CN109250623A - A kind of pair of self-locking stepping type self walking mechanism and control method - Google Patents
A kind of pair of self-locking stepping type self walking mechanism and control method Download PDFInfo
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- CN109250623A CN109250623A CN201810990007.0A CN201810990007A CN109250623A CN 109250623 A CN109250623 A CN 109250623A CN 201810990007 A CN201810990007 A CN 201810990007A CN 109250623 A CN109250623 A CN 109250623A
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- self
- crossbearer
- locking
- telescopic
- double
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- 230000007246 mechanism Effects 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012423 maintenance Methods 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000000694 effects Effects 0.000 claims description 9
- 239000003381 stabilizer Substances 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
Abstract
The invention discloses a kind of double self-locking stepping type self walking mechanisms and control methods, belong to lifting equipment running mechanism technical field, including telescopic machine frame, the telescopic machine frame includes the preceding crossbearer and rear crossbearer connected by the telescoping mechanism of intermediate longitudinal extension, the left and right ends of the preceding crossbearer and rear crossbearer are provided with the telescoping leg of transversal stretching, the self-locking mechanism side by side with the preceding crossbearer and/or rear crossbearer is additionally provided on the telescoping mechanism, the self-locking mechanism includes self-locking friction block corresponding with the telescoping leg, the telescoping mechanism drives the self-locking friction block that telescoping leg is cooperated to carry out transversal stretching by link mechanism.
Description
Technical field
The invention belongs to lifting equipment running mechanism technical fields, and in particular to a kind of double self-locking stepping type self vehicle with walking machine
Structure and control method.
Background technique
The walking mechanism of the equipment such as lifting or transport or workbench is run, and can be used from line mode or mode of traction, right
In clinoplain (or curved surface) or have greater level power effect walking mechanism operation when, it is understood that there may be: only relying on frictional force can not
It operates normally, or only relies on the problems such as tractive force cannot keep equipment normal steady state, in this case, need driving mechanism
Ability is enough and is able to maintain the in stable condition of equipment, to guarantee normal work and device security.
In the prior art, such as Publication No. CN201902006U, the time of disclosure is on July 20th, 2011, entitled " complete
The Chinese utility model patent document of hydraulic pressure elevator well climbing device ", discloses a kind of all-hydraulic climbing mechanism for elevator well,
Including climbing framework, column assembly and the jacking apparatus installed based on elevator；Wherein, climbing framework includes being symmetrically disposed on it
Multiple telescopic movable supporting legs on periphery, each movable supporting legs are adapted to the preformed hole size of elevator shaft；Column is total
At being set in climbing framework comprising the column being vertically arranged and two are vertically fixed on leg surface uniformly above
Jack ladder；Every jacking ladder includes the jacking hole being uniformly arranged along longitudinal direction and the keyhole being uniformly arranged along longitudinal direction；
The jacking of each jacking ladder position correspondence and each jacking ladder is corresponded with hole；The number and jacking ladder of jacking apparatus
Item number it is equal；Each jacking apparatus includes jacking cylinder；The retractable ends of jacking cylinder are respectively and fixedly provided with upper clipping claw device, separately
One end is fixedly connected on climbing framework, and lower claw device is provided in climbing framework.But this technical solution be exactly can only be real
Now the specific this vertical direction tubular structure of elevator with jacking hole is climbed, adaptability is not high, also without
Method is suitable for the movement of creeping of curved surface.
Summary of the invention
The purpose of the present invention is to provide one kind with double self-locking structures, according to locking control, the quasi- life of hydraulic-driven
Flowing mode realizes the double self-locking stepping type self walking mechanisms and control of lifting or the equipment step run such as transport or workbench
Method.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of double self-locking stepping type self walking mechanisms, it is characterised in that: including telescopic machine frame, the telescopic machine frame includes
The left and right ends of the preceding crossbearer and rear crossbearer connected by the telescoping mechanism of intermediate longitudinal extension, the preceding crossbearer and rear crossbearer are equal
It is provided with the telescoping leg of transversal stretching, is additionally provided on the telescoping mechanism with the preceding crossbearer and/or rear crossbearer side by side
Self-locking mechanism, the self-locking mechanism includes self-locking friction block corresponding with the telescoping leg, i.e., self-locking friction block with it is right
The telescoping leg of position is answered just to constitute a twin-lock structure, the telescoping mechanism drives described self-locking rub by link mechanism
Cleaning block cooperate telescoping leg carry out transversal stretching, self-locking friction block be by the transmission of link mechanism during stepping with stretch
The cooperation linkage of contracting formula stabilizer blade, thus may be implemented with step locking and loosen in active procedure, forming one has dual guarantor
Double self-locking structures of danger.
The telescopic machine frame is I-shaped rack, and the telescoping mechanism includes vertical flexible with retractable driving device
Frame is connected between the preceding crossbearer and rear crossbearer by the vertical expansion bracket, i.e., the middle section of drum frame is as contractility
Offer unit.
