CN109250623B - Double self-locking stepping self-walking mechanism and control method - Google Patents
Double self-locking stepping self-walking mechanism and control method Download PDFInfo
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- CN109250623B CN109250623B CN201810990007.0A CN201810990007A CN109250623B CN 109250623 B CN109250623 B CN 109250623B CN 201810990007 A CN201810990007 A CN 201810990007A CN 109250623 B CN109250623 B CN 109250623B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000000087 stabilizing effect Effects 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 description 12
- 230000009194 climbing Effects 0.000 description 11
- 239000003381 stabilizer Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects 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
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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
- B66C9/14—Trolley or crane travel drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The utility model discloses a double self-locking stepping self-walking mechanism and a control method, which belong to the technical field of lifting equipment walking mechanisms and comprise a telescopic rack, wherein the telescopic rack comprises a front transverse frame and a rear transverse frame which are connected through a middle longitudinal telescopic mechanism, the left end and the right end of the front transverse frame and the right end of the rear transverse frame are respectively provided with a telescopic support leg which transversely stretches, the telescopic mechanism is further provided with a self-locking mechanism which is parallel to the front transverse frame and/or the rear transverse frame, the self-locking mechanism comprises a self-locking friction block corresponding to the telescopic support legs, and the telescopic mechanism drives the self-locking friction block to transversely stretch in cooperation with the telescopic support legs through a connecting rod structure.
Description
Technical Field
The utility model belongs to the technical field of travelling mechanisms of hoisting equipment, and particularly relates to a double self-locking stepping self-travelling mechanism and a control method.
Background
The running of the running mechanism of the lifting or transporting or working platform and other equipment can adopt a self-running mode or a traction mode, and when the running mechanism runs on an inclined plane (or a curved surface) or has a larger horizontal force, the running mechanism can exist: the device can not normally operate only by friction force, or can not keep the normal and stable state of the device only by traction force, and the like.
In the prior art, as disclosed in chinese patent document with publication number CN201902006U and publication time 2011, 7 months and 20 days, named "full hydraulic lift well climbing mechanism", a full hydraulic lift well climbing mechanism is disclosed, which comprises a climbing frame installed based on lift well, a column assembly and a jacking device; the climbing frame comprises a plurality of telescopic movable supporting legs symmetrically arranged on the periphery of the climbing frame, and each movable supporting leg is adaptive to the size of a reserved hole of an elevator shaft; the upright post assembly is arranged in the climbing frame and comprises upright posts which are vertically arranged, and more than two jacking ladders which are uniformly and longitudinally fixed on the surfaces of the upright posts; each jacking crawling ladder comprises jacking holes which are uniformly arranged along the longitudinal direction and bolt holes which are uniformly arranged along the longitudinal direction; the jacking climbing ladders are corresponding in position and jacking holes of the jacking climbing ladders are corresponding one by one; the number of the jacking devices is equal to that of the jacking ladders; each jacking device comprises a jacking oil cylinder; the telescopic end parts of the jacking cylinders are respectively fixed with an upper claw device, the other ends of the jacking cylinders are fixedly connected to a climbing frame, and a lower claw device is arranged on the climbing frame. However, the technical scheme only can climb a specific vertical tubular structure of an elevator shaft with a jacking hole, has low adaptability and cannot be suitable for climbing on a curved surface.
Disclosure of Invention
The utility model aims to provide a double self-locking stepping self-walking mechanism with a double self-locking structure, which realizes stepping operation of equipment such as a lifting or transporting or working platform according to a locking control and hydraulic driving pseudo-living dynamic mode, and a control method.
The utility model aims at realizing the following technical scheme:
a double self-locking stepping self-walking mechanism is characterized in that: including telescopic frame, telescopic frame includes preceding crossbearer and back crossbearer of the telescopic machanism connection of longitudinal extension through the centre, the left and right sides both ends of preceding crossbearer and back crossbearer all are provided with the telescopic stabilizer blade of horizontal extension, last still be provided with of telescopic machanism with the self-locking mechanism of preceding crossbearer and/or back crossbearer side by side, self-locking mechanism include with the self-locking friction block that telescopic stabilizer blade corresponds, self-locking friction block just constitutes a double-locking structure with the telescopic stabilizer blade of corresponding position promptly, telescopic machanism passes through the link structure drive self-locking friction block cooperates telescopic stabilizer blade transversely to stretch out and draw back, and the self-locking friction block is the transmission through the link structure and cooperates the linkage with telescopic stabilizer blade in step by step, therefore can realize following the step locking and relax at the course of the activity, forms a double-locking structure that has double insurance.
The telescopic rack is an I-shaped rack, the telescopic mechanism comprises a vertical telescopic rack with a telescopic driving device, and the front transverse rack is connected with the rear transverse rack through the vertical telescopic rack, namely the middle part of the I-shaped rack is used as a telescopic force providing unit.
