CN110655015A - Trackless self-propelled platform car for subway tunnel maintenance - Google Patents

Abstract

The invention discloses a trackless self-propelled platform vehicle for subway tunnel maintenance, comprising a mechanical system, a control system, a hydraulic system and a power supply system. The operation platform, the support device, the vehicle-mounted equipment platform and the centering mechanism, the two ends of the main bearing platform and the fixed operation platform are slidingly connected with a telescopic operation platform, the support device is connected with the telescopic operation platform, and the vehicle-mounted equipment platform is used to place the vehicle-mounted equipment and adjust the operation platform. The centering mechanism is located under the vehicle-mounted equipment platform; the control system includes a PLC controller, which is installed on the main bearing platform, and the hydraulic system includes hydraulic actuators, which are installed on the centering mechanism, and the input end of the hydraulic actuators It is connected with the PLC controller, and the power supply system is electrically connected with the hydraulic system and the control system. The platform vehicle can safely walk and perform maintenance operations in different subway tunnels.

Description

A trackless self-propelled platform vehicle for subway tunnel maintenance

technical field

The invention relates, in particular to a trackless self-propelled platform vehicle used for subway tunnel maintenance.

Background technique

In the later stage of subway tunnel construction, post-processing and maintenance operations are required. Subway tunnel post-processing maintenance mainly includes caulking, plugging, segment cleaning, segment repair, etc. At present, the maintenance equipment usually used in engineering is a simple structure platform. The platform is spliced by section steel and has legs on both sides. Four sheaves are installed on the legs, and the sheaves are supported on two temporary rails. , the temporary track is fixed on the inner wall of the segment. The simple structure platform mainly has the following problems: the movement of the platform relies on human traction, and the temporary track needs to be laid in turnaround, which is inconvenient to operate and has low efficiency; sometimes the temporary track needs to be drilled on the segment, which is easy to cause the segment to crack and drop. For the passage of slag and material transport trains, the operating platform is high off the ground, and the tunnel maintenance tools are randomly placed on the platform. The platform has a high center of gravity, serious eccentric loads and poor stability; Equipment safety cannot be guaranteed; compared with advanced shield technology, subway tunnel maintenance and construction equipment technology and technology are relatively backward. For the problems existing in the existing subway tunnel post-processing and maintenance equipment, it is urgent to develop a trackless self-propelled platform vehicle, which can reduce the occupied space, improve the construction technology, save the cost of tunnel construction, improve the safety of construction, and improve the quality and guarantee of tunnel construction. The progress of the project is of great significance.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a trackless self-propelled platform vehicle for subway tunnel maintenance, which can safely walk and perform maintenance operations in different subway tunnel diameters, and has automatic posture adjustment, intelligent cruise and reliable parking, so as to solve the problem of current situation. There are the above-mentioned technical problems.

The purpose of this invention is to realize through the following technical solutions:

A trackless self-propelled platform vehicle for subway tunnel maintenance, including a mechanical system, a control system, a hydraulic system and a power supply system, the mechanical system includes a traveling device, a main bearing platform, a fixed operation platform, a lifting operation platform, and a telescopic operation platform , support device, vehicle-mounted equipment platform and centering mechanism, the walking device, the main carrying platform, the fixed operation platform and the lifting operation platform are connected in sequence, and both ends of the main carrying platform and the fixed operation platform are slidingly connected with a telescopic operation platform , the support device is connected with the telescopic operation platform, the on-board equipment platform is used for placing on-board equipment, and the centering mechanism is arranged below the on-board equipment platform;

The control system includes a PLC controller, the PLC controller is installed on the main bearing platform, the hydraulic system includes a hydraulic actuator, and the hydraulic actuator is installed on the centering mechanism, and the hydraulic actuator The input end of the element is connected with the PLC controller, and the power supply system is electrically connected with the hydraulic system and the control system.

Further, the traveling device includes four sets of wheel sets and an angle-adjustable mechanism, the wheel sets include two driving wheels and two driven wheels, two driving wheels and two driven wheels They are respectively connected by wheel axles, both ends of the wheel axles are installed with rolling bearings, the ends of the wheel axles are installed with a wheel housing cover plate, and a first connecting plate is welded on the wheel housing cover plate. The connecting plate is connected to the first wheel housing through a fastening mechanism, the angle adjustable mechanism is mounted on the first wheel housing, and a hydraulic motor is mounted on the outer side of the wheel housing plate connected with one of the driving wheels , the output end of the hydraulic motor is connected with the wheel axle.

Further, the angle adjustable mechanism includes a second wheel housing, several splints and a second connecting plate, the splints have two or more sizes, and the splints are divided into two groups and installed on the On the two wheel housings and the second connecting plate, the two sets of the splints are arranged in a staggered manner, one end of the splint is provided with a first pin hole, the center of the splint is provided with a second pin hole, and the first pin is inserted through the The first pin hole and the second pin pass through the second pin hole to rotatably connect the second wheel housing and the second connecting plate, the fastening mechanism is a bolt and a nut, and the second wheel housing Gear ears are installed on both ends of the gear lug, and third pin holes are provided on the gear ears and the groove mounting part of the first wheel housing, and the third pin is inserted through the third pin holes to connect the second wheel housing. It is fixedly mounted on the first wheel housing, and the second connecting plate is connected with the main bearing platform.