The vertical expansion bracket is two, and two vertical expansion brackets are arranged in parallel, the front and back two of two vertical expansion brackets
End is connected with the preceding crossbearer and rear crossbearer respectively, is provided between two vertical expansion brackets for installing the flexible driving dress
The tranverse connecting rod set, the retractable driving device include for driving the preceding crossbearer and rear crossbearer to move along the vertical expansion bracket
Hydraulic Step Cylinder, the hydraulic Step Cylinder has hydraulic power unit by piping connection.
The vertical expansion bracket be Telescopic shaft type structure, the end of upper and lower two sections of bars respectively with the preceding crossbearer and after
Crossbearer is connected, and is provided with tranverse connecting rod between its lower section bar, and there are two the hydraulic Step Cylinders, and is that one end and tranverse connecting rod are cut with scissors
It connects, the other end and preceding crossbearer are hinged, ensure that the stability of stepping process, while the connection type that front and back is hinged in this way
Certain bend stepping path can be realized by controlling the stroke of hydraulic Step Cylinder.
The link mechanism of the self-locking mechanism includes II two connecting rods of connecting rod I and connecting rod, and I one end of connecting rod is hinged on the cross
On connecting rod, the head end of the other end and connecting rod II is hinged；The hinged self-locking friction block in the end of connecting rod II, and the middle part of connecting rod II
It is hinged on the preceding crossbearer, the mode of double link effectively transmits the power of stepping process, and the distance change of longitudinal direction is converted
For transverse direction, realizes locking and loosen.
The telescoping leg includes the Double-head telescopic hydraulic cylinder for driving cross link, and the cross link includes two
The hinged connecting rod of root intermediate interdigitated, and its hinge joint is on the preceding crossbearer and rear crossbearer, the outside of two connecting rods of cross link
Be provided with stepping friction block made of the malleable material of apparatus between end, the inside of two connecting rods of cross link respectively with institute
Two telescopic heads for stating Double-head telescopic hydraulic cylinder are hinged.
The telescoping leg includes the Double-head telescopic hydraulic cylinder for driving cross link, and the cross link includes two
Root connecting rod arranged in a crossed manner, is provided with stepping friction block between the outboard end of two connecting rods of cross link, and cross link two
The inside of connecting rod is hinged with two telescopic heads of the Double-head telescopic hydraulic cylinder respectively；It is corresponding in the middle part of two connecting rods of cross link
Position is provided with bar shaped sliding slot aperture, and the both ends of the preceding crossbearer and rear crossbearer are provided with for limiting the bar shaped sliding slot
The deflector roll of aperture, i.e., the described deflector roll is in connecting rod transverse movement arranged in a crossed manner by limiting bar shaped sliding slot aperture on two connecting rods
Track so that two connecting rod crosspoints and the triangle constituted with the interface point of stepping friction block have the variable of length
Side can be realized laterally movable with guarantee.
Two flexible head ends of the Double-head telescopic hydraulic cylinder are provided with in-plane and its telescopic direction is orthogonal
Connecting plate is provided with reset tension spring between two connecting plates.
The stepping friction block is provided with stability maintenance bar, the section of the corresponding preceding crossbearer and rear crossbearer towards inside on one side
It offers for the stability maintenance hole for stability maintenance bar insertion, i.e. stability maintenance bar is inserted in stability maintenance hole, as stepping friction block is in transverse direction
Activity on direction, stability maintenance bar, which also laterally interts in stability maintenance hole, plays the role of a motion profile stability maintenance, while can also play
One provides the effect of longitudinal holding power.
The bottom of the telescopic machine frame orientation movements plane is provided with traveling wheel.
A kind of control method of double self-locking stepping type self walking mechanisms, which is characterized in that the preceding cross carried out including circulation
Bar stair step and rear transverse rod stair step；
The front rail stair step, hydraulic Step Cylinder is in off state at this time, and telescopic rod is tightening state, and by from lock machine
The link mechanism of structure pulls the side wall of self-locking friction block transverse movement disengaging advance track two sides；At this point, by rear crossbearer both ends
Telescoping leg Double-head telescopic hydraulic cylinder is closed, and so that its two two telescopic heads is driven cross link tightening, is made its stepping friction
Block laterally outward resists the side wall of advance track two sides, then opens the telescoping leg Double-head telescopic hydraulic cylinder at preceding crossbearer both ends
It opens, two telescopic head drives cross link to open, and moves its stepping friction block laterally inwardly and is detached from advance track two sides
Side wall；It is then turned on hydraulic Step Cylinder, front rail stepping along longitudinal direction is pushed by its telescopic rod；
The rear transverse rod stair step, hydraulic Step Cylinder is open state at this time, and telescopic rod is open configuration, and by from lock machine
The link mechanism of structure pushes self-locking friction block transverse movement to resist the side walls of advance track two sides；At this point, by preceding crossbearer both ends
Telescoping leg Double-head telescopic hydraulic cylinder is closed, and so that its two two telescopic heads is driven cross link tightening, is made its stepping friction
Block laterally outward resists the side wall of advance track two sides, then opens the telescoping leg Double-head telescopic hydraulic cylinder at rear crossbearer both ends
It opens, two telescopic head drives cross link to open, and moves its stepping friction block laterally inwardly and is detached from advance track two sides
Side wall；It is then turned on hydraulic Step Cylinder, rear transverse rod stepping along longitudinal direction is pulled by its telescopic rod.
