. 201520638930.X. Above, the arc-shaped pipe bearing plate used to place the pipe has a rigid structure, and a support platform needs to be built, which is costly and lacks a lifting and placing mechanism for the pipe. After the device is running, the pipe needs to be manually moved to the device, which is laborious and unnecessary Safety. Another example is "a splicing device for underground pipe gallery" disclosed in Chinese patent application number 201621061834.4. The splicing device for underground pipe gallery described in this patent includes a pipe gallery body, multiple sets of transport wheels located under The transportation track inside the concrete foundation and the traction device located behind the pipe gallery need to bury the transportation track in the concrete in advance, which requires a large amount of engineering, high cost, single and unchangeable transportation path, and also lacks a pipe pick-and-place mechanism; it takes up a lot of space Large, making it difficult to construct pipelines in narrow spaces. The pipeline transport devices described in the above two patents are not suitable for transporting pipelines in relatively narrow pipe gallery spaces.

Contents of the invention

The purpose of the present invention is to provide a transport vehicle for underground pipe gallery, which can effectively solve the problem of transporting tubular objects in narrow spaces.

The technical solution adopted by the present invention to achieve its purpose is that an underground pipe gallery transport vehicle includes a traveling mechanism, a lifting mechanism and a clamping mechanism. The shaft is connected with the driving wheel, and the universal ball and its bracket are fixed on both sides of the front of the chassis through bolts and nuts; the stepper motor is fixed on the left front of the center line of the chassis through the base, and is connected to the driving wheel through the second coupling. Shaft connection, between the upper box and the lower box is a column with a flat square hollow structure, the front middle of the column is equipped with a frame-type cantilever bracket with a drooping rod, and the inner side of the drooping rod is provided with hemispherical rollers There are slide rails on both sides of the drive shaft; the synchronous pulley fixed to the middle of the drive shaft is set inside the lower box, the synchronous pulley fixed to the linkage shaft is set inside the upper box, and a straight side of the endless synchronous belt passes through the cavity of the column It meshes with the two synchronous pulleys in the upper and lower boxes, and the lifting block with a cylindrical cam is connected with the other straight side of the annular synchronous belt outside the column through the clamping plate, and the lifting block is set on the sliding block through the pulley at the rear. On the rail, a torsion spring is provided between the lifting block and the cylindrical cam, and the lifting fork is fixed on the vertical plane of the cylindrical cam; the end of the driving shaft is provided with a small bevel gear that meshes with the large bevel gear at one end of the driven shaft, and the driven There is a combination cam at the other end of the shaft; a clamping table is provided at the right end of the chassis center line, and a clamping table matching the tail clamping table is also provided behind the combination cam, and the front and rear of the right driving wheel are equipped with The trapezoidal block fixed on the edge of the chassis; the first clamp block fixedly connected with the first driven link is set on the outside of the protruding end plate on the right side of the clamping platform through a compression spring, and is vertically arranged; fixedly connected with the second driven link The second clamping block is connected and arranged on the inside of the end plate on the upper side of the clamping platform through a compression spring; both ends of the first driven link and the second driven link are matched with the combined cam.

The traveling motor is a geared motor, which is connected with a driver, a controller and a power supply through a cable.

The stepping motor is a DC stepping motor, which is connected with a driver, a controller and a power supply through a cable.

The cylindrical cam is a quarter cylinder, one vertical surface of which is fixed to the lifting block, and the other vertical surface is fixed to the upper end of the vertical arm of the lifting fork.

Two identical synchronous pulleys are respectively fixed on the driving shaft in the lower casing and the linkage shaft in the upper casing.

Two identical first clamping blocks arranged at the front and rear can slide up and down on the side of the clamping platform, and are connected with the clamping platform through a compression spring.

Two identical second clamping blocks arranged at the front and rear can slide left and right on the upper edge of the clamping platform, and are connected with the clamping platform through a compression spring.