Further, the main bearing platform includes four columns, two transverse beams and two longitudinal beams, the two longitudinal beams are arranged on the column in parallel, and the two transverse beams are respectively connected to the left and right ends of the two longitudinal beams. The frame that constitutes the main bearing platform, the first guardrail is arranged around the frame, the upper and lower escalators are arranged on both sides of the first guardrail, the cement frame is installed under the longitudinal beam, and the vehicle-mounted equipment platform is installed on the four sides. Each of the uprights is in a space surrounded by the uprights and is fixedly connected to the uprights.

Further, the centering mechanism includes a height adjustment mechanism and a level adjustment mechanism, and the height adjustment structure includes a first pulley, a second pulley, a third pulley, a wire rope and a centering bracket, the first pulley and the second pulley. and the third pulley are respectively installed on the first installation surface, the second installation surface and the third installation surface adjacent to the column, the hydraulic actuator includes a lifting cylinder, and the first installation surface is provided with a cylinder support and a lifting cylinder Oil cylinder, one end of the lifting oil cylinder is installed on the oil cylinder support through the oil cylinder installation shaft, the other end of the lifting oil cylinder is installed on the bottom end of the slider support through the slider support installation shaft, and the first pulley passes through the first pulley. A pulley installation shaft is installed on the slider support, a fixed support is provided on the fourth installation surface of the column, one end of the wire rope is connected to the fixed support, and the other end bypasses the first pulley, the second The second pulley and the third pulley are fixedly connected to the connecting support on the self-aligning bracket.

Further, the top of the first installation surface is provided with a guide track that cooperates with the slider support, and the bottom of the self-aligning bracket is provided with rollers, and the rollers are installed on the self-aligning through roller shafts. On the bracket, the column is provided with a slide rail matched with the roller.

Further, the horizontal adjustment mechanism includes two transverse steel beams, two longitudinal steel beams and a counterweight, the two longitudinal steel beams are arranged in parallel, and the two transverse steel beams are respectively bridged over the two longitudinal steel beams. The head and tail ends of the beam form self-aligning brackets, the counterweight block is slidably installed between the two horizontal steel beams, and a lead screw is rotatably installed between the two longitudinal steel beams, and the center of the counterweight block is installed. A lead screw nut matched with the lead screw is arranged on the axis; the hydraulic actuator includes a drive motor, and installation grooves are provided on the inner side of the longitudinal steel beam, wherein a drive motor is installed in the installation groove of one longitudinal steel beam, and the other is installed in the installation groove of the longitudinal steel beam. An installation support is arranged in the installation groove of a longitudinal steel beam, one end of the lead screw is connected with the output end of the drive motor, and the other end is rotatably installed on the installation support, and the lead screw is connected with the drive motor A coupling is installed at the end of the .

Further, the support device includes a plurality of support oil cylinders, the support oil cylinders are installed on the outer sides of the two beams, the inner sides of the two beams are provided with roller tracks, and the telescopic work platform is slidably installed on the two beams. The roller track is connected with the output end of the support oil cylinder; the fixed working platform has the same structure as the main bearing platform.

Further, the telescopic work platform includes two horizontal bars, a vertical bar, a pedal and a second guardrail, the vertical bar is bridged between the top ends of the two horizontal bars, and the pedal is installed on the two horizontal bars. Between the cross bars, the second guardrail is installed on the upper ends of the cross bars and the vertical bars, and the main bearing platform and the telescopic work platform on the fixed work platform are fixed by connecting rods.

Further, the lifting operation platform is a scissor fork lifting platform.

The beneficial effects of the present invention are:

1) The running device of the trackless self-propelled platform vehicle for the maintenance of the subway tunnel of the present invention, two sets of splints are arranged between the second connecting plate and the second wheel housing, and the two sets of the splints are arranged in a staggered manner. The size of the splint There are a variety of options. After the splints of different sizes are staggered and connected by pins, the angle between the second connecting plate and the second wheel housing can be installed to an angle suitable for different tunnel diameters, which also makes it compatible with the subway tunnel maintenance vehicle. The second connecting plate connected to the vehicle body can be rotated at a certain angle relative to the second wheel shell in the front view plane, so that the inclination of the entire traveling device in contact with the circular tube wall can be adjusted, which can adapt to tunnels with different diameters. The applicable hole diameter range of the present invention is generally 6 meters to 8 meters, which has wide applicability and can effectively alleviate the impact during the running of the vehicle; the hydraulic motor of the running device receives the fingers of the PLC controller to drive the running device in the subway tunnel circle. The trackless walking on the tube wall realizes intelligent cruise and reliable parking; it does not need to occupy the transportation track or install the temporary track, and it will not affect the tunnel construction or damage the tunnel tube wall.