The technical program has the beneficial effect that:
Double self-locking stepping type self walking mechanisms provided by the present invention are clamped by double self clamping devices, stand connecting rod connects
It connects, hydraulic Step Cylinder driving, the mechanisms such as normally closed positioning clamping device, by " double self clamping devices locking-normally closed positioning, which clamp, to be filled
Set release-hydraulic Step Cylinder driving-normally closed positioning clamping device locking-bis- self clamping device releases-hydraulic Step Cylinder driving
The workflow of (arrive next stepping position)-bis- self clamping devices locking (entering next step state) " realize lifting or
The step run of the equipment such as transport or workbench, prevents the walking mechanism of the equipment such as lifting or transport or workbench from tilting
Or thering is horizontal force action state uncontrolled movement occur, equipment can be in locking operating condition work, and is able to achieve step motion.
This device is adapted to the space of groove type, and the side wall of advance track two sides is outside the both sides of device
Equally the boss type track with protrusion can also be applied in side, and advance track is stretched at the lower section of device, front and back cross bar both ends
Contracting formula stabilizer blade inwardly accommodates two sides of track, and structure thinking is completely the same, only the clamping direction phase of telescoping leg
Instead, it is only necessary to adjust the setting direction of telescoping leg, control method is consistent.
Corresponding, the control method of this double self-locking stepping type self walking mechanisms passes through the control of hydraulic cylinder and hydraulic Step Cylinder
Stepping can be realized in system, and the structure of double self locking does not need individually operated in control process yet, it is only necessary to which normal stepping is
Can automatic interoperation, operation control is easy reliable.
Detailed description of the invention
It is of the invention aforementioned and be detailed description below and become more apparent upon when reading in conjunction with the following drawings, in attached drawing:
Fig. 1 is a kind of structural schematic diagram of basic technical scheme of the present invention；
Fig. 2 to 4 is rear transverse rod stair step schematic diagram of structural changes of the present invention；
Fig. 5 to 7 is front rail stair step schematic diagram of structural changes of the present invention；
Fig. 8 is a kind of side structure schematic view of basic technical scheme of the present invention；
Fig. 9 is a kind of structural schematic diagram of optimal technical scheme of the present invention；
Figure 10 is a kind of side structure schematic view of optimal technical scheme of the present invention；
In figure:
1, preceding crossbearer；2, rear crossbearer；3, self-locking friction block；4, vertical expansion bracket；5, tranverse connecting rod；6, hydraulic Step Cylinder；7, hydraulic pump
It stands；8, connecting rod I；9, connecting rod II；10, Double-head telescopic hydraulic cylinder；11, cross link；12, stepping friction block；13, reset tension spring；
14, traveling wheel.
Specific embodiment
It is further illustrated below by several specific embodiments and realizes the object of the invention technical solution, need to illustrate
It is that claimed technical solution includes but is not limited to following embodiment.
Embodiment 1
As a kind of most basic embodiment of the invention, such as Fig. 1 discloses a kind of double self-locking stepping type self walking mechanisms,
Including telescopic machine frame, the telescopic machine frame includes the preceding crossbearer 1 by the telescoping mechanism connection of intermediate longitudinal extension with after
The left and right ends of crossbearer 2, the preceding crossbearer 1 and rear crossbearer 2 are provided with the telescoping leg of transversal stretching, the telescoping mechanism
On be additionally provided with the preceding crossbearer 1 and/or the rear self-locking mechanism of crossbearer 2 side by side, the self-locking mechanism include with it is described flexible
The telescoping leg of the corresponding self-locking friction block 3 of formula stabilizer blade, i.e., self-locking friction block 3 and corresponding position just constitutes a twin-lock knot
Structure, the telescoping mechanism drives the self-locking friction block 3 that telescoping leg is cooperated to carry out transversal stretching by link mechanism, self-locking
Friction block 3 be by the transmission of link mechanism during stepping with telescoping leg cooperation linkage, thus in active procedure
In may be implemented to form the double self-locking structures for having double insurance with step locking and loosening.Pass through double self clamping devices
The mechanisms such as clamping, stand connecting rod connection, the driving of hydraulic Step Cylinder 6, normally closed positioning clamping device, by " double self clamping device locks
Fixed-normally closed positioning clamping device release-driving of hydraulic Step Cylinder 6-normally closed positioning clamping device locking-bis- self clamping devices
The driving of release-hydraulic Step Cylinder 6 (arriving next stepping position)-bis- self clamping devices locking (entering next step state) "
Workflow realizes the step run of lifting or the equipment such as transport or workbench, prevents lifting or transport or workbench etc. from setting
Standby walking mechanism is tilting or is having horizontal force action state uncontrolled movement occur, and equipment can work in locking operating condition, and
It is able to achieve step motion.
