CN107827032B - Underground pipe gallery carrier - Google Patents

Underground pipe gallery carrier Download PDF

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Publication number
CN107827032B
CN107827032B CN201711201901.7A CN201711201901A CN107827032B CN 107827032 B CN107827032 B CN 107827032B CN 201711201901 A CN201711201901 A CN 201711201901A CN 107827032 B CN107827032 B CN 107827032B
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China
Prior art keywords
clamping
chassis
cylindrical cam
box body
lifting
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CN201711201901.7A
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Chinese (zh)
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CN107827032A (en
Inventor
张祖涛
张天明
席超星
潘宏烨
漆令飞
朱勉宽
潘亚嘉
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Southwest Jiaotong University
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Southwest Jiaotong University
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Publication of CN107827032A publication Critical patent/CN107827032A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/07572Propulsion arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/20Means for actuating or controlling masts, platforms, or forks

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

Underground pipe gallery carrier
Technical Field
The invention belongs to the technical field of design and manufacture of mechanical devices.
Background
With the continuous promotion of urban underground pipe gallery construction, the carrying problem of small-size pipeline is constantly outstanding when underground pipe gallery construction. Especially in narrower pipe lanes, handling the pipe is more cumbersome and more continuous. At present, the transportation of small-sized pipelines is mostly in a manual transportation mode, and few underground pipe galleries are provided with devices for transporting the pipelines, so that the problems exist in the pipeline transportation process. On one hand, many pipelines are heavier, and workers waste time and labor when carrying the pipelines, and meanwhile, great potential safety hazards exist; on the other hand, people cannot conveniently enter in some narrow spaces, so that the carrying is difficult and the travelling is slow. Therefore, there is an urgent need to design a small and flexible pipe-handling vehicle capable of replacing manual handling. According to the search, there is a related pipeline handling device, for example, an underground pipe gallery pipeline transportation device disclosed in chinese patent application No. 2015138930. X, wherein the pipeline transportation device is an arc-shaped pipeline bearing plate erected on a supporting platform through a supporting component and used for placing a pipeline, the structure is dead, the supporting platform needs to be constructed, the cost is high, and a lifting and placing mechanism of the pipeline is lacked, so that the pipeline needs to be manually handled to the device after the device operates, and the pipeline handling device is laborious and unsafe. As disclosed in the chinese patent application No. 201621061834.4, the underground pipe gallery splicing device described in the patent includes a pipe gallery body, a plurality of groups of transport wheel sets located below the pipe gallery body, a transport rail pre-buried in a concrete foundation, and a traction device located behind the pipe gallery body, where the transport rail needs to be buried in the concrete in advance, and the construction amount is large, the construction cost is high, the transport path is single and invariable, and the pipe picking and placing mechanism is also lacking; the occupied space is large, so that the pipeline construction in a narrow space is difficult. The pipe transportation device described in the above two patents is not suitable for handling pipes in a relatively narrow pipe gallery space.
Disclosure of Invention
The invention aims to provide an underground pipe gallery carrier, which can effectively solve the problem of carrying tubular objects in a narrow space.
The technical scheme includes that the underground pipe gallery carrier comprises a travelling mechanism, a lifting mechanism and a clamping mechanism, wherein a travelling motor is fixed below two sides of a chassis through a motor base, an output shaft of the travelling motor is connected with a driving wheel through a first coupling, and universal balls and supports of the universal balls are fixed on two sides of the front part of the chassis through bolts and nuts; the stepping motor is fixed at the front part of the left side of the center line of the chassis through a base and is connected with the driving shaft through a second coupler, a stand column with a flat square hollow structure in cross section is arranged between the upper box body and the lower box body, a frame type cantilever bracket with a hanging rod is arranged in the middle of the front surface of the stand column, a hemispherical roller is arranged at the inner side of the hanging rod, and sliding rails are arranged at the two sides of the stand column; the lifting block provided with the cylindrical cam is connected with the other straight edge of the annular synchronous belt outside the upright post through a clamping plate, meanwhile, the lifting block is arranged on the sliding rail through a pulley at the rear part, a torsion spring is arranged between the lifting block and the cylindrical cam, and the lifting fork is fixed with the vertical plane of 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; a clamping table is arranged at the right tail part of the center line of the chassis, a clamping table matched with the tail clamping table is also arranged at the rear part of the combined cam, and trapezoidal blocks fixed with the edge of the chassis are arranged at the front part and the rear part of the right driving wheel; the first clamping block fixedly connected with the first driven connecting rod is connected with the outer side of the end plate protruding from the right side of the clamping table through a pressure spring and is vertically arranged; the second clamping block fixedly connected with the second driven connecting rod is connected with the inner side of the end plate arranged on the upper side of the clamping table through a pressure spring; one end of the first driven connecting rod and one end of the second driven connecting rod are matched with the combined cam.