2) The wire rope of the present invention bypasses the connection between the three groups of pulleys and the vehicle-mounted equipment platform, and the lifting cylinder is directly connected with one of the group of pulleys, and the vehicle-mounted equipment platform is driven to perform the lifting movement by driving the vertical telescopic movement of the lifting cylinder, so as to realize the lifting motion according to the platform vehicle. The height of the equipment platform is adjusted according to the working conditions, so as to adjust the position of the center of gravity of the platform vehicle in the vertical direction. According to the requirements of different working conditions, the height of the on-board equipment platform is adjusted through the lifting cylinder, the pulley block and the wire rope, so as to adjust the position of the center of gravity of the platform vehicle in the vertical direction; the center of gravity level adjustment mechanism of the present invention Drive the lead screw to rotate, so as to control the left and right movement direction of the counterweight connected to the lead screw, adjust the left and right offset of the center of gravity of the trackless self-propelled tunnel platform vehicle in the horizontal plane, and finally adjust the position of the center of gravity of the platform vehicle to a suitable position; The drive motor and the lifting oil cylinder in the center of gravity adjustment mechanism of the invention are controlled by PLC controller, which can adjust the center of gravity offset according to the center of gravity position measured by the center of gravity monitoring system of the trackless self-propelled tunnel maintenance platform vehicle in real time to realize automatic attitude adjustment.

3) The platform car of the present invention occupies less space than the existing flat car, saves the cost of tunnel construction, improves the safety of construction, improves the quality of tunnel construction and ensures the progress of the project; reduces the work intensity of construction personnel and reduces tunnel pipework. It has the characteristics of safe walking in subway tunnels, automatic attitude adjustment, intelligent cruise, reliable parking and flexible maneuvering.

Description of drawings

1 is a schematic diagram of the assembly structure of the platform vehicle of the present invention in an 8-meter hole diameter;

Fig. 2 is the front view structure schematic diagram of the platform vehicle of the present invention in the hole diameter of 8 meters;

3 is a schematic diagram of the assembly structure of the platform vehicle of the present invention within a 6-meter hole diameter;

Fig. 4 is the front view structure schematic diagram of the platform vehicle of the present invention in the 6-meter hole diameter;

Fig. 5 is the front view structure schematic diagram of the platform vehicle of the present invention under the maintenance operation state in the 6-meter hole diameter;

6 is a schematic diagram of the assembly structure of the platform vehicle of the present invention under a maintenance operation state within a 6-meter hole diameter;

7 is a schematic diagram of the assembly structure of the running gear of the platform vehicle of the present invention;

Fig. 8 is the front view structure schematic diagram of the left front wheel of the platform vehicle of the present invention;

9 is a schematic structural diagram of the first wheel housing of the platform vehicle of the present invention;

10 is a schematic structural diagram of the second wheel housing of the platform vehicle of the present invention;

11 is a schematic structural diagram of the second connecting plate of the platform vehicle of the present invention;

12 is a schematic diagram of the assembly structure of the platform vehicle owner carrying platform of the present invention;

13 is a schematic structural diagram of the height adjustment mechanism of the center of gravity of the platform vehicle of the present invention;

14 is a schematic structural diagram of a platform vehicle gravity center level adjustment mechanism of the present invention;

Figure 15 is a top view of the platform vehicle gravity center level adjustment mechanism of the present invention;

16 is a schematic diagram of the assembly structure of the platform truck telescopic work platform of the present invention;

Figure 17 is a schematic structural diagram of a platform truck telescopic work platform of the present invention;

In the figure, 1- running gear, 101- driving wheel, 102- driven wheel, 103- wheel axle, 104- rolling bearing, 105- wheel housing cover plate, 106- first connecting plate, 107- first wheel housing, 108-Hydraulic motor, 109-Second wheel housing, 110-Clamp plate, 111-Second connecting plate, 112-First pin hole, 113-Second pin hole, 114-First pin, 115-Second pin, 116-bolt, 117-gear, 118-groove mounting part, 119-third pin hole, 120-third pin, 2-main load platform, 201-post, 202-beam, 203-longitudinal beam, 204- The first guardrail, 205-up and down escalator, 206-cement frame, 3-fixed work platform, 4-lifting work platform, 5- telescopic work platform, 501-crossbar, 502-longitudinal bar, 503-pedal, 504-second Guardrail, 505-connecting rod, 6-support device, 601-support cylinder, 602-roller track, 7-vehicle equipment platform, 8-aligning mechanism, 801-first pulley, 802-second pulley, 803-first pulley Three pulleys, 804-wire rope, 805-aligning bracket, 806-cylinder support, 807-lifting cylinder, 808-cylinder installation shaft, 809-slider support installation shaft, 810-slider support, 811-first Pulley installation shaft, 812-fixed support, 813-connection support, 814-guide rail, 815-roller, 816-roller shaft, 817-transverse steel beam, 818-longitudinal steel beam, 819-counterweight block, 820- Lead screw, 821 - Lead screw nut, 822 - Drive motor, 823 - Mounting bracket.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

1-17, the present invention provides a technical solution:

Please refer to FIGS. 1-6 , a trackless self-propelled platform vehicle for subway tunnel maintenance includes a mechanical system, a control system, a hydraulic system and a power supply system. The mechanical system includes a traveling device 1, a main carrying platform 2, a fixed operation Platform 3, elevating operation platform 4, telescopic operation platform 5, support device 6, vehicle-mounted equipment platform 7 and centering mechanism 8, the walking device 1, the main carrying platform 2, the fixed operation platform 3 and the elevating operation platform 4 are connected in sequence, Both ends of the main carrying platform 2 and the fixed operation platform 3 are slidably connected to a telescopic operation platform 5, the support device 6 is connected to the telescopic operation platform 5, and the vehicle-mounted equipment platform 7 is used for placing vehicle-mounted equipment. The centering mechanism 8 is arranged below the vehicle-mounted equipment platform 7;

The control system includes a PLC controller, which is installed on the main bearing platform 2, the hydraulic system includes hydraulic actuators, and the hydraulic actuators are installed on the centering mechanism 8, and the The input end of the hydraulic actuator is connected with the PLC controller, and the power supply system is electrically connected with the hydraulic system and the control system.

