CN108622809B - Tunnel hoisting robot - Google Patents

Tunnel hoisting robot Download PDF

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Publication number
CN108622809B
CN108622809B CN201810655073.2A CN201810655073A CN108622809B CN 108622809 B CN108622809 B CN 108622809B CN 201810655073 A CN201810655073 A CN 201810655073A CN 108622809 B CN108622809 B CN 108622809B
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CN
China
Prior art keywords
wheel
bracket
walking wheel
crossbeam
portal
Prior art date
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Active
Application number
CN201810655073.2A
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Chinese (zh)
Other versions
CN108622809A (en
Inventor
彭洪
崔益祥
刘根林
游万钧
游有鹏
杨原金
张义军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou dongtinghe Intelligent Technology Development Co., Ltd
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Suzhou Dongtinghe Intelligent Technology Development Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Suzhou Dongtinghe Intelligent Technology Development Co Ltd filed Critical Suzhou Dongtinghe Intelligent Technology Development Co Ltd
Priority to CN202010385835.9A priority Critical patent/CN111453626B/en
Priority to CN201810655073.2A priority patent/CN108622809B/en
Publication of CN108622809A publication Critical patent/CN108622809A/en
Application granted granted Critical
Publication of CN108622809B publication Critical patent/CN108622809B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00Base supporting structures with legs
    • B66C5/02Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/08Runners; Runner bearings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14Trolley or crane travel drives

Abstract

The invention discloses a tunnel lifting robot, which comprises a machine body connecting frame, wherein at least two groups of lifting gantries are arranged on the machine body connecting frame, a supporting leg telescopic driving device is arranged between an upper supporting leg of each gantry and a lower supporting leg of each gantry, a gantry beam comprises a left half beam and a right half beam, a beam telescopic driving device is connected between the left half beam and the right half beam, a multidimensional wheel bracket is fixedly arranged on the lower supporting leg of each gantry, a travelling wheel swinging bracket is hinged on the multidimensional wheel bracket, a swinging driving device is supported between the travelling wheel swinging bracket and the multidimensional wheel bracket, a travelling wheel bracket is rotatably supported on the travelling wheel swinging bracket, a wheel carrier rotary transmission device is arranged between the travelling wheel swinging bracket and the travelling wheel bracket, travelling wheels are rotatably supported on the travelling wheel bracket, and are in transmission connection with the travelling wheel driving device. The invention has reasonable structure, can be directly and stably supported on the cambered surface of the inner wall of the tubular tunnel to walk, and can automatically cross obstacles to carry out operation.