The two vertical expansion brackets are arranged in parallel, the front ends and the rear ends of the two vertical expansion brackets are respectively connected with the front transverse bracket and the rear transverse bracket, a transverse connecting rod for installing the telescopic driving device is arranged between the two vertical expansion brackets, the telescopic driving device comprises a stepping oil cylinder for driving the front transverse bracket and the rear transverse bracket to move along the vertical expansion brackets, and the stepping oil cylinder is connected with a hydraulic pump station through a pipeline.
The vertical expansion bracket is of a telescopic rod type structure, the ends of the upper section rod and the lower section rod of the vertical expansion bracket are respectively connected with the front transverse bracket and the rear transverse bracket, transverse connecting rods are arranged between the lower section rods of the vertical expansion bracket, the number of the stepping oil cylinders is two, one ends of the stepping oil cylinders are hinged with the transverse connecting rods, the other ends of the stepping oil cylinders are hinged with the front transverse bracket, so that the stability of a stepping process is ensured, and meanwhile, a certain curve stepping path can be realized by controlling the expansion amount of the stepping oil cylinders in a front-back hinged connection mode.
The connecting rod structure of the self-locking mechanism comprises a connecting rod I and a connecting rod II, wherein one end of the connecting rod I is hinged to the transverse connecting rod, and the other end of the connecting rod I is hinged to the head end of the connecting rod II; the tail end of the connecting rod II is hinged with the self-locking friction block, the middle part of the connecting rod II is hinged on the front transverse frame, the mode of the double connecting rods effectively transmits force in the stepping process, and the distance change in the longitudinal direction is converted into the transverse direction, so that locking and releasing are realized.
The telescopic support leg comprises a double-head telescopic hydraulic cylinder for driving a cross connecting rod, the cross connecting rod comprises two connecting rods which are hinged in the middle, the hinge points of the cross connecting rod are arranged on the front transverse frame and the rear transverse frame, a stepping friction block made of ductile materials is arranged between the outer side ends of the two connecting rods of the cross connecting rod, and the inner sides of the two connecting rods of the cross connecting rod are hinged with two telescopic heads of the double-head telescopic hydraulic cylinder respectively.
The telescopic support leg comprises a double-head telescopic hydraulic cylinder for driving a cross connecting rod, the cross connecting rod comprises two connecting rods which are arranged in a crossing way, a stepping friction block is arranged between the outer side ends of the two connecting rods of the cross connecting rod, and the inner sides of the two connecting rods of the cross connecting rod are respectively hinged with two telescopic heads of the double-head telescopic hydraulic cylinder; the corresponding positions of the middle parts of the two connecting rods of the crossed connecting rods are respectively provided with a bar-shaped chute opening, the two ends of the front transverse frame and the rear transverse frame are respectively provided with a guide rod used for limiting the bar-shaped chute openings, namely, the guide rods limit the track of the bar-shaped chute openings on the two connecting rods when the connecting rods which are arranged in a crossed mode move transversely, so that the triangle formed by the crossing points of the two connecting rods and the crossing points of the stepping friction blocks is provided with variable edges with the length, and transverse movement can be realized.
The two telescopic heads of the double-head telescopic hydraulic cylinder are respectively provided with a connecting plate with the plane direction and the telescopic direction mutually perpendicular, and a reset tension spring is arranged between the two connecting plates.
The stepping friction block is provided with a dimension stabilizing rod towards one side of the inner side, the corresponding cross sections of the front transverse frame and the rear transverse frame are provided with dimension stabilizing holes for the dimension stabilizing rod to be inserted, namely the dimension stabilizing rod is inserted into the dimension stabilizing holes, and along with the movement of the stepping friction block in the transverse direction, the dimension stabilizing rod also transversely penetrates into the dimension stabilizing holes to play a role in stabilizing a movement track, and meanwhile, the stepping friction block can play a role in providing longitudinal supporting force.
The bottom of the telescopic frame facing the movement plane is provided with a travelling wheel.
The control method of the double self-locking stepping self-walking mechanism is characterized by comprising a front cross bar stepping step and a rear cross bar stepping step which are circularly performed;
the step of stepping the front cross rod, namely, the stepping oil cylinder is in a closed state, the telescopic rod of the stepping oil cylinder is in a tightening state, and the self-locking friction block is pulled to transversely move through the connecting rod structure of the self-locking mechanism so as to be separated from the side walls at two sides of the advancing track; at the moment, the double-head telescopic hydraulic cylinders of the telescopic support legs at the two ends of the rear transverse frame are closed, so that the two telescopic belts drive the cross connecting rods to tighten, the stepping friction blocks of the telescopic support legs transversely outwards prop against the side walls at the two sides of the advancing track, then the double-head telescopic hydraulic cylinders of the telescopic support legs at the two ends of the front transverse frame are opened, the two telescopic belts drive the cross connecting rods to open, and the stepping friction blocks of the telescopic support legs transversely inwards move to be separated from the side walls at the two sides of the advancing track; then, starting a stepping oil cylinder, and pushing the front cross rod to longitudinally step by virtue of a telescopic rod of the stepping oil cylinder;
the step of stepping the rear cross rod, namely, the step oil cylinder is in an open state, the telescopic rod of the step oil cylinder is in an open state, and the self-locking friction block is pushed to transversely move against the side walls on two sides of the advancing track through the connecting rod structure of the self-locking mechanism; at the moment, the double-head telescopic hydraulic cylinders of the telescopic support legs at the two ends of the front transverse frame are closed, so that the two telescopic belts drive the cross connecting rods to tighten, the stepping friction blocks of the telescopic support legs transversely outwards prop against the side walls at the two sides of the advancing track, then the double-head telescopic hydraulic cylinders of the telescopic support legs at the two ends of the rear transverse frame are opened, the two telescopic belts drive the cross connecting rods to open, and the stepping friction blocks of the telescopic support legs transversely inwards move to be separated from the side walls at the two sides of the advancing track; then the stepping oil cylinder is started, and the rear cross rod is pulled by the telescopic rod to longitudinally step.