The trackless self-propelled platform vehicle used for subway tunnel maintenance of the present invention, the trackless walking device on the circular tube wall of the subway tunnel realizes intelligent cruise and reliable parking, and the drive motor 822 and the lifting cylinder 807 in the center of gravity adjustment mechanism are both It is controlled by a PLC controller, and can adjust the center of gravity offset according to the center of gravity position measured by the center of gravity monitoring system of the trackless self-propelled tunnel maintenance platform vehicle to realize automatic attitude adjustment.

Please refer to FIGS. 7-11 , the traveling device 1 includes four sets of wheel sets and an angle-adjustable mechanism. The wheel sets include two driving wheels 101 and two driven wheels 102 . The two driving wheels 101 and The two driven wheels 102 are connected by wheel axles 103, rolling bearings 104 are installed at both ends of the wheel axles 103, and wheel housing cover plates 105 are installed at the ends of the wheel axles 103. A first connecting plate 106 is welded on the cover plate 105. The first connecting plate 106 is connected to the first wheel housing 107 through a fastening mechanism. A hydraulic motor 108 is installed on the outer side of the wheel housing plate 105 to which one of the driving wheels 101 is connected, and the output end of the hydraulic motor 108 is connected with the wheel shaft 103 .

The angle adjustment mechanism of the present invention can adjust the angle between the first wheel housing 107 and the second wheel housing 109 to an angle suitable for different tunnel diameters, and at the same time make the first wheel connected to the body of the subway tunnel maintenance vehicle. The second wheel housing 109 can rotate at a certain angle relative to the first wheel housing 107 in the front view plane, so that the inclination of the entire traveling device 1 in contact with the circular tube wall can be adjusted, which can adapt to tunnels with different diameters.

The angle adjustable mechanism includes a second wheel housing 109, a plurality of splints 110 and a second connecting plate 111. The splint 110 has two or more sizes, and the splints 110 are divided into two groups and installed respectively. On the second wheel housing 109 and the second connecting plate 111 , the two groups of the clamping plates 110 are arranged in a staggered manner. One end of the clamping plate 110 is provided with a first pin hole 112 , and the center of the clamping plate 110 is provided with a second pin. The hole 113, the first pin 114 is penetrated through the first pin hole 112 and the second pin 115 is penetrated through the second pin hole 113 to connect the second wheel housing 109 and the second connecting plate 111 in rotation. The fastening mechanism is a bolt 116 and a nut. Both ends of the second wheel housing 109 are provided with retaining lugs 117 . The retaining lugs 117 and the groove mounting portion 118 of the first wheel housing 107 are provided with third A pin hole 119 and a third pin 120 pass through the third pin hole 119 to fix the second wheel housing 109 on the first wheel housing 107 , and the second connecting plate 111 is connected to the main bearing Platform 2 connection.

The splint 110 has two or more sizes. The second connecting plate 111 is provided with a plurality of mounting holes through which the fastening components are connected to the body of the subway tunnel maintenance vehicle. And the number of threaded holes on the first connecting plate 106 is three.

When the traveling device 1 of the present invention is in use, when the platform vehicle tunnels trackless traveling, first select a plywood 110 of an appropriate size according to the tunnel diameter, and then connect the second connecting plate 111 of the traveling device 1 to the second connecting plate 111 of the traveling device 1 through the staggered set of plywood 110 . The included angle between the second wheel housings 109 is adjusted to an appropriate angle, and then the clamping plate is fixed.

The size of the splint 110 can be selected in various ways. The splints 110 of different sizes are arranged in a staggered manner and then connected by pins, so that the angle between the second connecting plate 111 and the second wheel housing 109 can be installed to suit the needs of different tunnel diameters. The angle also enables the second connecting plate 111 connected to the body of the subway tunnel maintenance vehicle to be rotated at a certain angle relative to the second wheel housing 109 in the front view plane, so that the entire walking device 1 is in contact with the circular tube wall. The inclination angle is adjustable, which can adapt to tunnels with different hole diameters, has wide applicability, and can effectively alleviate the impact of vehicles during walking.

Please refer to FIG. 12 , the main bearing platform 2 includes four columns 201 , two beams 202 and two longitudinal beams 203 , the two longitudinal beams 203 are arranged in parallel on the column 201 , and the two beams 202 span the The left and right ends connected to the two longitudinal beams 203 constitute the frame of the main bearing platform 2. The first guardrail 204 is arranged around the frame, and the upper and lower escalators 205 are provided on both sides of the first guardrail 204. The longitudinal beam 203 A cement frame 206 is installed below the vehicle-mounted equipment platform 7 , and the vehicle-mounted equipment platform 7 is installed in the space surrounded by the four uprights 201 and is fixedly connected with the uprights 201 .