The walking motor is a speed reducing motor and is connected with the driver, the controller and the power supply through cables.
The stepping motor is a direct-current stepping motor and is connected with a driver, a controller and a power supply through cables.
The cylindrical cam is a quarter cylinder, one vertical surface of the cylindrical cam is fixedly attached to the lifting block, and the other vertical surface of the cylindrical cam is fixedly connected with the upper end of the lifting fork vertical arm.
Two identical synchronous pulleys are respectively fixed on a driving shaft in the lower box body and a linkage shaft in the upper box body.
The two identical first clamping blocks arranged in front and behind can slide up and down on the side edges of the clamping table and are connected with the clamping table through pressure springs.
Two identical second clamp blocks which are arranged at the front and the back can slide left and right on the upper side of the clamp platform and are connected with the clamp platform through pressure springs.
The working process and the working principle of the invention are as follows:
the traveling motor is controlled by a remote control to rotate forward at the same speed so that the trolley can realize linear traveling, and the traveling motor is controlled to rotate in a differential speed so that the trolley can realize steering. In this way, the trolley is remotely controlled to travel alongside the pipeline and the fork is aligned with the middle of the pipeline. Then the stepping motor rotates positively, the synchronous pulley is rotated through the second coupler, so that the synchronous belt is driven, a lifting fork on a lifting block fixedly connected with the synchronous belt moves downwards, finally, the lifting fork is lowered to the lowest point, the trolley moves linearly, the pipeline is lifted up, then the stepping motor rotates reversely, the lifting fork moves upwards to lift the pipeline, one end of the cylindrical cam is always attached to the lifting block due to a torsion spring between the cylindrical cam and the lifting block, and the cylindrical cam is matched with a semicircular roller on a bracket above along with the upward movement of the cylindrical cam, so that the cylindrical cam rotates anticlockwise around a shaft on the lifting block, and the lifting fork rotates anticlockwise, so that one edge of the pipeline on the lifting fork rises and rotates around a sliding rail; in the reversing process of the stepping motor, the driving shaft drives the driven shaft to rotate through the transmission of the large bevel gear and the small bevel gear, and the combined cam fixed on the driven shaft can push the first driven connecting rod and the second driven connecting rod to move downwards and move towards the center of the vehicle respectively, so that the first clamping block and the second clamping block move downwards and move towards the center of the vehicle respectively on the clamping table, and the pressure springs are in compression states; the final pipeline passes over the first descending clamp block and rotates to the upper part of the clamp platform; then the stepping motor rotates positively, the lifting fork descends and rotates clockwise to reset, the combined cam is not contacted with the first connecting rod and the second connecting rod, and the first clamping block and the second clamping block respectively ascend and displace towards the edge of the trolley under the action of the pressure spring, so that the pipeline is clamped on the clamping table. After the control trolley conveys the pipeline to the destination, the stepping motor is reversed, the compression spring is compressed, the first clamping block and the second clamping block are respectively downwards displaced towards the center of the trolley, the pipeline is not clamped any more, and the pipeline can roll to the upper part of the trapezoid block and finally roll to the ground due to the inclined surface on the upper surface of the clamping table, so that the whole lifting, carrying and placing process is finished.
Compared with the prior art, the invention has the beneficial effects that:
the invention has the lifting mechanism and the placing mechanism, and the pipeline is not manually moved to or from the device, so that the invention is labor-saving, safe and efficient.
The invention has the characteristic of one machine with multiple movements, and can realize lifting and rotation of the lifting fork and displacement of the clamping block only by rotating one stepping motor, thereby reducing the number of motors and the power consumption and the weight of the trolley.
The mechanism of the invention is well matched, and the clamping blocks on the clamping table are just in an enlarged state when the lifting fork is lifted, so that the pipeline can be smoothly moved to the clamping table without being blocked by the clamping blocks; the clamping blocks are just tightened when the lifting fork descends. The lifting process and the clamping process of the pipeline are smooth and quick. The clamping blocks have self-adaptive functions, and can clamp small pipelines with different diameters.
The invention is flexible and small, has fast running, accurate steering and small occupied space, can be applied to small narrow space, has various conveying paths, and can convey the pipeline at any distance according to actual needs.
Drawings
Fig. 1 is an initial overall three-dimensional view of the present invention.
Fig. 2 is an overall three-dimensional view of the 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 of the stepper motor and the slide rail of the present invention.
Fig. 5 is a three-dimensional view of the running gear of the present invention.
FIG. 6 is a sectional view of the upper case of the present invention taken along the A-A direction.
Description of the embodiments
The invention will be described in further detail with reference to the drawings and the detailed description.