Description

Tunnel hoisting robot
Technical Field
The invention relates to hoisting equipment, in particular to upgrading and widening of functions of the hoisting equipment used in a tunnel.
Background
In urban rail construction, particularly when a rail is laid in a hole of a circular tubular tunnel, most of door-type hoisting equipment is applied, and the existing door-type hoisting equipment generally consists of a door frame, traveling wheels fixedly installed at the bottom of the door frame and a hoisting device arranged above the door frame. Although the existing gantry crane equipment can lay the track in the hole of the circular tubular tunnel, the existing gantry crane equipment still has the following defects in practical use: on one hand, as the axes of all the travelling wheels of the support portal are arranged in parallel, the existing portal lifting equipment is only suitable for construction operation and travelling on a plane foundation and cannot be directly supported on the inner wall of a hole of a circular tubular tunnel, in order to enable the portal lifting equipment to travel in the circular tubular tunnel and carry out lifting track operation in engineering, a travelling auxiliary channel of the portal lifting equipment is usually constructed in advance before track laying, and is removed after the track is laid, and the construction and removal of the travelling auxiliary channel can be realized by constructing the travelling auxiliary channel and removing the travelling auxiliary channel, but a large amount of materials, time and manpower are consumed for constructing and removing the travelling auxiliary channel, so that the engineering cost is increased and the construction period is wasted; on the other hand, because the width of the portal frame is fixed, the span of the portal frame on the track can not be adjusted, so that the lifting range of the lifting equipment is restricted, and a large space is occupied during transportation and storage; on the other hand, because the whole door type lifting equipment is a rigid structure, when an obstacle (a convex sill or a concave pit) is encountered in the working process, the door type lifting equipment needs to be spanned by other auxiliary equipment, and can not be crossed by itself, which is quite troublesome in practical application.
Disclosure of Invention
The invention aims to solve the technical problem of providing a tunnel lifting robot which is reasonable in structure, can be directly and stably supported on the cambered surface of the inner wall of a tubular tunnel to walk and can automatically cross obstacles.
In order to solve the technical problem, the tunnel lifting robot comprises a machine body connecting frame, at least two groups of lifting gantries are arranged on the machine body connecting frame, each lifting gantry comprises a gantry supporting leg and a gantry cross beam, each gantry supporting leg comprises a gantry upper supporting leg and a gantry lower supporting leg which are mutually connected in a sliding manner, a supporting leg telescopic driving device is arranged between the gantry upper supporting leg and the gantry lower supporting leg, each gantry cross beam comprises a left half cross beam and a right half cross beam, a cross beam telescopic driving device is connected between the left half cross beam and the right half cross beam, a multi-dimensional wheel support is fixedly arranged on the gantry lower supporting leg, a travelling wheel swinging support is hinged on the multi-dimensional wheel support, a swinging driving device is supported between the travelling wheel swinging support and the multi-dimensional wheel support, a travelling wheel support is rotatably supported on the travelling wheel swinging support, and a wheel carrier rotating transmission device is arranged between the travelling wheel swinging support and the travelling wheel support, the walking wheel support is rotatably supported with a walking wheel, and the walking wheel is in transmission connection with a walking wheel driving device.
After the structure is adopted, the portal frame and the machine body connecting frame are arranged, so that the whole machine is in a structure formed by the portal frame unit and the machine body connecting frame, the manufacturing and the assembly are convenient, and the portal frame unit can be arranged into four groups or more than four groups according to the functions required by the machine; in addition, as the portal supporting legs are arranged to comprise the portal upper supporting leg and the portal lower supporting leg which are mutually connected in a sliding manner, and the supporting leg telescopic driving device is arranged between the portal upper supporting leg and the portal lower supporting leg, the portal cross beam is arranged to comprise the left half cross beam and the right half cross beam, and the cross beam telescopic driving device is connected between the left half cross beam and the right half cross beam, the portal supporting leg and the portal cross beam have telescopic functions, thus when a ground obstacle (a convex ridge or a concave pit) is encountered in the construction process, the portal lower supporting leg on the portal unit at the position close to the ground obstacle of the machine can