Work process and working principle of the present invention:

The traveling motor is controlled to rotate forward and at the same speed by remote control to make the car move in a straight line, and the traveling motor is controlled to rotate at a differential speed to make the car turn. In this way, the trolley is controlled by remote control to travel to the side of the pipeline, and the lifting fork is aligned to the middle of the pipeline. Then the stepper motor rotates forward, and the synchronous pulley is rotated through the second coupling, thereby driving the synchronous belt, so that the lifting fork on the lifting block fixed with the synchronous belt moves downward, and finally falls to the lowest point, and the trolley goes straight Go forward, lift the pipe, then the stepper motor reverses, the lifting fork moves upwards, and the pipe is lifted. Because there is a torsion spring between the cylindrical cam and the lifting block, one end of the cylindrical cam is always attached to the lifting block, and as the cylindrical cam moves upward Movement, the cylindrical cam will cooperate with the semicircular roller on the upper bracket, so that the cylindrical cam will rotate counterclockwise around the shaft on the lifting block, so the lifting fork will rotate counterclockwise, so that the pipe on the lifting fork will rise while going around The slide rail rotates; during the reversing process of the stepping motor, the driving shaft drives the driven shaft to rotate through the transmission of large and small bevel gears, and the combined cam fixed on the driven shaft will push the first driven connecting rod, the second driven connecting rod The rod moves downward and toward the center of the vehicle respectively, so the first clamping block and the second clamping block move downward and towards the center of the vehicle respectively on the clamping table, and the pressure springs are all in a compressed state; finally, the pipe will pass over the descending first clamping block. The clamping block rotates to the top of the clamping platform; then the stepping motor rotates forward, the lifting fork descends and rotates clockwise to reset, the combined cam no longer contacts the first and second connecting rods, the first clamping block and the second clamping block are pressing Under the action of the spring, it rises and moves to the edge of the car respectively, so that the pipe is clamped on the clamping table. After controlling the trolley to transport the pipe to the destination, the stepping motor reverses and compresses the compression spring. The first and second clamping blocks move downward and toward the center of the car respectively, and the pipe is no longer clamped. Since the upper surface of the clamping table is an inclined plane, The pipe will roll down to the top of the trapezoidal block and finally to the ground, and the whole process of lifting, transporting and placing ends.

Compared with prior art, the beneficial effect of the present invention is:

The invention has a lifting mechanism and a placement mechanism, and does not need to manually move the pipeline to or from the device, which is labor-saving, safe and efficient.

The invention has the characteristics of one machine with multiple movements, and the lift, rotation and clamping block displacement of the lifting fork can be realized only by the rotation of a stepping motor, which reduces the number of motors, power consumption and weight of the trolley.

The various mechanisms of the present invention cooperate exquisitely. When the lifting fork is raised, the clamping block on the clamping platform is just in the enlarged state, so that the pipeline can be smoothly moved to the clamping platform without being blocked by the clamping block; when the lifting fork is lowered, the clamping block The block tightens just right. The lifting process and clamping process of the pipeline are smooth and fast. The clamping block has an adaptive function, which can clamp small pipes of different diameters.

The invention is flexible and compact, has fast walking, precise steering, and takes up little space. It can be applied in a small narrow space, and has various transportation paths, and can carry pipelines at any distance according to actual needs.

Description of drawings

Figure 1 is an initial overall three-dimensional view of the invention.

Fig. 2 is an overall three-dimensional view of the present invention after lifting.

Fig. 3 is a side view of the lifting column of the present invention.

Fig. 4 is a three-dimensional view of the connection between the stepping motor and the slide rail of the present invention.

Fig. 5 is a three-dimensional view of the walking mechanism of the present invention.

Fig. 6 is a sectional view of the A-A cutting direction of the upper box body of the present invention.