The utility model provides an underground pipe gallery carrier, includes running gear, elevating system and fixture, and running motor 27 passes through motor cabinet 26 and is fixed with chassis 32 both sides below, and its output shaft passes through first shaft coupling 28 and is connected with action wheel 29, and universal ball 5 and its support 4 pass through bolt and nut to be fixed in chassis 32 front portion both sides; the stepping motor 23 is fixed at the left front part of a 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 section is arranged between the upper box body 30 and the lower box body 33, a frame cantilever bracket with a hanging rod is arranged in the middle of the front surface of the stand column 34, a hemispherical roller 16 is arranged on the inner side of the hanging rod, and sliding rails 15 are arranged on 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 33, the synchronous pulley 25 fixed with the linkage shaft 31 is arranged in the upper box 30, one straight edge of the annular synchronous belt 14 passes through a cavity of the upright post 34 to be meshed with the two synchronous pulleys 25 in the upper box and the lower box, the lifting block 13 provided with the cylindrical cam 17 is connected with the other straight edge of the annular synchronous belt 14 positioned 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, a torsion spring 18 is arranged between the lifting block 13 and the cylindrical cam 17, one vertical surface of the cylindrical cam 17 is fixedly attached to the lifting block 13, and the other vertical surface is fixedly attached to the upper end of the vertical arm of the lifting fork 1. 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 a 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 7 is also arranged at the rear part of 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; the second clamping block 10 fixedly connected with the second driven connecting rod 12 is connected with the inner side of the 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 follower link 8 and the second follower link 12 is engaged with the combination cam 22.
The walking motor 27 is a gear motor and is connected with a driver, a controller and a power supply through cables.
The stepper motor 23 is a direct current stepper motor and is connected with a driver, a controller and a power supply through cables.
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.
Two identical synchronous pulleys 25 are respectively fixed on the driving shaft 3 in the lower box body and the linkage shaft 31 in the upper box body.
Two identical first clamping blocks 9 which are arranged in front and behind can slide up and down on the side edges of the clamping table 7 and are connected with the clamping table 7 through pressure springs 11.
Two identical second clamping blocks 10 which are arranged in front and behind can slide left and right on the clamping table 7 and are connected with the clamping table 7 through pressure springs 11.
The working process and the working principle of the invention are as follows:
the traveling motor 27 is controlled to rotate forward at the same speed by a remote control to enable the trolley to realize linear traveling, and the traveling motor 27 is controlled to rotate in a differential speed to enable the trolley to realize steering. In this way, the trolley is driven by remote control to the side of the pipeline and the fork 1 is aligned to the middle of the pipeline. Then the stepping motor 23 rotates positively, the synchronous pulley 25 is rotated through the second coupler 24, the annular synchronous belt 14 is driven, the lifting fork 1 on the lifting block 13 fixedly connected with the annular synchronous belt 14 moves downwards, finally, the lifting fork 1 is lowered to the lowest point, the trolley moves linearly to fork the pipeline, then the stepping motor 23 rotates reversely, the lifting fork 1 moves upwards to lift the pipeline, one end of the cylindrical cam 17 is always attached to the lifting block 13 due to the torsion spring 18 between the cylindrical cam 17 and the lifting block 13, and the cylindrical cam 17 is matched with the semicircular roller 16 on the bracket above along with the upward movement of the cylindrical cam 17, so that the cylindrical cam 17 rotates anticlockwise around the shaft on the lifting block 13, and the lifting fork 1 rotates anticlockwise, so that the pipeline on the lifting fork 1 rises and rotates around the sliding rail 15; in the process of reversing the stepping motor 23, the driving shaft 3 drives the driven shaft 21 to rotate through the large bevel gear 20 and the small bevel gear 19, and the combined cam 22 fixed on the driven shaft 21 pushes the first driven connecting rod 8 and the second driven connecting rod 12 to move downwards and move towards the center of the vehicle respectively, so that the first clamping block 9 and the second clamping block 10 move downwards and move towards the center of the vehicle respectively on the clamping table 7, and the pressure springs 11 are in compression states; the final pipe will pass over the descending first clamping block 9 until it is turned over the clamping table 7; then the stepping motor 23 rotates positively, the lifting fork 1 descends and rotates clockwise to reset, the combined cam 22 is not contacted with the first driven connecting rod 8 and the second driven connecting rod 12 any more, and the first clamping block 9 and the second clamping block 10 respectively ascend and move towards the edge of the trolley under the action of the pressure spring 11, so that the pipeline is clamped on the clamping table 7. After the control trolley conveys the pipeline to a destination, the stepping motor 23 is reversed, the compression spring 11 is compressed, the first clamping block 9 and the second clamping block 10 are respectively downwards displaced towards the center of the trolley, the pipeline is not clamped any more, and the pipeline can roll to the upper part of the trapezoid block 6 and finally roll to the ground due to the inclined surface of the upper surface of the clamping table 7, so that the whole lifting, carrying and placing process is finished.

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).
CN201711201901.7A 2017-11-27 2017-11-27 Underground pipe gallery carrier Active CN107827032B (en)

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Application Number Priority Date Filing Date Title
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CN107827032B true CN107827032B (en) 2023-05-26

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112173590A (en) * 2020-09-17 2021-01-05 陈佳 Transportation embedding equipment for underground pipeline embedding

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Title
叉吊搬运车承弯抗扭门架的有限元分析与轻量化;刘泽超;许志沛;王玉柱;张昆明;;机械强度(06);全文 *

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