be lifted by the supporting leg telescopic driving device, and after the portal lower supporting leg passes through the ground obstacle in the advancing process of the machine, the portal lower supporting leg on the portal unit close to the ground obstacle is reset by the supporting leg telescopic driving device, and then the portal lower supporting leg on the, in addition, the gantry can be contracted to the minimum size in the height and width directions through the supporting leg telescopic driving device and the cross beam telescopic driving device during transportation and storage, and the transportation and storage of the machine under the minimum size are realized; the lower landing leg of the portal is fixedly provided with a multi-dimensional wheel support, the multi-dimensional wheel support is hinged with a walking wheel swinging support, and a swinging driving device is supported between the walking wheel swinging support and the multi-dimensional wheel support, so that the included angle between the walking wheel swinging support and the multi-dimensional wheel support can be adjusted through the swinging driving device; the walking wheel swing support is rotatably supported with a walking wheel support, a wheel carrier rotary transmission device is arranged between the walking wheel swing support and the walking wheel support, the walking wheel is rotatably supported on the walking wheel support, the walking wheel support can be driven to circumferentially rotate on the walking wheel swing support through the wheel carrier rotary transmission device, and thus, the walking wheels supported on the walking wheel support can not only follow the walking wheel swing support to obtain the adjustment of the required working angle, but also can follow the walking wheel support to adjust the required circumferential angle. The wheel face of the walking wheel can be attached to the inner wall of the circular tubular tunnel through the angle adjustment of the walking wheel swing support followed by the walking wheel, the walking wheel can be directly and stably supported on the arc surface of the inner wall of the circular tubular tunnel to walk, namely, the construction operation of directly carrying out lifting and the like in the circular tubular tunnel by a machine is realized, the timely adjustment of the circumferential angle of the walking wheel support followed by the walking wheel can be realized, the walking wheel face can be always attached to the inner wall of the tunnel at the crank position of the tubular tunnel, the machine can be stably turned in the tunnel, the machine can be moved along the set direction angle in a non-construction state, the walking wheel is in transmission connection with the walking wheel driving device, necessary walking power is provided for the walking wheel, and the working traveling of the machine in the tunnel is guaranteed.
In a preferred embodiment of the invention, the body connecting frame is fixedly connected to the upper supporting leg of the gantry; the fuselage link fixed connection is on left half crossbeam and right half crossbeam. No matter connect the fuselage set up to with the landing leg on the framework or with left half crossbeam and half crossbeam looks rigid coupling on the right, it homoenergetic realizes the firm assembly connection to the machine.
In another preferred embodiment of the present invention, the upper supporting leg of the gantry and the lower supporting leg of the gantry are slidably sleeved with each other; the supporting leg telescopic driving device is a telescopic oil cylinder. The upper support leg and the lower support leg of the portal are in a mutual sliding sleeve joint mode, so that the portal frame has the advantages of simple and reasonable structure and easiness in implementation, manufacture and adjustment; and the telescopic oil cylinder is used as the support leg telescopic driving device, and the telescopic oil cylinder has the advantage of easy implementation and manufacture.
In another preferred embodiment of the present invention, the left half beam and the right half beam are directly slidably sleeved; the left half beam and the right half beam are in sliding sleeve joint through a beam connecting piece; the beam telescopic driving device is a telescopic oil cylinder; two ends of the beam telescopic driving device are respectively hinged on the left half beam and the right half beam; the two sets of beam telescopic driving devices are provided, one ends of the two sets of beam telescopic driving devices are respectively hinged on the beam connecting piece, and the other ends of the two sets of beam telescopic driving devices are respectively hinged on the left half beam and the right half beam. The beam arrangement mode adopts two-section type (namely, the left half beam and the right half beam are directly in sliding sleeve joint) or three-section type (namely, the left half beam and the right half beam are in sliding sleeve joint through the beam connecting piece), so that the purpose of adjusting the span of the beam can be achieved, and the three-section type beam has a wider span adjustment range compared with the two-section type beam; the telescopic oil cylinder is used as the beam telescopic driving device, and the beam telescopic driving device has the advantages of being easy to implement and manufacture, and convenient and reliable to adjust.