13-15 , the centering mechanism 8 includes a height adjustment mechanism and a level adjustment mechanism, and the height adjustment structure includes a first pulley 801 , a second pulley 802 , a third pulley 803 , a wire rope 804 and a centering bracket 805 , the first pulley 801 , the second pulley 802 and the third pulley 803 are respectively installed on the first, second and third mounting surfaces adjacent to the column 201 , and the hydraulic actuator includes a lifting cylinder 807 , the first installation surface is provided with a cylinder support 806 and a lifting cylinder 807, one end of the lifting cylinder 807 is mounted on the cylinder support 806 through the cylinder mounting shaft 808, and the other end of the lifting cylinder 807 is installed through the slider. The support mounting shaft 809 is installed at the bottom end of the slider support 810, the first pulley 801 is installed on the slider support 810 through the first pulley mounting shaft 811, and the fourth mounting surface of the column 201 is provided with Fixed support 812, one end of the wire rope 804 is connected to the fixed support 812, and the other end bypasses the first pulley 801, the second pulley 802 and the third pulley 803 and is fixedly connected to the self-aligning bracket 805. on the support 813.

The top of the first mounting surface is provided with a guide rail 814 that cooperates with the slider support 810. When driving the lift cylinder 807, the slider support 810 can follow the output end of the lift cylinder 807 on the guide rail 814. slide. Rollers 815 are provided around the bottom of the self-aligning bracket 805 , and the rollers 815 are mounted on the self-aligning bracket 805 through a roller shaft 816 .

A second pulley 802 support is installed on the second installation surface, the second pulley 802 is installed on the second pulley 802 support through the second pulley 802 installation shaft, and the beam 202 is connected to the first pulley 802. A third pulley 803 support is installed at the connecting ends of the three installation surfaces, and the third pulley 803 is mounted on the third pulley 803 support through the third pulley 803 mounting shaft. The top of the column 201 is installed with the main structure of the fixed work platform 3, and the main structure of the fixed work platform 3 is connected with the body of the trackless self-propelled platform vehicle in the subway tunnel.

When the height adjustment mechanism of the center of gravity of the present invention is in use, the wire rope 804 bypasses the connection between the above three groups of pulleys and the vehicle-mounted equipment platform 7, and the lift cylinder 807 is directly connected with one of the set of pulleys. The platform 7 moves up and down on the slide rail of the column 201, so that the height of the equipment platform can be adjusted according to the working conditions of the platform car, thereby adjusting the position of the center of gravity of the platform car in the vertical direction. The trackless self-propelled subway tunnel maintenance platform vehicle needs two different working conditions: parking operation and walking. The height of the on-board equipment platform 7 is adjusted through the lifting cylinder 807, the pulley block and the wire rope 804, so as to adjust the center of gravity of the platform vehicle in the vertical direction. s position.

14-15, the horizontal adjustment mechanism includes two transverse steel beams 817, two longitudinal steel beams 818 and a counterweight 819. The two longitudinal steel beams 818 are arranged in parallel, and the two transverse steel beams 818 are arranged in parallel. 817 are respectively connected to the head and tail ends of the two longitudinal steel beams 818 to form an aligning bracket 805, the counterweight 819 is slidably installed between the two transverse steel beams 817, and the two longitudinal steel beams 818 A lead screw 820 is rotatably installed between the counterweights 819, and a lead screw 820 nut matched with the lead screw 820 is arranged on the central axis of the counterweight 819; the hydraulic actuator includes a drive motor 822, and the inner side of the longitudinal steel beam 818 Both are provided with installation grooves, one of the installation grooves of the longitudinal steel beam 818 is installed with the drive motor 822, and the installation groove of the other longitudinal steel beam 818 is provided with a mounting support 823. One end of the lead screw 820 is connected to the drive motor. The output end of the 822 is connected, the other end is rotatably mounted on the mounting support 823, and the end of the lead screw 820 connected with the drive motor 822 is mounted with a coupling.

The center of gravity level adjustment mechanism of the present invention adjusts the steering and rotational speed of the motor by driving the motor 822, and the motor drives the lead screw 820 to rotate, thereby controlling the left and right movement direction of the counterweight 819 connected with the lead screw 820, and regulating the trackless self-propelled tunnel platform vehicle The left-right offset of the center of gravity in the horizontal plane.

The inner sides of the two transverse steel beams 817 are provided with roller slide rails, both ends of the counterweight block 819 are provided with roller shafts 816, and the roller shafts 816 are sleeved with the roller slide rails. Roller 815. The counterweight block 819 can move radially along the roller slide rail, and the end of the roller shaft 816 is installed with a limited set screw. The roller 815 is axially fixed and limited by the limiting set screw. The number of the lead screw 820 nuts is three, and the lead screw 820 nuts are all mounted on the counterweight block through the counterweight support. 819 on. Three lead screws 820 and nuts are arranged in order to distribute the weight of the lead screws 820 nuts to the counterweight 819. The horizontal steel beam 817 and the vertical steel beam 818 are both H-shaped steel beams. The horizontal steel beam 817 and the vertical steel beam The connecting corners of the beams 818 are all installed with fixed angle steels. The fixed angle steel is used to fix the H-shaped steel beam and improve the strength of the entire steel structure.