Embodiment 2
A kind of double self-locking stepping type self vehicle with walking machine are disclosed such as Fig. 1 to 10 as a kind of preferred embodiment of the present invention
Structure, including telescopic machine frame, the telescopic machine frame include 1 He of preceding crossbearer connected by the telescoping mechanism of intermediate longitudinal extension
The left and right ends of crossbearer 2 afterwards, the preceding crossbearer 1 and rear crossbearer 2 are provided with the telescoping leg of transversal stretching, the telescopic machine
Be additionally provided on structure with the preceding crossbearer 1 and/or the rear self-locking mechanism of crossbearer 2 side by side, the self-locking mechanism includes stretching with described
The telescoping leg of the corresponding self-locking friction block 3 of contracting formula stabilizer blade, i.e., self-locking friction block 3 and corresponding position just constitutes a twin-lock
Structure, the telescoping mechanism drive the self-locking friction block 3 that telescoping leg is cooperated to carry out transversal stretching by link mechanism, from
Lock friction block 3 be by the transmission of link mechanism during stepping with telescoping leg cooperation linkage, thus in activity
It is may be implemented in journey with step locking and is loosened, form the double self-locking structures for having double insurance.
The telescopic machine frame is I-shaped rack, and the telescoping mechanism includes vertical flexible with retractable driving device
Frame 4 is connected between the preceding crossbearer 1 and rear crossbearer 2 by the vertical expansion bracket 4, i.e., the middle section of drum frame is used as and stretches
The offer unit of contracting power.
The vertical expansion bracket 4 is two, and two vertical expansion brackets 4 are arranged in parallel, the front and back of two vertical expansion brackets 4
Both ends are connected with the preceding crossbearer 1 and rear crossbearer 2 respectively, are provided between two vertical expansion brackets 4 described flexible for installing
The tranverse connecting rod 5 of driving device, the retractable driving device include for driving the preceding crossbearer 1 and rear crossbearer 2 along described vertical
The hydraulic Step Cylinder 6 that expansion bracket 4 moves, the hydraulic Step Cylinder 6 have hydraulic power unit 7 by piping connection.
The vertical expansion bracket 4 be Telescopic shaft type structure, the end of upper and lower two sections of bars respectively with the preceding crossbearer 1 and
Crossbearer 2 is connected afterwards, and tranverse connecting rod 5 is provided between its lower section bar, and there are two the hydraulic Step Cylinders 6, and is one end and horizontal company
Bar 5 is hinged, and the other end and preceding crossbearer 1 are hinged, ensures that the stability of stepping process, while the connection that front and back is hinged in this way
Mode can also realize certain bend stepping path by controlling the stroke of hydraulic Step Cylinder 6.
The link mechanism of the self-locking mechanism includes II 9 two connecting rods of connecting rod I 8 and connecting rod, and I 8 one end of connecting rod is hinged on institute
It states on tranverse connecting rod 5, the head end of the other end and connecting rod II 9 is hinged；The hinged self-locking friction block 3 in the end of connecting rod II 9, and connecting rod
II 9 middle part is hinged on the preceding crossbearer 1, the mode of double link effectively transmits the power of stepping process, by longitudinal direction away from
It is converted into transverse direction from variation, realize locking and is loosened.
The telescoping leg includes the Double-head telescopic hydraulic cylinder 10 for driving cross link 11, the cross link 11
Including the hinged connecting rod of two intermediate interdigitateds, and its hinge joint is on the preceding crossbearer 1 and rear crossbearer 2, and cross link 11 two
Stepping friction block 12 made of the malleable material of apparatus, 11 two connecting rods of cross link are provided between the outboard end of connecting rod
Inside it is hinged with two telescopic heads of the Double-head telescopic hydraulic cylinder 10 respectively.
10 two flexible head ends of the Double-head telescopic hydraulic cylinder are provided with in-plane and are mutually perpendicular to its telescopic direction
Connecting plate, be provided with reset tension spring 13 between two connecting plates.
The stepping friction block 12 is provided with stability maintenance bar towards inside on one side, the corresponding preceding crossbearer 1 and rear crossbearer 2
Section is offered for the stability maintenance hole for stability maintenance bar insertion, i.e. stability maintenance bar is inserted in stability maintenance hole, with stepping friction block 12
Activity in a lateral direction, stability maintenance bar, which also laterally interts in stability maintenance hole, plays the role of a motion profile stability maintenance, simultaneously also
The longitudinal holding power of an offer can be provided.
The bottom of the telescopic machine frame orientation movements plane is provided with traveling wheel 14.