In another preferred embodiment of the present invention, the swing driving device is a telescopic cylinder; the wheel carrier rotary transmission device is a worm gear speed reducer; the walking wheel driving device is a motor. The telescopic oil cylinder is used as a swing driving device, the worm gear reducer is used as a wheel carrier rotation transmission device, and the motor is used as a walking wheel driving device, so that the device has the advantage of easy implementation and manufacture.
Drawings
The tunnel handling robot of the present invention will be further described with reference to the accompanying drawings and the detailed description thereof.
FIG. 1 is a schematic structural diagram of one embodiment of the tunnel handling robot of the present invention; FIG. 2 is a left side view of FIG. 1; FIG. 3 is a top view of FIG. 2; FIG. 4 is a schematic structural diagram of the tunnel handling robot in a working state (tunnel section is shown in the figure); FIG. 5 is a schematic structural view of the multi-dimensional wheel traveling device of the present invention (in the figure, the traveling wheel driving device 8.1 is fixedly installed on the traveling wheel swing bracket 8.7); FIG. 6 is a schematic structural view of the multi-dimensional wheel traveling device of the present invention (in the figure, the traveling wheel driving device 8.1 is fixedly installed on the traveling wheel support 8.9); fig. 7 is a schematic structural diagram of the multi-dimensional wheel traveling device of the invention (in the figure, the traveling wheels 8.12 are directly connected with the traveling wheel driving device 8.1).
In the figure, 1-lower landing leg of gantry, 2-telescopic driving device of landing leg, 3-upper landing leg of gantry, 4-telescopic driving device of beam, 5-beam connecting piece, 6-left half beam, 7-right half beam, 8-multidimensional wheel walking device, 9-tunnel, 10-body connecting frame, 11-hoisting device, 8.1-walking wheel driving device, 8.2-swing driving device, 8.3-multidimensional wheel bracket, 8.4-wheel carrier rotation driving device, 8.5-worm, 8.6-worm wheel, 8.7-walking wheel swing bracket, 8.8-wheel carrier rotation driving device, 8.9-walking wheel bracket, 8.10-walking wheel bearing, 8.11-walking wheel shaft, 8.12-walking wheel, 8.13-transmission bevel gear, 8.14-driving bevel gear, 8.15-road wheel surface.
Detailed Description
In the tunnel hoisting robot shown in fig. 1 to 4, four groups of hoisting gantries are connected and installed through a machine body connecting frame 10, and each hoisting gantry comprises gantry support legs, gantry cross beams and a multidimensional wheel traveling device 8 fixedly connected to the bottoms of the gantry support legs. The portal support leg comprises a portal upper support leg 3 and a portal lower support leg 1, the portal upper support leg 3 and the portal lower support leg 1 are mutually sleeved in a sliding manner, a support leg telescopic driving device 2 is arranged between the portal upper support leg 3 and the portal lower support leg 1, the support leg telescopic driving device 2 is a telescopic oil cylinder, the portal beam is in a three-section type and comprises a left half beam 6, a right half beam 7 and a beam connecting piece 5, the connecting ends of the left half beam 6 and the right half beam 7 are both sleeved in the beam connecting piece 5 in a sliding manner, the fixed ends of the left half beam 6 and the right half beam 7 are both fixedly connected to the portal upper support leg 3 on the side where the left half beam 6 and the right half beam 7 are respectively arranged, the two ends of the beam telescopic driving device are respectively hinged to the left half beam and the right half beam, a beam telescopic driving device 4 is connected between the left half beam 6 and the right half beam 7 and the beam connecting piece, one end of each of the two telescopic oil cylinders is hinged on a beam connecting piece 5, the other end of each of the two telescopic oil cylinders is hinged on a left half beam 6 and a right half beam 7 respectively, the gantry beam can also adopt two sections and consists of a left half beam 6 and a right half beam 7 which are directly sleeved with each other, a beam telescopic driving device 4 is connected between the left half beam 6 and the right half beam 7, a machine body connecting frame 10 is fixedly arranged on a gantry upper supporting leg 3 or the left half beam 6 and the right half beam 7, after the implementation, when a ground obstacle (a convex ridge or a concave pit) is encountered in the construction process, a gantry lower supporting leg 1 on the gantry unit near the ground obstacle of the machine can be lifted through a supporting leg telescopic driving device 2, the gantry lower supporting leg is reset and supported on a walking surface through the supporting leg telescopic driving device 2 after the gantry lower supporting leg on the gantry unit near the ground obstacle in the next gantry unit near the ground obstacle is lifted in sequence, The gantry can automatically cross ground obstacles by reciprocating when the gantry is over and reset, and in addition, the gantry can be contracted to the minimum