The center of gravity level adjustment mechanism of the present invention can transmit the rotation of the motor to the screw 820 through the coupling according to the real-time measurement data of the center of gravity of the platform vehicle when it is used with the trackless self-propelled platform vehicle in the subway tunnel. The rotary motion of the screw is converted into the linear motion of the lead screw 820 nut, and the lead screw 820 nut drives the counterweight 819 to roll on the roller slide rail of the H-shaped steel beam, realizing real-time adjustment of the position of the counterweight 819 to achieve the adjustment platform. The purpose of the car's horizontal center of gravity.

Referring to FIG. 16 , the support device 6 includes a plurality of support cylinders 601 . The support cylinders 601 are installed on the outer sides of the two beams 202 , and the inner sides of the two beams 202 are provided with roller tracks 602 . The work platform 5 is slidably installed in the roller track 602 and connected with the output end of the supporting oil cylinder; the fixed work platform 3 has the same structure as the main carrying platform 2 .

The support device 6 in the mechanical system is a support cylinder 601 installed on both sides of the beam 202 carrying the main structure, one on the left and right sides of each beam 202. When the platform truck stops for operation, the support cylinder 601 protrudes to the top of the tunnel. On the pipe wall to stabilize the platform car.

Referring to FIG. 17 , the telescopic work platform 5 includes two horizontal bars 501 , a vertical bar 502 , a pedal 503 and a second guardrail 504 , and the vertical bar 502 bridges between the top ends of the two horizontal bars 501 . During the time, the pedals 503 are installed between the two cross bars 501, the second guardrail 504 is installed on the upper ends of the cross bars 501 and the vertical bars 502, the main carrying platform 2 and the fixed work platform 3 are telescopic The work platform 5 is fixed by a link 505 .

The edges of the vehicle-mechanical system carrying the main structure, the vehicle-mounted equipment rack, the fixed working platform 3, the telescopic working platform 5 and the lifting working platform 4 are all provided with escalator guardrails to ensure the safety of the staff.

Please refer to FIG. 1 , the lifting operation platform 4 is a scissors fork lifting platform.

In the self-propelled platform vehicle for subway tunnel maintenance of the present invention, the control system is mainly composed of an industrial computer, a touch screen, a PLC controller, a button switch, a video system, a sensor, a signal line, a remote control and an alarm device, etc. The PLC controller It has the functions of centering mechanism 8 control, automatic cruise control, automatic attitude adjustment control, brake control and support cylinder 601 control.

In the above-mentioned self-propelled platform vehicle for subway tunnel maintenance, the hydraulic system includes a hydraulic oil tank, a hydraulic pump, a hydraulic valve group, a hydraulic oil pipe and a joint, and a hydraulic actuator. The valve group in the hydraulic system includes a flow regulating valve, a pressure reducing valve, an electromagnetic reversing valve, a hydraulic control one-way valve and an integrated block. The actuators in the hydraulic system include a support cylinder 601 and a driving hydraulic motor 108 and the like.

In the above-mentioned self-propelled platform vehicle for subway tunnel maintenance, the power supply system includes a diesel generator, a 24V battery and a distribution box.

In the above-mentioned self-propelled platform vehicle for subway tunnel maintenance, the lighting system is mainly used for construction lighting, platform lighting and walking lighting, and lighting lamps or searchlights are arranged around the body structure.

In the above-mentioned self-propelled platform vehicle for subway tunnel maintenance, the platform vehicle further includes a remote controller wirelessly connected to the control system.

As shown in the figure, the on-board equipment is placed on the on-board equipment platform 7, mainly including diesel generator, hydraulic station, grouting pump, slurry tank, pipe joint grouting machine, segment cleaning machine and segment repairing machine.

The specific working mode of the self-propelled platform vehicle for subway tunnel maintenance of the present invention can be divided into three aspects: trackless running in the tunnel, parking maintenance in the tunnel and switching of different tunnel diameters.

In terms of the trackless running of the platform vehicle tunnel, take the tunnel diameter of 6 meters as an example, as shown in Figure 3 and Figure 4. First, set the traveling device 1 to an appropriate angle according to the diameter of the tunnel, and then fix it with a card plate; secondly, ensure that the supporting cylinder 601 and the lifting cylinder 807 are in the retracted state; finally, the vehicle-mounted equipment platform 7 is lowered to the lowest point, and the counterweight 819 Adjust the center of gravity of the platform vehicle to be in the center position, so that the center of gravity of the platform vehicle is minimized and in a balanced state. During the walking process, the center of gravity of the platform vehicle is monitored by the control system, and the center of gravity position is adjusted by the centering mechanism 8 to ensure the balance state of the platform vehicle;

In terms of tunnel parking and maintenance operations, an 8-meter tunnel is taken as an example, as shown in Figure 2, Figure 5 and Figure 6. When the platform vehicle approaches the maintenance work position, the control system decelerates and stops the vehicle. Then the support cylinder 601 drives the telescopic work platform 5 on the left and right sides to extend, and stops immediately after extending 1 meter; after the support cylinder 601 is disconnected from the telescopic work platform 5, the support cylinder 601 continues to advance to both sides until it reaches the tunnel wall , it stops immediately after reaching a suitable force, and is supported on the tunnel pipe wall by the support cylinder 601 to stabilize the platform vehicle. Then the lifting cylinder 807 is lifted upward, and the on-board equipment platform 7 is pulled up by the wire rope 804, and at the same time, the on-board equipment and the centering mechanism 8 are also driven to rise to the height of the main bearing platform 2, which is convenient for the staff to use the on-board equipment to perform maintenance operations on the tunnel wall. When maintenance on the top of the tunnel is required, the lifting work platform 4 can be used. When the hole diameter is 6 meters, it is not necessary to activate the elevating work platform 4 and the telescopic work platform 5.