The beneficial effects of this technical scheme are as follows:
the double self-locking stepping self-walking mechanism provided by the utility model realizes stepping operation of equipment such as lifting or transporting or working platform by means of the mechanisms such as double self-locking clamping device clamping, frame connecting rod connection, stepping oil cylinder driving, normally closed positioning clamping device and the like according to the work flow of 'double self-locking clamping device locking-normally closed positioning clamping device loosening-stepping oil cylinder driving-normally closed positioning clamping device locking-double self-locking clamping device loosening-stepping oil cylinder driving (to the next stepping position) -double self-locking clamping device locking (to the next stepping state)', prevents uncontrolled movement of the walking mechanism of the equipment such as lifting or transporting or working platform in an inclined or horizontal force acting state, and can work under a locking working condition and realize stepping movement.
The device can be suitable for a groove-type movement space, the side walls on two sides of the advancing track are arranged on the outer sides of two sides of the device, the device can also be suitable for a boss-type track which is convex, the advancing track is arranged below the device, the telescopic support legs on two ends of the front cross rod and the rear cross rod are used for inwards holding two sides of the track, the structural thought is completely consistent, the clamping directions of the telescopic support legs are opposite, only the setting directions of the telescopic support legs are required to be adjusted, and the control method is consistent.
Correspondingly, the control method of the double self-locking stepping self-walking mechanism can realize stepping through the control of the hydraulic cylinder and the stepping oil cylinder, the double self-locking structure does not need to be independently operated in the control process, and can automatically cooperate with action only by normal stepping, so that the operation control is simple and reliable.
Drawings
The foregoing and the following detailed description of the utility model will become more apparent when read in conjunction with the following drawings in which:
FIG. 1 is a schematic structural diagram of a basic technical scheme of the present utility model;
FIGS. 2 to 4 are schematic views showing the step-by-step structure change of the rear cross bar according to the present utility model;
FIGS. 5 to 7 are schematic views showing the step-by-step structure of the front rail according to the present utility model;
FIG. 8 is a schematic side view of a basic embodiment of the present utility model;
FIG. 9 is a schematic structural view of a preferred embodiment of the present utility model;
FIG. 10 is a schematic side view of a preferred embodiment of the present utility model;
in the figure:
1. a front cross frame; 2. a rear cross frame; 3. self-locking friction blocks; 4. a vertical expansion bracket; 5. a transverse connecting rod; 6. a stepping oil cylinder; 7. a hydraulic pump station; 8. a connecting rod I; 9. a connecting rod II; 10. double-head telescopic hydraulic cylinder; 11. a cross connecting rod; 12. a stepping friction block; 13. resetting the tension spring; 14. and a walking wheel.
Detailed Description
The technical solution for achieving the object of the present utility model will be further described with reference to several specific examples, but it should be noted that the technical solution claimed in the present utility model includes but is not limited to the following examples.
Example 1
As a most basic embodiment of the present utility model, as shown in fig. 1, a dual self-locking stepping self-walking mechanism is disclosed, which comprises a telescopic rack, the telescopic rack comprises a front transverse frame 1 and a rear transverse frame 2 which are connected by a telescopic mechanism with middle longitudinal expansion, the left and right ends of the front transverse frame 1 and the rear transverse frame 2 are respectively provided with a telescopic support leg with transverse expansion, the telescopic mechanism is further provided with a self-locking mechanism parallel to the front transverse frame 1 and/or the rear transverse frame 2, the self-locking mechanism comprises a self-locking friction block 3 corresponding to the telescopic support legs, namely, the self-locking friction block 3 and the telescopic support legs at corresponding positions form a dual locking structure, the telescopic mechanism drives the self-locking friction block 3 to transversely expand and contract by matching the telescopic support legs through a connecting rod structure, and the self-locking friction block 3 is matched with the telescopic support legs in the stepping process through the transmission of the connecting rod structure, thus the dual locking and releasing along with the steps in the moving process can be realized, and a dual safe self-locking structure is formed. The stepping operation of equipment such as lifting or transporting or working platform is realized according to the working procedures of double self-locking clamping device clamping, frame connecting rod connection, stepping oil cylinder 6 driving, normally closed positioning clamping device loosening, stepping oil cylinder 6 driving, normally closed positioning clamping device locking, double self-locking clamping device loosening, stepping oil cylinder 6 driving (to the next stepping position), double self-locking clamping device locking (to the next stepping state), and the like, so that uncontrolled movement of a running mechanism of the equipment such as lifting or transporting or working platform in an inclined or horizontal force acting state is prevented, the equipment can work in a locking working condition, and stepping movement can be realized.