Embodiment 3
A kind of double self-locking stepping type self vehicle with walking machine are disclosed such as Fig. 1 to 10 as a kind of preferred embodiment of the present invention
Structure, including telescopic machine frame, the telescopic machine frame include 1 He of preceding crossbearer connected by the telescoping mechanism of intermediate longitudinal extension
The left and right ends of crossbearer 2 afterwards, the preceding crossbearer 1 and rear crossbearer 2 are provided with the telescoping leg of transversal stretching, the telescopic machine
Be additionally provided on structure with the preceding crossbearer 1 and/or the rear self-locking mechanism of crossbearer 2 side by side, the self-locking mechanism includes stretching with described
The telescoping leg of the corresponding self-locking friction block 3 of contracting formula stabilizer blade, i.e., self-locking friction block 3 and corresponding position just constitutes a twin-lock
Structure, the telescoping mechanism drive the self-locking friction block 3 that telescoping leg is cooperated to carry out transversal stretching by link mechanism, from
Lock friction block 3 be by the transmission of link mechanism during stepping with telescoping leg cooperation linkage, thus in activity
It is may be implemented in journey with step locking and is loosened, form the double self-locking structures for having double insurance.
The telescopic machine frame is I-shaped rack, and the telescoping mechanism includes vertical flexible with retractable driving device
Frame 4 is connected between the preceding crossbearer 1 and rear crossbearer 2 by the vertical expansion bracket 4, i.e., the middle section of drum frame is used as and stretches
The offer unit of contracting power.
The vertical expansion bracket 4 is two, and two vertical expansion brackets 4 are arranged in parallel, the front and back of two vertical expansion brackets 4
Both ends are connected with the preceding crossbearer 1 and rear crossbearer 2 respectively, are provided between two vertical expansion brackets 4 described flexible for installing
The tranverse connecting rod 5 of driving device, the retractable driving device include for driving the preceding crossbearer 1 and rear crossbearer 2 along described vertical
The hydraulic Step Cylinder 6 that expansion bracket 4 moves, the hydraulic Step Cylinder 6 have hydraulic power unit 7 by piping connection.
The vertical expansion bracket 4 be Telescopic shaft type structure, the end of upper and lower two sections of bars respectively with the preceding crossbearer 1 and
Crossbearer 2 is connected afterwards, and tranverse connecting rod 5 is provided between its lower section bar, and there are two the hydraulic Step Cylinders 6, and is one end and horizontal company
Bar 5 is hinged, and the other end and preceding crossbearer 1 are hinged, ensures that the stability of stepping process, while the connection that front and back is hinged in this way
Mode can also realize certain bend stepping path by controlling the stroke of hydraulic Step Cylinder 6.
The link mechanism of the self-locking mechanism includes II 9 two connecting rods of connecting rod I 8 and connecting rod, and I 8 one end of connecting rod is hinged on institute
It states on tranverse connecting rod 5, the head end of the other end and connecting rod II 9 is hinged；The hinged self-locking friction block 3 in the end of connecting rod II 9, and connecting rod
II 9 middle part is hinged on the preceding crossbearer 1, the mode of double link effectively transmits the power of stepping process, by longitudinal direction away from
It is converted into transverse direction from variation, realize locking and is loosened.
The telescoping leg includes the Double-head telescopic hydraulic cylinder 10 for driving cross link 11, the cross link 11
Including two connecting rods arranged in a crossed manner, it is provided with stepping friction block 12 between the outboard end of two connecting rods of cross link 11, hands over
The inside for pitching 11 two connecting rods of connecting rod is hinged with two telescopic heads of the Double-head telescopic hydraulic cylinder 10 respectively；Cross link 11
Corresponding positions are provided with bar shaped sliding slot aperture in the middle part of two connecting rods, and the both ends of the preceding crossbearer 1 and rear crossbearer 2 are provided with use
In the deflector roll for limiting the bar shaped sliding slot aperture, i.e., the described deflector roll is in connecting rod transverse movement arranged in a crossed manner by limiting two
The track of bar shaped sliding slot aperture on connecting rod, so that two connecting rod crosspoints and the triangle with the interface point composition of stepping friction block 12
Shape has the variable side of length, can be realized with guarantee laterally movable.
10 two flexible head ends of the Double-head telescopic hydraulic cylinder are provided with in-plane and are mutually perpendicular to its telescopic direction
Connecting plate, be provided with reset tension spring 13 between two connecting plates.
The stepping friction block 12 is provided with stability maintenance bar towards inside on one side, the corresponding preceding crossbearer 1 and rear crossbearer 2
Section is offered for the stability maintenance hole for stability maintenance bar insertion, i.e. stability maintenance bar is inserted in stability maintenance hole, with stepping friction block 12
Activity in a lateral direction, stability maintenance bar, which also laterally interts in stability maintenance hole, plays the role of a motion profile stability maintenance, simultaneously also
The longitudinal holding power of an offer can be provided.
The bottom of the telescopic machine frame orientation movements plane is provided with traveling wheel 14.