Implementation

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

An underground pipe corridor transport vehicle, including a traveling mechanism, a lifting mechanism and a clamping mechanism, the traveling motor 27 is fixed to the bottom of both sides of the chassis 32 through the motor base 26, and its output shaft is connected to the driving wheel 29 through the first coupling 28, The universal ball 5 and its support 4 are fixed on both sides of the front part of the chassis 32 by bolts and nuts; the stepper motor 23 is fixed on the left front part of the center line of the chassis 32 through the base 2, and is connected with the driving force through the second coupling 24. The axis 3 is connected, and a column 34 with a flat square hollow structure is provided between the upper box body 30 and the lower box body 33. The front middle part of the column 34 is provided with a frame-type cantilever bracket with a hanging rod, and a hemisphere is provided inside the hanging rod. Type roller 16, the two sides of column 34 are provided with slide rail 15; The synchronous belt pulley 25 that is fixed with driving shaft 3 middle part is arranged in lower case 33 inside, and the synchronous pulley 25 that is fixed with linkage shaft 31 is arranged in upper case 30 interior , a straight side of the endless synchronous belt 14 passes through the cavity of the column 34 and engages with the two synchronous pulleys 25 in the upper and lower boxes, and the lifting block 13 with the cylindrical cam 17 is positioned with the annular synchronous belt 14 through the clamping plate. The other straight edge outside the column 34 is connected, and the lifting block 13 is arranged on the slide rail 15 by the pulley at the rear portion simultaneously, and a torsion spring 18 is arranged between the lifting block 13 and the cylindrical cam 17, and a vertical surface of the cylindrical cam 17 is connected to the vertical surface of the lifting block 17. Block 13 fits and fixes, and another vertical surface is fixed with the upper end of lifting fork 1 vertical arm. The end of the driving shaft 3 is provided with a small bevel gear 19 meshing with the large bevel gear 20 at one end of the driven shaft 21, and the other end of the driven shaft 21 is provided with a combined cam 22; Clamp platform 7, the combined cam 22 rear is also provided with a clamp platform 7 paired with the tail clamp platform 7, the front and rear of the right driving wheel 29 are all provided with a trapezoidal block 6 fixed to the edge of the chassis 32; The first clip 9 to which the connecting rod 8 is affixed is connected and arranged on the outside of the protruding end plate on the right side of the clamp table 7 through a compression spring 11, and is vertically arranged; the second clip 10 affixed to the second driven link 12 passes through The compression spring 11 is connected and arranged on the inner side of the end plate on the upper side of the clamping table 7, and is arranged horizontally; both ends of the first driven link 8 and the second driven link 12 cooperate with the combined cam 22.

The traveling motor 27 is a geared motor, which is connected with a driver, a controller and a power supply through a cable.

The stepping motor 23 is a DC stepping motor, connected with a driver, a controller, and a power supply through a cable.

Described cylindrical cam 17 is a quarter cylinder, and one vertical surface of it is fitted and fixed with lifting block 13, and the other vertical surface is fixed with the upper end of the vertical arm of lifting fork 1.

Two identical synchronous pulleys 25 are respectively fixed on the drive shaft 3 in the lower casing and the linkage shaft 31 in the upper casing.

Two identical first clamping blocks 9 arranged at the front and rear can slide up and down on the sides of the clamping platform 7, and are connected with the clamping platform 7 by stage clips 11.

Two identical front and rear second clamping blocks 10 can slide left and right on the upper edge of the clamping platform 7, and are connected with the clamping platform 7 by stage clips 11.

Work process and working principle of the present invention:

The traveling motor 27 is controlled by the remote control to rotate forward and at the same speed so that the dolly can advance in a straight line, and the traveling motor 27 is controlled to rotate at a differential speed so that the dolly can turn. In this way, the trolley is controlled by remote control to travel to the side of the pipeline, and the lifting fork 1 is aligned to the middle of the pipeline. Then the stepper motor 23 rotates positively, and the synchronous pulley 25 is rotated by the second shaft coupling 24, thereby driving the endless synchronous belt 14, so that the lifting fork 1 on the lifting block 13 fixedly connected with the endless synchronous belt 14 moves downward , finally down to the lowest point, the trolley travels in a straight line, lifts the pipeline, and then the stepper motor 23 reverses, the lifting fork 1 moves upwards, and the pipeline is lifted. One end of the cam 17 is always attached to the lifting block 13. As the cylindrical cam 17 moves upward, the cylindrical cam 17 will cooperate with the semicircular roller 16 on the upper bracket, so that the cylindrical cam 17 rotates counterclockwise around the shaft on the lifting block 13. Therefore, the lifting fork 1 will rotate counterclockwise, so that the pipe on the lifting fork 1 rises and rotates around the slide rail 15; during the reverse process of the stepping motor 23, the driving shaft 3 passes through the large bevel gear 20, the small bevel The gear 19 drives the driven shaft 21 to rotate, and the combined cam 22 fixed on the driven shaft 21 will push the first driven connecting rod 8 and the second driven connecting rod 12 to move downward and to the center of the vehicle respectively, so the first The clamping block 9 and the second clamping block 10 respectively move downwards and towards the center of the vehicle on the clamping table 7, and the pressure spring 11 is in a compressed state; finally, the pipeline will pass over the lowered first clamping block 9 until it reaches the top of the clamping table 7 Then the stepper motor 23 rotates forward, the lifting fork 1 descends and rotates clockwise to reset, the combined cam 22 is no longer in contact with the first driven connecting rod 8, the second driven connecting rod 12, the first clamping block 9, the second driven connecting rod The two clamping blocks 10 rise and move to the edge of the car respectively under the effect of the stage clip 11, so that the pipeline is clamped on the clamping platform 7. After the trolley is controlled to transport the pipeline to the destination, the stepper motor 23 is reversed, the compression spring 11 is compressed, the first clamping block 9 and the second clamping block 10 are respectively displaced downward and towards the center of the vehicle, and the pipeline is no longer clamped. The upper surface of platform 7 is inclined, and the pipeline will roll down to the top of trapezoidal block 6 and finally to the ground, and the whole process of lifting, transporting and placing is over.