size in the height and width directions through the supporting leg telescopic driving device 2 and the cross beam telescopic driving device 4 during transportation and storage, so that the transportation and storage of the machine under the minimum volume are realized; the multidimensional wheel walking device 8 comprises a multidimensional wheel bracket 8.3, the multidimensional wheel bracket 8.3 is fixedly connected with the bottom end of the lower supporting leg 1 of the portal, a walking wheel swing bracket is hinged on the multidimensional wheel bracket 8.3, a swing driving device 8.2 is supported between the walking wheel swing bracket 8.7 and the multidimensional wheel bracket 8.3, the included angle between the walking wheel swing bracket 8.7 and the multidimensional wheel bracket 8.3 can be adjusted through the swing driving device 8.2, a walking wheel bracket 8.9 is rotatably supported on the walking wheel swing bracket 8.7, a wheel frame rotary transmission device 8.8 is arranged between the walking wheel swing bracket 8.7 and the walking wheel bracket 8.9, the wheel frame rotary transmission device 8.8 is in transmission connection with the wheel frame rotary driving device 8.4, the wheel frame rotary transmission device 8.8 is a worm gear reducer, the wheel frame rotary driving device 8.4 is a hydraulic motor, the hydraulic motor is directly connected with the worm gear 8.5 of the worm gear reducer, a walking wheel bracket 8.9 is fixedly connected to a worm wheel 8.6 of a worm and gear speed reducer, a walking wheel shaft 8.11 is fixedly arranged on the walking wheel bracket 8.9, the walking wheel shaft 8.11 is rotatably connected with a walking wheel 8.12 through a walking wheel bearing 8.10, a walking wheel surface 8.15 of the walking wheel 8.12 is arc-shaped, the arc-shaped curvature radius of the walking wheel surface 8.15 is equal to or larger than the radius of the inner wall of a tunnel 9, a transmission bevel gear 8.13 is fixedly arranged on the walking wheel 8.12, the transmission bevel gear 8.13 is engaged with a drive bevel gear 8.14, the drive bevel gear 8.14 is in transmission connection with a walking wheel driving device 8.1 through a gear transmission box, the gear transmission box is fixedly arranged on a walking wheel swinging bracket 8.7 (see figure 5), the gear transmission box can also be fixedly arranged on a worm wheel 8.6 connected with the walking wheel bracket 8.9 (see figure 6), the drive bevel gear 8.14 is fixedly connected with the tail, the gear box output shaft and the worm wheel 8.6 are coaxially arranged, the walking wheel driving device 8.1 is an electric motor, fig. 7 shows another feasible driving mode of the walking wheel 8.12, in the drawing, the walking wheel 8.12 is directly connected with the walking wheel driving device 8.1, the walking wheel driving device 8.1 is a hydraulic motor or an electric motor, in the implementation, the walking wheel bracket 8.9 can be driven to circumferentially rotate on the walking wheel swing bracket 8.7 through the wheel frame rotary transmission device 8.8, so that the walking wheel 8.12 supported on the walking wheel bracket 8.9 can not only follow the walking wheel swing bracket 8.7 to obtain the adjustment of the required working angle, but also can follow the walking wheel bracket 8.9 to adjust the required circumferential angle, the wheel surface of the walking wheel can be attached to the inner wall of the circular tube-shaped tunnel through the angle adjustment of the walking wheel swing bracket 8.7 followed by the walking wheel 8.12, the walking wheel 8.12 can directly and stably support the cambered surface of the inner wall of the circular tube-shaped tunnel, realized promptly and to have let the machine directly carry out construction operations such as handling in the pipe tunnel, through the timely adjustment to walking wheel 8.12 follow walking wheel support 8.9 circumference angle, can not only realize making walking wheel face 8.15 remain the laminating with the tunnel inner wall all the time in tubular tunnel crank department, just also realized that the machine can steadily turn round in the tunnel, can also let the machine move along setting direction angle when non-construction state, through being connected walking wheel 8.12 and walking wheel drive arrangement 8.1 transmission, then for walking wheel 8.12 provide necessary walking power, the work of machine in the tunnel is moved has been guaranteed. The implementation achieves the implementation purposes that the machine can directly and stably support the machine to walk on the cambered surface of the inner wall of the tubular tunnel, the obstacle can be automatically crossed, and the structure is simple and reasonable.
The tunnel lifting robot of the present invention has been described in detail with reference to the preferred embodiments thereof, but it is not limited thereto. For example, the swing driving device is not limited to a telescopic cylinder, but may be a cylinder or other common devices capable of performing telescopic action; the number of groups of the door frame units is not limited to four, and may be more or less than four, and so on. Any similar structural or functional variations on the present invention are considered to fall within the scope of the present invention.