Double self-locking stepping type self walking mechanisms provided by the present invention are clamped by double self clamping devices, rack connects
The mechanisms such as bar connection, the driving of hydraulic Step Cylinder 6, normally closed positioning clamping device, by " double self clamping device locking-normally closed locating clips
The tight device release-driving of hydraulic Step Cylinder 6-normally closed positioning clamping device locking-bis- self clamping device release-hydraulic Step Cylinders
The workflow of 6 drivings (arriving next stepping position)-bis- self clamping devices locking (entering next step state) " is realized
The step run of weight or the equipment such as transport or workbench, prevents the walking mechanism of the equipment such as lifting or transport or workbench from existing
It tilts or there is horizontal force action state uncontrolled movement occur, equipment can be in locking operating condition work, and is able to achieve step motion.
Such as Fig. 1 to 8, this device is adapted to the space of groove type, and the side wall of advance track two sides is filling
On the outside of the both sides set, equally, such as Fig. 9 and 10, the boss type track with protrusion can also be applied, advance track is under device
Side, the telescoping leg at front and back cross bar both ends inwardly accommodate two sides of track, and structure thinking is completely the same, only stretches
The clamping of formula stabilizer blade is contrary, it is only necessary to adjust the setting direction of telescoping leg, control method is consistent.
Embodiment 4
Present embodiment discloses a kind of control method of double self-locking stepping type self walking mechanisms, the front rail carried out including circulation
Stair step and rear transverse rod stair step；
The front rail stair step, hydraulic Step Cylinder 6 is in off state at this time, and telescopic rod is tightening state, and by self-locking
The link mechanism of mechanism pulls the side wall of self-locking 3 transverse movement of friction block disengaging advance track two sides；At this point, by 2 liang of rear crossbearer
The telescoping leg Double-head telescopic hydraulic cylinder 10 at end is closed, and is made its two two telescopic heads that cross link 11 be driven to tighten, is made it
Stepping friction block 12 laterally outward resists the side wall of advance track two sides, then by the telescoping leg double end at preceding 1 both ends of crossbearer
Telescopic hydraulic cylinder 10 is opened, two telescopic head drives cross link 11 to open, and moves its stepping friction block 12 laterally inwardly
It is detached from the side wall of advance track two sides；It is then turned on hydraulic Step Cylinder 6, front rail stepping along longitudinal direction is pushed by its telescopic rod；
The rear transverse rod stair step, hydraulic Step Cylinder 6 is open state at this time, and telescopic rod is open configuration, and by self-locking
The link mechanism of mechanism pushes self-locking 3 transverse movement of friction block to resist the side walls of advance track two sides；At this point, by 1 liang of preceding crossbearer
The telescoping leg Double-head telescopic hydraulic cylinder 10 at end is closed, and is made its two two telescopic heads that cross link 11 be driven to tighten, is made it
Stepping friction block 12 laterally outward resists the side wall of advance track two sides, then by the telescoping leg double end at rear 2 both ends of crossbearer
Telescopic hydraulic cylinder 10 is opened, two telescopic head drives cross link 11 to open, and moves its stepping friction block 12 laterally inwardly
It is detached from the side wall of advance track two sides；It is then turned on hydraulic Step Cylinder 6, rear transverse rod stepping along longitudinal direction is pulled by its telescopic rod.
The control method of this double self-locking stepping type self walking mechanisms passes through the control of hydraulic cylinder and hydraulic Step Cylinder 6
Realize stepping, the structure of double self locking does not need individually operated in control process yet, it is only necessary to which normal stepping can be automatic
Interoperation, operation control are easy to be reliable.
Embodiment 5
Present embodiment discloses a kind of control methods of double self-locking stepping type self walking mechanisms, comprising the following steps:
Double self-locking clamping structure lockings: the telescoping leg Double-head telescopic hydraulic cylinder 10 at preceding 1 both ends of crossbearer is closed, two is stretched
Drop-head drives cross link 11 to tense, its stepping friction block 12 is made laterally outward to resist the side wall of advance track two sides, realizes machine
Tool link lever locking.
Normally closed positioning clamping and release: the telescoping leg Double-head telescopic hydraulic cylinder 10 at rear 2 both ends of crossbearer is opened, two
Telescopic head drives cross link 11 to open, its stepping friction block 12 is made laterally inwardly to move the side wall for being detached from advance track two sides.
Hydraulic Step Cylinder 6 drives: hydraulic Step Cylinder 6 is shunk, and is pulled rear transverse rod stepping along longitudinal direction by its telescopic rod, i.e., is stretched simultaneously
Hydraulic power unit 7 on contracting open frame also moves forward therewith, and telescopic machine frame is flat in traveling by the pulley 14 or sliding block of bottom
It is moved on face, into next stepping position；In 6 contraction process of hydraulic Step Cylinder, connecting rod I 8 drives connecting rod II 9 to make self-locking friction block
3 unclamp the side wall for being detached from advance track two sides, i.e., so that double mechanical linkage lockout in double self-locking clamping structures so as to
Next step.
Normally closed locating clip tightly locks: the telescoping leg Double-head telescopic hydraulic cylinder 10 at rear 2 both ends of crossbearer is closed, make its two
Two telescopic heads of root drive cross link 11 to tighten, its stepping friction block 12 is made laterally outward to resist the side of advance track two sides
Wall.