Claims (2)

1. The utility model provides a utility tunnel carrier, includes running gear, elevating system and fixture, its characterized in that: the walking motor (27) is fixed below two sides of the chassis (32) through the motor base (26), an output shaft of the walking motor is connected with the driving wheel (29) through the first coupling (28), and the universal ball (5) and the bracket (4) thereof are fixed on two sides of the front part of the chassis (32) through bolts and nuts; the stepping motor (23) is fixed at the left front part of the center line of the chassis (32) through the base (2) and is connected with the driving shaft (3) through the second coupling (24), a stand column (34) with a flat square hollow structure in cross section is arranged between the upper box body (30) and the lower box body (33), a frame type cantilever bracket with a hanging rod is arranged in the middle of the front of the stand column (34), a hemispherical roller (16) is arranged at the inner side of the hanging rod, and sliding rails (15) are arranged at the two sides of the stand column (34); the synchronous pulley (25) fixed with the middle part of the driving shaft (3) is arranged in the lower box body (33), the synchronous pulley (25) fixed with the linkage shaft (31) is arranged in the upper box body (30), one straight edge of the annular synchronous belt (14) penetrates through a cavity of the upright post (34) to be meshed with the two synchronous pulleys (25) in the upper box body and the lower box body, the lifting block (13) provided with the cylindrical cam (17) is connected with the other straight edge of the annular synchronous belt (14) outside the upright post (34) through a clamping plate, meanwhile, the lifting block (13) is arranged on the sliding rail (15) through a pulley at the rear part, the torsion spring (18) is arranged between the lifting block (13) and the cylindrical cam (17), and the lifting fork (1) is fixed with the vertical plane of the cylindrical cam (17); the end part of the driving shaft (3) is provided with a small bevel gear (19) meshed with a large bevel gear (20) at one end of the driven shaft (21), and the other end of the driven shaft (21) is provided with a combined cam (22); a clamping table (7) is arranged at the right tail part of the center line of the chassis (32), a clamping table (7) matched with the tail clamping table is also arranged behind the combined cam (22), and trapezoid blocks (6) fixed with the edge of the chassis (32) are arranged at the front part and the rear part of the right driving wheel (29); the first clamping block (9) fixedly connected with the first driven connecting rod (8) is connected and arranged at the outer side of the end plate protruding from the right side of the clamping table (7) through a pressure spring (11) and is vertically arranged; a second clamping block (10) fixedly connected with a second driven connecting rod (12) is connected with the inner side of an end plate arranged on the upper side of the clamping table (7) through a pressure spring (11) and is horizontally arranged; one end of each of the first driven connecting rod (8) and the second driven connecting rod (12) is matched with the combined cam (22); the walking motor (27) is a speed reducing motor and is connected with a driver, a controller and a power supply through cables; the stepping motor (23) is a direct current stepping motor and is connected with a driver, a controller and a power supply through cables.

2. The utility model provides an underground pipe gallery carrier of claim 1, wherein: the cylindrical cam (17) is a quarter cylinder, one vertical surface of the cylindrical cam is fixedly attached to the lifting block (13), and the other vertical surface of the cylindrical cam is fixedly attached to the upper end of the vertical arm of the lifting fork (1).

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