Example 2
As a preferred embodiment of the present utility model, as shown in fig. 1 to 10, a dual self-locking stepping self-walking mechanism is disclosed, which comprises a telescopic frame, the telescopic frame comprises a front transverse frame 1 and a rear transverse frame 2 which are connected by a telescopic mechanism with middle longitudinal expansion, the left and right ends of the front transverse frame 1 and the rear transverse frame 2 are respectively provided with a telescopic support leg with transverse expansion, the telescopic mechanism is further provided with a self-locking mechanism which is parallel to the front transverse frame 1 and/or the rear transverse frame 2, the self-locking mechanism comprises a self-locking friction block 3 corresponding to the telescopic support legs, namely, the self-locking friction block 3 and the telescopic support legs at corresponding positions form a dual locking structure, the telescopic mechanism drives the self-locking friction block 3 to be matched with the telescopic support legs to transversely expand and contract through a connecting rod structure, and the self-locking friction block 3 is matched with the telescopic support legs in the stepping process through the transmission of the connecting rod structure, thus the locking and releasing along with the steps in the moving process can be realized, and a dual self-locking structure with dual safety is formed.
The telescopic rack is an I-shaped rack, the telescopic mechanism comprises a vertical telescopic rack 4 with a telescopic driving device, and the front transverse rack 1 and the rear transverse rack 2 are connected through the vertical telescopic rack 4, namely the middle part of the I-shaped rack is used as a telescopic force providing unit.
The vertical expansion brackets 4 are two, and two vertical expansion brackets 4 parallel arrangement, the front and back both ends of two vertical expansion brackets 4 respectively with preceding crossbearer 1 links to each other with back crossbearer 2, be provided with between two vertical expansion brackets 4 and be used for installing flexible drive arrangement's transverse link 5, flexible drive arrangement is including being used for the drive preceding crossbearer 1 and back crossbearer 2 are followed step cylinder 6 of vertical expansion bracket 4 motion, step cylinder 6 has hydraulic pump station 7 through the pipe connection.
The vertical expansion bracket 4 is of a telescopic rod type structure, the ends of an upper section rod and a lower section rod of the vertical expansion bracket are respectively connected with the front transverse bracket 1 and the rear transverse bracket 2, a transverse connecting rod 5 is arranged between the lower section rods of the vertical expansion bracket, two stepping oil cylinders 6 are arranged, one ends of the stepping oil cylinders are hinged with the transverse connecting rod 5, the other ends of the stepping oil cylinders are hinged with the front transverse bracket 1, so that the stability of a stepping process is ensured, and meanwhile, a certain curve stepping path can be realized by controlling the expansion amount of the stepping oil cylinders 6 in a front-back hinged connection mode.
The connecting rod structure of the self-locking mechanism comprises a connecting rod I8 and a connecting rod II 9, wherein one end of the connecting rod I8 is hinged to the transverse connecting rod 5, and the other end of the connecting rod I is hinged to the head end of the connecting rod II 9; the tail end of the connecting rod II 9 is hinged with the self-locking friction block 3, the middle part of the connecting rod II 9 is hinged with the front transverse frame 1, and the mode of the double connecting rods effectively transmits the force in the stepping process, converts the distance change in the longitudinal direction into the transverse direction, and realizes locking and releasing.
The telescopic support leg comprises a double-head telescopic hydraulic cylinder 10 for driving a cross connecting rod 11, the cross connecting rod 11 comprises two connecting rods which are hinged in a crossed mode, the hinge points of the two connecting rods are arranged on the front transverse frame 1 and the rear transverse frame 2, a stepping friction block 12 made of ductile materials is arranged between the outer side ends of the two connecting rods of the cross connecting rod 11, and the inner sides of the two connecting rods of the cross connecting rod 11 are hinged with two telescopic heads of the double-head telescopic hydraulic cylinder 10 respectively.
The two telescopic heads of the double-head telescopic hydraulic cylinder 10 are respectively provided with a connecting plate with the plane direction and the telescopic direction mutually perpendicular, and a reset tension spring 13 is arranged between the two connecting plates.