Double self-locking clamping structures unclamp: the telescoping leg Double-head telescopic hydraulic cylinder 10 at preceding 1 both ends of crossbearer being opened, two
A telescopic head drives cross link 11 to open, its stepping friction block 12 is made laterally inwardly to move the side for being detached from advance track two sides
Wall, self-locking friction block 3 also has been detached from the side wall of advance track two sides at this time.
Hydraulic Step Cylinder 6 drives again: hydraulic Step Cylinder 6 extends, and front rail stepping along longitudinal direction is pushed by its telescopic rod, in stepping
In 6 elongation process of oil cylinder, the side wall that connecting rod I 8 drives connecting rod II 9 that self-locking 3 transverse shifting of friction block is made to resist advance track two sides,
Mechanical linkage in i.e. double self-locking clamping structures locks again.
Double self-locking clamping structures relock: the telescoping leg Double-head telescopic hydraulic cylinder 10 at preceding 1 both ends of crossbearer closed,
Two telescopic heads drive cross link 11 to tense, its stepping friction block 12 is made laterally outward to resist the side wall of advance track two sides,
The self-locking friction block 3 that cooperation has resisted advance track two sides side wall realizes mechanical linkage locking；So far double self-locking clamping structures
Mechanical linkage locking is completed, equipment can work under positioning states.
Claims (10)
1. a kind of double self-locking stepping type self walking mechanisms, it is characterised in that: including telescopic machine frame, the telescopic machine frame packet
Include the preceding crossbearer (1) and rear crossbearer (2) connected by the telescoping mechanism of intermediate longitudinal extension, the preceding crossbearer (1) and rear crossbearer
(2) left and right ends are provided with the telescoping leg of transversal stretching, are additionally provided on the telescoping mechanism and the preceding crossbearer
(1) and/or the rear self-locking mechanism of crossbearer (2) side by side, the self-locking mechanism includes self-locking rubs corresponding with the telescoping leg
Cleaning block (3), the telescoping mechanism drive the self-locking friction block (3) that telescoping leg is cooperated laterally stretch by link mechanism
Contracting.
2. a kind of double self-locking stepping type self walking mechanisms as described in claim 1, it is characterised in that: the telescopic machine frame
For I-shaped rack, the telescoping mechanism includes the vertical expansion bracket (4) with retractable driving device, the preceding crossbearer (1) and
It is connected between crossbearer (2) by the vertical expansion bracket (4) afterwards.
3. a kind of double self-locking stepping type self walking mechanisms as claimed in claim 2, it is characterised in that: the vertical expansion bracket
(4) be two, and two vertical expansion brackets (4) are arranged in parallel, the rear and front end of two vertical expansion brackets (4) respectively with it is described before
Crossbearer (1) is connected with rear crossbearer (2), is provided between two vertical expansion brackets (4) for installing the retractable driving device
Tranverse connecting rod (5), the retractable driving device include for driving the preceding crossbearer (1) and rear crossbearer (2) along described vertical flexible
The hydraulic Step Cylinder (6) of frame (4) movement, the hydraulic Step Cylinder (6) have hydraulic power unit (7) by piping connection.
4. a kind of double self-locking stepping type self walking mechanisms as claimed in claim 3, it is characterised in that: the vertical expansion bracket
It (4) is Telescopic shaft type structure, the end of upper and lower two sections of bars is connected with the preceding crossbearer (1) and rear crossbearer (2) respectively, and its
Be provided between lower section bar tranverse connecting rod (5), there are two the hydraulic Step Cylinders (6), and be one end and tranverse connecting rod (5) hingedly,
The other end and preceding crossbearer (1) are hinged.
5. a kind of double self-locking stepping type self walking mechanisms as described in claim 1, it is characterised in that: the self-locking mechanism
Link mechanism includes two connecting rods of connecting rod I (8) and connecting rod II (9), and connecting rod I (8) one end is hinged on the tranverse connecting rod (5), separately
One end and the head end of connecting rod II (9) are hinged；The hinged self-locking friction block (3) in the end of connecting rod II (9), and connecting rod II (9)
Middle part is hinged on the preceding crossbearer (1).
6. a kind of double self-locking stepping type self walking mechanisms as described in claim 1, it is characterised in that: the telescoping leg
Including for driving the Double-head telescopic hydraulic cylinder (10) of cross link (11), the cross link (11) includes two intermediate interdigitateds
Hinged connecting rod, and its hinge joint is on the preceding crossbearer (1) and rear crossbearer (2), the outside of (11) two connecting rods of cross link
Stepping friction block (12) made of the malleable material of apparatus, the inside of (11) two connecting rods of cross link are provided between end
It is hinged with two telescopic heads of the Double-head telescopic hydraulic cylinder (10) respectively.