Claims (1)

1. The utility model provides a tunnel handling robot, includes the fuselage link, its characterized in that: four groups of hoisting portal frames are connected and installed through the machine body connecting frame, and each hoisting portal frame consists of a portal frame supporting leg, a portal frame cross beam and a multidimensional wheel traveling device fixedly connected to the bottom of the portal frame supporting leg; the portal support legs comprise portal upper support legs and portal lower support legs, the portal upper support legs and the portal lower support legs are mutually sleeved in a sliding manner, a support leg telescopic driving device is arranged between the portal upper support legs and the portal lower support legs, the support leg telescopic driving device is a telescopic oil cylinder, a portal crossbeam is in a three-section type and comprises a left half crossbeam, a right half crossbeam and a crossbeam connecting piece, the connecting ends of the left half crossbeam and the right half crossbeam are respectively sleeved in the crossbeam connecting piece in a sliding manner, the fixed ends of the left half crossbeam and the right half crossbeam are respectively fixedly connected to the portal upper support legs on the sides of the left half crossbeam and the right half crossbeam, two ends of the crossbeam telescopic driving device are respectively hinged on the left half crossbeam and the right half crossbeam, the crossbeam telescopic driving device is respectively connected between the left half crossbeam, the right half crossbeam and the crossbeam connecting piece, the crossbeam telescopic driving device is a telescopic oil cylinder, one end of each telescopic oil cylinder is respectively hinged on the crossbeam connecting piece, the other end, the multidimensional wheel walking device comprises a multidimensional wheel bracket, the multidimensional wheel bracket is fixedly connected with the bottom end of a lower supporting leg of a portal frame, a walking wheel swinging bracket is hinged on the multidimensional wheel bracket, a swinging driving device is supported between the walking wheel swinging bracket and the multidimensional wheel bracket, the included angle between the walking wheel swinging bracket and the multidimensional wheel bracket can be adjusted through the swinging driving device, the walking wheel bracket is rotatably supported on the walking wheel swinging bracket, a wheel carrier rotating transmission device is arranged between the walking wheel swinging bracket and the walking wheel bracket, the wheel carrier rotating transmission device is in transmission connection with the wheel carrier rotating transmission device, the wheel carrier rotating transmission device is a worm gear reducer, the wheel carrier rotating transmission device is a hydraulic motor, the hydraulic motor is directly connected to a worm of the worm gear reducer, the walking wheel bracket is fixedly connected to a worm gear of the worm gear reducer, and a walking wheel shaft is fixedly arranged on the walking wheel bracket, the walking wheel is rotatably connected with walking wheels through walking wheel bearings, the walking wheel surfaces of the walking wheels are arc-shaped, the arc curvature radius of the walking wheel surfaces is equal to the radius of the inner wall of the tunnel, transmission bevel gears are fixedly mounted on the walking wheels and are meshed with the driving bevel gears, the driving bevel gears are in transmission connection with walking wheel driving devices through gear transmission boxes, the gear transmission boxes are fixedly arranged on walking wheel swing supports, the driving bevel gears are fixedly connected to the tail ends of output shafts of the gear transmission boxes, the output shafts of the gear transmission boxes are coaxially arranged with worm wheels, and the walking wheel driving devices are motors.
CN201810655073.2A 2018-06-23 2018-06-23 Tunnel hoisting robot Active CN108622809B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202010385835.9A CN111453626B (en) 2018-06-23 2018-06-23 Tunnel hoisting robot
CN201810655073.2A CN108622809B (en) 2018-06-23 2018-06-23 Tunnel hoisting robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810655073.2A CN108622809B (en) 2018-06-23 2018-06-23 Tunnel hoisting robot

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202010385835.9A Division CN111453626B (en) 2018-06-23 2018-06-23 Tunnel hoisting robot

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CN108622809A CN108622809A (en) 2018-10-09
CN108622809B true CN108622809B (en) 2020-11-13

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Publication number Priority date Publication date Assignee Title
CN113668535A (en) * 2021-07-22 2021-11-19 中铁八局集团昆明铁路建设有限公司 Automatic leg lifting device for assembly trolley of assembled subway station

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JP2000327261A (en) * 1999-05-19 2000-11-28 Nagaokagumi:Kk Gantry crane, bucket used for it and laying construction method for underground buried object
ITCS20060008A1 (en) * 2006-05-30 2007-11-30 Costruit S R L CRAB LIFTER - RUBBER CRANES TO BRAND ON ANY LAND.
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CN111453626B (en) 2021-07-20
CN111453626A (en) 2020-07-28

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