The step friction block 12 is provided with a dimension stabilizing rod towards one inner side, the cross sections of the front transverse frame 1 and the rear transverse frame 2 which correspond to each other are provided with dimension stabilizing holes for the dimension stabilizing rod to be inserted, namely the dimension stabilizing rod is inserted into the dimension stabilizing holes, and along with the movement of the step friction block 12 in the transverse direction, the dimension stabilizing rod is transversely inserted into the dimension stabilizing holes to play a role in stabilizing a movement track, and meanwhile, the step friction block can play a role in providing longitudinal supporting force.
The bottom of the telescopic frame facing the movement plane is provided with travelling wheels 14.
Example 3
As a preferred embodiment of the present utility model, as shown in fig. 1 to 10, a dual self-locking stepping self-walking mechanism is disclosed, which comprises a telescopic frame, the telescopic frame comprises a front transverse frame 1 and a rear transverse frame 2 which are connected by a telescopic mechanism with middle longitudinal expansion, the left and right ends of the front transverse frame 1 and the rear transverse frame 2 are respectively provided with a telescopic support leg with transverse expansion, the telescopic mechanism is further provided with a self-locking mechanism which is parallel to the front transverse frame 1 and/or the rear transverse frame 2, the self-locking mechanism comprises a self-locking friction block 3 corresponding to the telescopic support legs, namely, the self-locking friction block 3 and the telescopic support legs at corresponding positions form a dual locking structure, the telescopic mechanism drives the self-locking friction block 3 to be matched with the telescopic support legs to transversely expand and contract through a connecting rod structure, and the self-locking friction block 3 is matched with the telescopic support legs in the stepping process through the transmission of the connecting rod structure, thus the locking and releasing along with the steps in the moving process can be realized, and a dual self-locking structure with dual safety is formed.
The telescopic rack is an I-shaped rack, the telescopic mechanism comprises a vertical telescopic rack 4 with a telescopic driving device, and the front transverse rack 1 and the rear transverse rack 2 are connected through the vertical telescopic rack 4, namely the middle part of the I-shaped rack is used as a telescopic force providing unit.
The vertical expansion brackets 4 are two, and two vertical expansion brackets 4 parallel arrangement, the front and back both ends of two vertical expansion brackets 4 respectively with preceding crossbearer 1 links to each other with back crossbearer 2, be provided with between two vertical expansion brackets 4 and be used for installing flexible drive arrangement's transverse link 5, flexible drive arrangement is including being used for the drive preceding crossbearer 1 and back crossbearer 2 are followed step cylinder 6 of vertical expansion bracket 4 motion, step cylinder 6 has hydraulic pump station 7 through the pipe connection.
The vertical expansion bracket 4 is of a telescopic rod type structure, the ends of an upper section rod and a lower section rod of the vertical expansion bracket are respectively connected with the front transverse bracket 1 and the rear transverse bracket 2, a transverse connecting rod 5 is arranged between the lower section rods of the vertical expansion bracket, two stepping oil cylinders 6 are arranged, one ends of the stepping oil cylinders are hinged with the transverse connecting rod 5, the other ends of the stepping oil cylinders are hinged with the front transverse bracket 1, so that the stability of a stepping process is ensured, and meanwhile, a certain curve stepping path can be realized by controlling the expansion amount of the stepping oil cylinders 6 in a front-back hinged connection mode.
The connecting rod structure of the self-locking mechanism comprises a connecting rod I8 and a connecting rod II 9, wherein one end of the connecting rod I8 is hinged to the transverse connecting rod 5, and the other end of the connecting rod I is hinged to the head end of the connecting rod II 9; the tail end of the connecting rod II 9 is hinged with the self-locking friction block 3, the middle part of the connecting rod II 9 is hinged with the front transverse frame 1, and the mode of the double connecting rods effectively transmits the force in the stepping process, converts the distance change in the longitudinal direction into the transverse direction, and realizes locking and releasing.
The telescopic support leg comprises a double-head telescopic hydraulic cylinder 10 for driving a cross connecting rod 11, the cross connecting rod 11 comprises two connecting rods which are arranged in a crossed mode, a stepping friction block 12 is arranged between the outer side ends of the two connecting rods of the cross connecting rod 11, and the inner sides of the two connecting rods of the cross connecting rod 11 are hinged with two telescopic heads of the double-head telescopic hydraulic cylinder 10 respectively; the corresponding positions of the middle parts of the two connecting rods of the crossed connecting rod 11 are respectively provided with a bar-shaped chute opening, the two ends of the front transverse frame 1 and the rear transverse frame 2 are respectively provided with a guide rod used for limiting the bar-shaped chute opening, namely, the guide rods are used for limiting the track of the bar-shaped chute opening on the two connecting rods when the connecting rods which are arranged in a crossed manner transversely move, so that the triangle formed by the crossing points of the two connecting rods and the crossing point of the stepping friction block 12 has a variable side with the length, and the transverse movement can be realized.
The two telescopic heads of the double-head telescopic hydraulic cylinder 10 are respectively provided with a connecting plate with the plane direction and the telescopic direction mutually perpendicular, and a reset tension spring 13 is arranged between the two connecting plates.