7. a kind of double self-locking stepping type self walking mechanisms as described in claim 1, it is characterised in that: the telescoping leg
Including for driving the Double-head telescopic hydraulic cylinder (10) of cross link (11), the cross link (11) includes two arranged in a crossed manner
Connecting rod, be provided with stepping friction block (12) between the outboard end of two connecting rods of cross link (11), cross link (11) two
The inside of a connecting rod is hinged with two telescopic heads of the Double-head telescopic hydraulic cylinder (10) respectively；Two companies of cross link (11)
Corresponding position is provided with bar shaped sliding slot aperture in the middle part of bar, and the both ends of the preceding crossbearer (1) and rear crossbearer (2), which are provided with, to be used for
Limit the deflector roll of the bar shaped sliding slot aperture.
8. the double self-locking stepping type self walking mechanisms of one kind as claimed in claims 6 or 7, it is characterised in that: the double end is stretched
(10) two flexible head ends of contracting hydraulic cylinder are provided with in-plane and the orthogonal connecting plate of its telescopic direction, two connections
Reset tension spring (13) are provided between plate.
9. the double self-locking stepping type self walking mechanisms of one kind as claimed in claims 6 or 7, it is characterised in that: the stepping rubs
Cleaning block (12) is provided with stability maintenance bar towards inside on one side, and the section of the corresponding preceding crossbearer (1) and rear crossbearer (2) opens up useful
In the stability maintenance hole for stability maintenance bar insertion, i.e. stability maintenance bar is inserted in stability maintenance hole, as stepping friction block (12) is in transverse direction
On activity, stability maintenance bar also plays the role of a motion profile stability maintenance stability maintenance hole is laterally interspersed, while can also play one
The effect of longitudinal holding power is provided.
10. a kind of control method of double self-locking stepping type self walking mechanisms, which is characterized in that the front rail carried out including circulation
Stair step and rear transverse rod stair step；
The front rail stair step, hydraulic Step Cylinder (6) is in off state at this time, and telescopic rod is tightening state, and by certainly
The link mechanism of latch mechanism pulls the side wall of self-locking friction block (3) transverse movement disengaging advance track two sides；At this point, by rear crossbearer
(2) the telescoping leg Double-head telescopic hydraulic cylinder (10) at both ends is closed, its two two telescopic heads is made to drive cross link (11)
Tightening, makes its stepping friction block (12) laterally outward resist the side wall of advance track two sides, then stretching preceding crossbearer (1) both ends
Contracting formula stabilizer blade Double-head telescopic hydraulic cylinder (10) is opened, two telescopic head drives cross link (11) to open, and makes its stepping friction
Block (12) laterally inwardly moves the side wall for being detached from advance track two sides；Hydraulic Step Cylinder (6) are then turned on, are pushed by its telescopic rod
Front rail stepping along longitudinal direction；
The rear transverse rod stair step, hydraulic Step Cylinder (6) is open state at this time, and telescopic rod is open configuration, and by certainly
Self-locking friction block (3) transverse movement of link mechanism promotion of latch mechanism resists the side wall of advance track two sides；At this point, by preceding crossbearer
(1) the telescoping leg Double-head telescopic hydraulic cylinder (10) at both ends is closed, its two two telescopic heads is made to drive cross link (11)
Tightening, makes its stepping friction block (12) laterally outward resist the side wall of advance track two sides, then stretching rear crossbearer (2) both ends
Contracting formula stabilizer blade Double-head telescopic hydraulic cylinder (10) is opened, two telescopic head drives cross link (11) to open, and makes its stepping friction
Block (12) laterally inwardly moves the side wall for being detached from advance track two sides；Hydraulic Step Cylinder (6) are then turned on, are pulled by its telescopic rod
Rear transverse rod stepping along longitudinal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810990007.0A CN109250623B (en) | 2018-08-28 | 2018-08-28 | Double self-locking stepping self-walking mechanism and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810990007.0A CN109250623B (en) | 2018-08-28 | 2018-08-28 | Double self-locking stepping self-walking mechanism and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109250623A true CN109250623A (en) | 2019-01-22 |
| CN109250623B CN109250623B (en) | 2023-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810990007.0A Active CN109250623B (en) | 2018-08-28 | 2018-08-28 | Double self-locking stepping self-walking mechanism and control method |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110541582A (en) * | 2019-09-09 | 2019-12-06 | 河南文博建设工程有限公司 | Stepping type building translation method |
| CN110700104A (en) * | 2019-10-17 | 2020-01-17 | 中国十七冶集团有限公司 | Construction platform of suspension bridge suspender tensioning equipment and use method |
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| CN110541582A (en) * | 2019-09-09 | 2019-12-06 | 河南文博建设工程有限公司 | Stepping type building translation method |
| CN110541582B (en) * | 2019-09-09 | 2021-08-17 | 河南文博建设工程有限公司 | Stepping type building translation method |
| CN110700104A (en) * | 2019-10-17 | 2020-01-17 | 中国十七冶集团有限公司 | Construction platform of suspension bridge suspender tensioning equipment and use method |
| CN110700104B (en) * | 2019-10-17 | 2021-02-26 | 中国十七冶集团有限公司 | Construction platform of suspension bridge suspender tensioning equipment and use method |
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|---|---|
| CN109250623B (en) | 2023-12-22 |
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