In terms of switching between tunnels with different tunnel diameters, as shown in Figures 2 and 4, when the platform vehicle is switched from a 6-meter tunnel to an 8-meter tunnel for maintenance work, during the walking process, due to the increase of the tunnel diameter, the distance between the platform vehicles The distance at the bottom of the tunnel becomes smaller, so it is necessary to adjust the deflection angle of the walking device 1 to match the diameter of the tunnel, and then select the correct clamping plate and pin for fixing; during maintenance work, the diameter of the 8-meter hole is relative to the main diameter of the 6-meter hole. The distance between the carrying platform 2 and the fixed working platform 3 and the tunnel wall is increased. In order to complete the short-distance maintenance operation, it is necessary to push the telescopic working platform 5 on both sides out by one meter through the supporting oil cylinder 601 to shorten the distance between the left and right sides of the platform truck. The distance between the tunnel walls, the staff can stand on the telescopic work platform 5 to complete the maintenance work. For the upper part of the tunnel wall, the maintenance distance can be shortened by raising the scissor fork platform.

The second connecting plate 111 connected to the body of the subway tunnel maintenance vehicle can rotate at a certain angle relative to the second wheel housing 109 in the front view plane, and can be adapted to tunnels with different diameters by adjusting different angles. When the rotation angle is determined by the hole diameter, it can be fixed by different sizes of card plates and pins. In addition, the first wheel housing 107 can rotate at a certain angle within its left-view plane, which can effectively alleviate the impact during walking.

The guardrail escalator is arranged on the edge of the carrying main structure, the fixed working platform 3, the lifting working platform 4 and the telescopic working platform 5 to ensure the safety of the staff.

During the maintenance and construction of the tunnel, in order to ensure the passage of the small train for transporting materials and slag, the on-board equipment platform 7 is lifted to the height of the platform carrying the main structure; the on-board equipment platform 7 has the function of adjusting the height of the center of gravity of the platform vehicle. In order to ensure the safety of the platform vehicle, the center of gravity of the platform vehicle is lowered to the bottom of the tunnel center, and the on-board equipment platform 7 is lowered to the lowest point to lower the overall center of gravity of the platform vehicle and ensure the safety of the platform vehicle during walking.

The foregoing are only preferred embodiments of the present invention, and it should be understood that the present invention is not limited to the forms disclosed herein, and should not be construed as an exclusion of other embodiments, but may be used in various other combinations, modifications, and environments, and Modifications can be made within the scope of the concepts described herein by virtue of the above teachings or skill or knowledge in the relevant field. However, modifications and changes made by those skilled in the art do not depart from the spirit and scope of the present invention, and should all fall within the protection scope of the appended claims of the present invention.

Claims (10)

1. The utility model provides a trackless self-propelled platform truck for subway tunnel is maintained which characterized in that: the automatic aligning device comprises a mechanical system, a control system, a hydraulic system and a power supply system, wherein the mechanical system comprises a walking device (1), a main bearing platform (2), a fixed operation platform (3), a lifting operation platform (4), a telescopic operation platform (5), a supporting device (6), a vehicle-mounted equipment platform (7) and an aligning mechanism (8), the walking device (1), the main bearing platform (2), the fixed operation platform (3) and the lifting operation platform (4) are sequentially connected, the telescopic operation platform (5) is slidably connected to the two ends of the main bearing platform (2) and the fixed operation platform (3), the supporting device (6) is connected with the telescopic operation platform (5), the vehicle-mounted equipment platform (7) is used for placing vehicle-mounted equipment, and the aligning mechanism (8) is arranged below the vehicle-mounted equipment platform (7);

the control system comprises a PLC (programmable logic controller), the PLC is installed on the main bearing platform (2), the hydraulic system comprises a hydraulic execution element, the hydraulic execution element is installed on the aligning mechanism (8), the input end of the hydraulic execution element is connected with the PLC, and the power supply system is electrically connected with the hydraulic system and the control system.

2. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 1, characterized in that: the walking device (1) comprises four wheel sets and an angle adjustable mechanism, the wheel sets comprise two driving wheels (101) and two driven wheels (102), the two driving wheels (101) and the two driven wheels (102) are respectively connected through wheel shafts (103), rolling bearings (104) are mounted at two ends of the wheel shaft (103), a wheel shell cover plate (105) is mounted at the tail end of the wheel shaft (103), a first connecting plate (106) is welded on the wheel shell cover plate (105), the first connecting plate (106) is connected with a first wheel shell (107) through a fastening mechanism, the angle adjustable mechanism is arranged on the first wheel shell (107), a hydraulic motor (108) is arranged on the outer side of a wheel shell cover plate (105) connected with one driving wheel (101), the output end of the hydraulic motor (108) is connected with the wheel shaft (103).

3. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 2, characterized in that: the angle adjustable mechanism comprises a second wheel shell (109), a plurality of clamping plates (110) and a second connecting plate (111), the size of the clamping plates (110) is two or more than two, the clamping plates (110) are divided into two groups which are respectively arranged on the second wheel shell (109) and the second connecting plate (111), the clamping plates (110) are arranged in a staggered mode, a first pin hole (112) is formed in one end of the clamping plate (110), a second pin hole (113) is formed in the center of the clamping plate (110), a first pin (114) penetrates through the first pin hole (112) and a second pin (115) and penetrates through the second pin hole (113) to rotatably connect the second wheel shell (109) and the second connecting plate (111), the fastening mechanism is a bolt (116) and a nut, stop lugs (117) are arranged at two ends of the second wheel shell (109), third pin holes (119) are formed in the baffle lugs (117) and the groove mounting portion (118) of the first wheel shell (107), third pins (120) penetrate through the third pin holes (119) to fixedly mount the second wheel shell (109) on the first wheel shell (107), and the second connecting plate (111) is connected with the main bearing platform (2).

4. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 1, characterized in that: the main bearing platform (2) comprises four upright posts (201), two cross beams (202) and two longitudinal beams (203), wherein the longitudinal beams (203) are arranged on the upright posts (201) in parallel, the two cross beams (202) are respectively bridged at the left end and the right end of the two longitudinal beams (203) to form a frame of the main bearing platform (2), first guardrails (204) are arranged on the periphery of the frame, upper and lower escalators (205) are arranged on two sides of the first guardrails (204), a cement frame (206) is installed below the longitudinal beams (203), and vehicle-mounted equipment platforms (7) are installed in four spaces surrounded by the upright posts (201) and fixedly connected with the upright posts (201).

5. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 4, characterized in that: the aligning mechanism (8) comprises a height adjusting mechanism and a horizontal adjusting mechanism, the height adjusting mechanism comprises a first pulley (801), a second pulley (802), a third pulley (803), a steel wire rope (804) and an aligning support (805), the first pulley (801), the second pulley (802) and the third pulley (803) are respectively installed on a first installation surface, a second installation surface and a third installation surface which are adjacent to the upright column (201), the hydraulic actuating element comprises a lifting oil cylinder (807), an oil cylinder support (806) and a lifting oil cylinder (807) are arranged on the first installation surface, one end of the lifting oil cylinder (807) is installed on the oil cylinder support (806) through an oil cylinder installation shaft (808), the other end of the lifting oil cylinder (807) is installed at the bottom end of the sliding block support (810) through a sliding block support (810) installation shaft (809), the first pulley (801) is installed on the sliding block support (810) through the first pulley (801) installation shaft, be equipped with fixing support (812) on the fourth mounting surface of stand (201), the one end of wire rope (804) is connected on fixing support (812), the other end is around first pulley (801), second pulley (802) and third pulley (803) back fixed connection on connecting support (813) on aligning support (805).

6. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 5, characterized in that: the top of the first mounting surface is provided with a guide rail (814) matched with the sliding block support (810), rollers (815) are arranged around the bottom of the aligning support (805), the rollers (815) are mounted on the aligning support (805) through roller (815) shafts, and the upright column (201) is provided with a sliding rail matched with the rollers (815).

7. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 5, characterized in that: the horizontal adjusting mechanism comprises two transverse steel beams (817), two longitudinal steel beams (818) and a balancing weight (819), the two longitudinal steel beams (818) are arranged in parallel, the two transverse steel beams (817) are respectively bridged at the head end and the tail end of the two longitudinal steel beams (818) to form an aligning bracket (805), the balancing weight (819) is slidably mounted between the two transverse steel beams (817), a lead screw (820) is rotatably mounted between the two longitudinal steel beams (818), and a lead screw (820) nut matched with the lead screw (820) is arranged on the central axis of the balancing weight (819); the hydraulic actuator comprises driving motors (822), mounting grooves are formed in the inner sides of the longitudinal steel beams (818), one of the longitudinal steel beams (818) is internally provided with the driving motor (822), a mounting support (823) is arranged in the mounting groove of the other longitudinal steel beam (818), one end of a lead screw (820) is connected with the output end of the driving motor (822), the other end of the lead screw is rotatably mounted on the mounting support (823), and a coupler is mounted at the end part of the lead screw (820) connected with the driving motor (822).

8. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 4, characterized in that: the supporting device (6) comprises a plurality of supporting oil cylinders (601), the supporting oil cylinders (601) are installed on the outer sides of the two cross beams (202), roller rails (602) are arranged on the inner sides of the two cross beams (202), and the telescopic working platform (5) is installed in the roller rails (602) in a sliding mode and is connected with the output ends of the supporting oil cylinders (601); the fixed operation platform (3) and the main bearing platform (2) have the same structure.

9. The trackless, self-propelled platform trolley for subway tunnel maintenance of claim 8, characterized in that: the telescopic operation platform (5) comprises two cross rods (501), a longitudinal rod (502), pedals (503) and second guardrails (504), the longitudinal rod (502) is bridged between the top ends of the two cross rods (501), the pedals (503) are installed between the two cross rods (501), the second guardrails (504) are installed at the upper ends of the cross rods (501) and the longitudinal rod (502), and the main bearing platform (2) and the telescopic operation platform (5) on the fixed operation platform (3) are fixed through connecting rods (505).

10. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 1, characterized in that: the lifting operation platform (4) is a scissors fork lifting platform.

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