The step friction block 12 is provided with a dimension stabilizing rod towards one inner side, the cross sections of the front transverse frame 1 and the rear transverse frame 2 which correspond to each other are provided with dimension stabilizing holes for the dimension stabilizing rod to be inserted, namely the dimension stabilizing rod is inserted into the dimension stabilizing holes, and along with the movement of the step friction block 12 in the transverse direction, the dimension stabilizing rod is transversely inserted into the dimension stabilizing holes to play a role in stabilizing a movement track, and meanwhile, the step friction block can play a role in providing longitudinal supporting force.
The bottom of the telescopic frame facing the movement plane is provided with travelling wheels 14.
The double self-locking stepping self-walking mechanism provided by the utility model realizes the stepping operation of equipment such as lifting or transporting or working platform by means of the mechanisms such as double self-locking clamping device clamping, frame connecting rod connection, stepping oil cylinder 6 driving, normally closed positioning clamping device and the like according to the work flow of 'double self-locking clamping device locking-normally closed positioning clamping device releasing-stepping oil cylinder 6 driving-normally closed positioning clamping device locking-double self-locking clamping device releasing-stepping oil cylinder 6 driving (to the next stepping position) -double self-locking clamping device locking (to the next stepping state)', prevents the walking mechanism of the equipment such as lifting or transporting or working platform from uncontrolled movement in the inclined or horizontal force acting state, and the equipment can work in the locking working condition and realize the stepping movement.
As shown in fig. 1 to 8, the device can adapt to a groove-type movement space, the side walls on two sides of the advancing rail are arranged on the outer sides of two sides of the device, and as shown in fig. 9 and 10, the device can also adapt to a boss-type protruding rail, the advancing rail is arranged below the device, the telescopic support legs on two ends of the front and rear cross bars are used for internally holding two sides of the rail, the structural thought is completely consistent, only the clamping directions of the telescopic support legs are opposite, only the setting directions of the telescopic support legs are required to be adjusted, and the control method is consistent.
Example 4
The embodiment discloses a control method of a double self-locking stepping self-walking mechanism, which comprises a front cross rod stepping step and a rear cross rod stepping step which are circularly carried out;
the step of stepping the front cross rod, namely, the stepping oil cylinder 6 is in a closed state, the telescopic rod of the stepping oil cylinder is in a tightening state, and the self-locking friction block 3 is pulled to transversely move through a connecting rod structure of the self-locking mechanism so as to be separated from the side walls at two sides of the advancing track; at this time, the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the rear transverse frame 2 are closed, so that the two telescopic belts drive the cross connecting rods 11 to tighten, the stepping friction blocks 12 of the telescopic support leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the advancing track, then the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the front transverse frame 1 are opened, the two telescopic belts drive the cross connecting rods 11 to open, and the stepping friction blocks 12 of the telescopic support leg double-head telescopic hydraulic cylinders transversely inwards move away from the side walls at the two sides of the advancing track; then, starting the stepping oil cylinder 6, and pushing the front cross rod to longitudinally step by virtue of the telescopic rod;
the step of stepping the rear cross rod, namely, the step oil cylinder 6 is in an open state, the telescopic rod of the step oil cylinder is in an open state, and the self-locking friction block 3 is pushed to transversely move against the side walls at two sides of the advancing track through a connecting rod structure of the self-locking mechanism; at this time, the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the front transverse frame 1 are closed, so that the two telescopic belts drive the cross connecting rods 11 to tighten, the stepping friction blocks 12 of the telescopic support leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the advancing track, then the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the rear transverse frame 2 are opened, the two telescopic belts drive the cross connecting rods 11 to open, and the stepping friction blocks 12 of the telescopic support leg double-head telescopic hydraulic cylinders transversely inwards move away from the side walls at the two sides of the advancing track; then the stepping cylinder 6 is started, and the rear cross bar is pulled by the telescopic rod to longitudinally step.
The control method of the double self-locking stepping self-walking mechanism can realize stepping through the control of the hydraulic cylinder and the stepping oil cylinder 6, the double self-locking structure does not need to be independently operated in the control process, and the double self-locking stepping self-walking mechanism can automatically cooperate with the action only by normal stepping, so that the operation control is simple and reliable.
Example 5
The embodiment discloses a control method of a double self-locking stepping self-walking mechanism, which comprises the following steps:
locking by a double self-locking clamping structure: the telescopic supporting leg double-head telescopic hydraulic cylinders 10 at the two ends of the front transverse frame 1 are closed, the two telescopic belts drive the cross connecting rods 11 to be tensioned, the stepping friction blocks 12 of the telescopic supporting leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the advancing track, and the mechanical connecting rod is locked.
Normally closed positioning clamping and loosening: the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the rear transverse frame 2 are opened, and the two telescopic belts drive the cross connecting rods 11 to open so that the stepping friction blocks 12 move inwards transversely to separate from the side walls at the two sides of the advancing track.
The stepping oil cylinder 6 drives: the stepping oil cylinder 6 is contracted, the rear cross rod is pulled by the telescopic rod to longitudinally step, namely, the hydraulic pump station 7 on the telescopic rack moves forwards along with the telescopic rod, and the telescopic rack moves on a running plane through the pulley 14 or the sliding block at the bottom to enter the next stepping position; in the contraction process of the stepping oil cylinder 6, the connecting rod I8 drives the connecting rod II 9 to enable the self-locking friction block 3 to loosen from the side walls at two sides of the advancing track, namely, the double mechanical connecting rod in the double self-locking clamping structure is locked and loosened for the next step.
Normally closed positioning, clamping and locking: the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the rear transverse frame 2 are closed, so that two telescopic belts drive the cross connecting rods 11 to tighten, and the stepping friction blocks 12 of the telescopic support leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the advancing track.
And (5) loosening the double self-locking clamping structure: the telescopic supporting leg double-head telescopic hydraulic cylinders 10 at the two ends of the front transverse frame 1 are opened, the two telescopic belts drive the cross connecting rods 11 to open, the stepping friction blocks 12 of the telescopic supporting leg double-head telescopic hydraulic cylinders transversely move inwards to separate from the side walls at the two sides of the advancing track, and the self-locking friction blocks 3 are also separated from the side walls at the two sides of the advancing track.
The stepping oil cylinder 6 is driven again: the stepping oil cylinder 6 stretches, the front cross rod is pushed to longitudinally step by the telescopic rod, and in the stretching process of the stepping oil cylinder 6, the connecting rod I8 drives the connecting rod II 9 to enable the self-locking friction block 3 to transversely move against the side walls on two sides of the advancing track, namely, the mechanical connecting rod in the double self-locking clamping structure is locked again.
And (3) re-locking the double self-locking clamping structure: the telescopic support leg double-head telescopic hydraulic cylinders 10 at the two ends of the front transverse frame 1 are closed, the two telescopic belts drive the cross connecting rods 11 to be tensioned, the stepping friction blocks 12 of the telescopic support leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the front track, and the telescopic support leg double-head telescopic hydraulic cylinders are matched with the self-locking friction blocks 3 which prop against the side walls at the two sides of the front track to realize mechanical connecting rod locking; the double self-locking clamping structure finishes the locking of the mechanical connecting rod, and the equipment can work in a positioning state.
Claims (6)
1. A double self-locking stepping self-walking mechanism is characterized in that: the telescopic type support comprises a telescopic type frame, wherein the telescopic type frame comprises a front transverse frame (1) and a rear transverse frame (2) which are connected through a telescopic mechanism with a longitudinally telescopic middle, the left end and the right end of the front transverse frame (1) and the right end of the rear transverse frame (2) are respectively provided with a telescopic type supporting leg with a transversely telescopic function, the telescopic mechanism is further provided with a self-locking mechanism which is parallel to the front transverse frame (1) and/or the rear transverse frame (2), the self-locking mechanism comprises a self-locking friction block (3) corresponding to the telescopic type supporting legs, and the telescopic mechanism drives the self-locking friction block (3) to transversely stretch by matching with the telescopic type supporting legs through a connecting rod structure; the telescopic rack is an I-shaped rack, the telescopic mechanism comprises a vertical telescopic frame (4) with a telescopic driving device, and the front transverse frame (1) and the rear transverse frame (2) are connected through the vertical telescopic frame (4); the two vertical telescopic frames (4) are arranged in parallel, the front end and the rear end of each vertical telescopic frame (4) are respectively connected with the front transverse frame (1) and the rear transverse frame (2), a transverse connecting rod (5) for installing the telescopic driving device is arranged between the two vertical telescopic frames (4), the telescopic driving device comprises a stepping oil cylinder (6) for driving the front transverse frame (1) and the rear transverse frame (2) to move along the vertical telescopic frames (4), and the stepping oil cylinder (6) is connected with a hydraulic pump station (7) through a pipeline; the vertical expansion bracket (4) is of a telescopic rod type structure, the ends of an upper section rod and a lower section rod of the vertical expansion bracket are respectively connected with the front transverse bracket (1) and the rear transverse bracket (2), transverse connecting rods (5) are arranged between the lower section rods of the vertical expansion bracket, two stepping cylinders (6) are arranged, one ends of the stepping cylinders are hinged with the transverse connecting rods (5), and the other ends of the stepping cylinders are hinged with the front transverse bracket (1); the connecting rod structure of the self-locking mechanism comprises a connecting rod I (8) and a connecting rod II (9), one end of the connecting rod I (8) is hinged to the transverse connecting rod (5), and the other end of the connecting rod I is hinged to the head end of the connecting rod II (9); the tail end of the connecting rod II (9) is hinged with the self-locking friction block (3), and the middle part of the connecting rod II (9) is hinged with the front transverse frame (1).
2. A double self-locking step-by-step self-walking mechanism as claimed in claim 1, wherein: the telescopic support leg comprises a double-head telescopic hydraulic cylinder (10) for driving a cross connecting rod (11), the cross connecting rod (11) comprises two middle cross hinged connecting rods, the hinge points of the two cross connecting rods are arranged on the front transverse frame (1) and the rear transverse frame (2), a stepping friction block (12) made of ductile materials is arranged between the outer side ends of the two connecting rods of the cross connecting rod (11), and the inner sides of the two connecting rods of the cross connecting rod (11) are hinged with the two telescopic heads of the double-head telescopic hydraulic cylinder (10) respectively.
3. A double self-locking step-by-step self-walking mechanism as claimed in claim 1, wherein: the telescopic support leg comprises a double-head telescopic hydraulic cylinder (10) for driving a cross connecting rod (11), the cross connecting rod (11) comprises two connecting rods which are arranged in a crossed mode, a stepping friction block (12) is arranged between the outer side ends of the two connecting rods of the cross connecting rod (11), and the inner sides of the two connecting rods of the cross connecting rod (11) are hinged with two telescopic heads of the double-head telescopic hydraulic cylinder (10) respectively; the middle parts of the two connecting rods of the cross connecting rod (11) are respectively provided with a bar-shaped chute opening, and guide rods for limiting the bar-shaped chute openings are respectively arranged at the two ends of the front transverse frame (1) and the rear transverse frame (2).
4. A double self-locking step-by-step self-walking mechanism as claimed in claim 2 or 3, wherein: the double-end telescopic hydraulic cylinder is characterized in that two telescopic head ends of the double-end telescopic hydraulic cylinder (10) are respectively provided with a connecting plate with a plane direction and a telescopic direction mutually perpendicular, and a reset tension spring (13) is arranged between the two connecting plates.
5. A double self-locking step-by-step self-walking mechanism as claimed in claim 2 or 3, wherein: the stepping friction block (12) is provided with a dimension stabilizing rod towards one side of the inner side, the corresponding cross sections of the front transverse frame (1) and the rear transverse frame (2) are provided with dimension stabilizing holes for the dimension stabilizing rod to be inserted, namely the dimension stabilizing rod is inserted into the dimension stabilizing holes, and the dimension stabilizing rod transversely penetrates through the dimension stabilizing holes along with the movement of the stepping friction block (12) in the transverse direction to play a role in stabilizing a movement track, and can also play a role in providing longitudinal supporting force.
6. The control method of a double self-locking stepping self-walking mechanism according to claim 1, comprising a front rail stepping step and a rear rail stepping step which are cyclically performed;
the step of stepping the front cross rod, namely, the stepping oil cylinder (6) is in a closed state, the telescopic rod of the stepping oil cylinder is in a tightening state, and the self-locking friction block (3) is pulled to transversely move through a connecting rod structure of the self-locking mechanism to be separated from the side walls at two sides of the advancing track; at the moment, the telescopic support leg double-head telescopic hydraulic cylinders (10) at the two ends of the rear transverse frame (2) are closed, so that the two telescopic head driving cross connecting rods (11) are tightened, the stepping friction blocks (12) of the telescopic support leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the advancing track, then the telescopic support leg double-head telescopic hydraulic cylinders (10) at the two ends of the front transverse frame (1) are opened, the two telescopic head driving cross connecting rods (11) are opened, and the stepping friction blocks (12) transversely inwards move to be separated from the side walls at the two sides of the advancing track; then, starting a stepping oil cylinder (6), and pushing the front cross rod to longitudinally step by virtue of a telescopic rod of the stepping oil cylinder;
the step of stepping the rear cross rod, namely, the step oil cylinder (6) is in an open state, the telescopic rod of the step oil cylinder is in an open state, and the self-locking friction block (3) is pushed to transversely move against the side walls at two sides of the advancing track through the connecting rod structure of the self-locking mechanism; at the moment, the telescopic support leg double-head telescopic hydraulic cylinders (10) at the two ends of the front transverse frame (1) are closed, so that the two telescopic head driving cross connecting rods (11) are tightened, the stepping friction blocks (12) of the telescopic support leg double-head telescopic hydraulic cylinders transversely outwards prop against the side walls at the two sides of the advancing track, then the telescopic support leg double-head telescopic hydraulic cylinders (10) at the two ends of the rear transverse frame (2) are opened, the two telescopic head driving cross connecting rods (11) are opened, and the stepping friction blocks (12) transversely inwards move to be separated from the side walls at the two sides of the advancing track; then the stepping oil cylinder (6) is started, and the rear cross rod is pulled by the telescopic rod to longitudinally step.
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| CN201810990007.0A CN109250623B (en) | 2018-08-28 | 2018-08-28 | Double self-locking stepping self-walking mechanism and control method |
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| CN201810990007.0A CN109250623B (en) | 2018-08-28 | 2018-08-28 | Double self-locking stepping self-walking mechanism and control method |
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| 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 |
| 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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| CN109250623A (en) | 2019-01-22 |
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