CN110655015B - Trackless self-propelled platform car for subway tunnel maintenance - Google Patents

Trackless self-propelled platform car for subway tunnel maintenance Download PDF

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Publication number
CN110655015B
CN110655015B CN201910969642.5A CN201910969642A CN110655015B CN 110655015 B CN110655015 B CN 110655015B CN 201910969642 A CN201910969642 A CN 201910969642A CN 110655015 B CN110655015 B CN 110655015B
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China
Prior art keywords
platform
pulley
support
wheel
hydraulic
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CN110655015A (en
Inventor
代永文
彭卫平
周鸿源
郭柏里
胡文山
吴政隆
张文
张建辉
陈勇
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Wuhan University WHU
Sinohydro Bureau 7 Co Ltd
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Wuhan University WHU
Sinohydro Bureau 7 Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • B62D63/04Component parts or accessories
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/12Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • E21D9/122Working or loading platforms

Abstract

The invention discloses a trackless self-propelled platform car for subway tunnel maintenance, which comprises a mechanical system, a control system, a hydraulic system and a power supply system, wherein the mechanical system comprises a walking device, a main bearing platform, a fixed operation platform, a lifting operation platform, a telescopic operation platform, a supporting device, a vehicle-mounted equipment platform and an aligning mechanism, the two ends of the main bearing platform and the fixed operation platform are both connected with the telescopic operation platform in a sliding manner, the supporting device is connected with the telescopic operation platform, the vehicle-mounted equipment platform is used for placing vehicle-mounted equipment, and the aligning mechanism is arranged below the vehicle-mounted equipment platform; the control system comprises a PLC, the PLC is installed on the main bearing platform, the hydraulic system comprises a hydraulic execution element, the hydraulic execution element is installed on the aligning mechanism, 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. The platform truck can safely walk and perform maintenance operation in different subway tunnel bores.

Description

Trackless self-propelled platform car for subway tunnel maintenance
Technical Field
The invention relates to a trackless self-propelled platform car for subway tunnel maintenance.
Background
And in the later construction stage of the subway tunnel, post-treatment maintenance operation is required. The post-treatment maintenance of the subway tunnel mainly comprises caulking, pipe piece cleaning, pipe piece repairing and the like. At present, the maintenance equipment that usually adopts in the engineering is a simple and easy structure platform, and this platform is formed by the shaped steel concatenation, and both sides are equipped with the landing leg, install four sheaves on the landing leg, and the sheave supports on two interim tracks, and interim track is fixed on the section of jurisdiction inner wall. The simple structure platform mainly has the following problems: the platform moves by depending on manpower traction, and temporary tracks need to be paved in a turnover way, so that the operation is inconvenient and the efficiency is low; the temporary tracks are laid, so that holes are needed to be drilled on the segments, and the segments are easy to crack, fall and the like; in order to ensure the passage of slag and material transport trains, the working platform is higher away from the ground, tunnel maintenance tools are randomly placed on the platform, the center of gravity of the platform is high, the unbalance loading is serious, and the stability is poor; the strength and the rigidity need to be strictly calculated and analyzed, otherwise, the safety of personnel and equipment cannot be ensured; compared with the advanced shield technology, the subway tunnel maintenance construction equipment technology and process are relatively lagged behind. To the problem that the post-treatment maintenance equipment of the existing subway tunnel exists, a trackless self-propelled platform car is urgently needed to be developed, and the platform car has important significance for reducing occupied space, improving construction technology, saving tunnel construction cost, improving construction safety, improving tunnel construction quality, ensuring engineering progress and the like.
Disclosure of Invention
The invention aims to provide a trackless self-propelled platform car for subway tunnel maintenance, which can safely walk and perform maintenance operation in different subway tunnel bores, has automatic posture adjustment, intelligent cruise and reliable parking, and solves the technical problems in the prior art.
The purpose of the invention is realized by the following technical scheme:
a trackless self-propelled platform car for subway tunnel maintenance comprises a mechanical system, a control system, a hydraulic system and a power supply system, wherein the mechanical system comprises a walking device, a main bearing platform, a fixed operation platform, a lifting operation platform, a telescopic operation platform, a supporting device, a vehicle-mounted equipment platform and an aligning mechanism, the walking device, the main bearing platform, the fixed operation platform and the lifting operation platform are sequentially connected, the telescopic operation platforms are respectively connected to two ends of the main bearing platform and the fixed operation platform in a sliding mode, the supporting device is connected with the telescopic operation platform, the vehicle-mounted equipment platform is used for placing vehicle-mounted equipment, and the aligning mechanism is arranged below the vehicle-mounted equipment platform;
the control system comprises a PLC (programmable logic controller), the PLC is installed on the main bearing platform, the hydraulic system comprises a hydraulic execution element, the hydraulic execution element is installed on the aligning mechanism, 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.
Furthermore, the traveling device comprises four wheel groups and an angle adjustable mechanism, each wheel group comprises two driving wheels and two driven wheels, the two driving wheels and the two driven wheels are connected through wheel shafts respectively, rolling bearings are installed at two ends of each wheel shaft, a wheel shell cover plate is installed at the tail end of each wheel shaft, a first connecting plate is welded on the wheel shell cover plate and connected with a first wheel shell through a fastening mechanism, the angle adjustable mechanism is installed on the first wheel shell, a hydraulic motor is installed on the outer side of the wheel shell cover plate connected with one driving wheel, and the output end of the hydraulic motor is connected with the wheel shafts.
Furthermore, the adjustable angle mechanism comprises a second wheel shell, a plurality of clamping plates and a second connecting plate, the size of the clamping plates is two or more than two, the clamping plates are divided into two groups and are respectively installed on the second wheel shell and the second connecting plate, the two groups of clamping plates are arranged in a staggered manner, one end of each clamping plate is provided with a first pin hole, the center of each clamping plate is provided with a second pin hole, a first pin is arranged in the first pin hole in a penetrating manner, a second pin is arranged in the second pin hole in a penetrating manner, the second wheel shell and the second connecting plate are rotatably connected through the second pin hole, the fastening mechanism is a bolt and a nut, the two ends of the second wheel shell are respectively provided with a baffle lug, the baffle lug and the groove installation part of the first wheel shell are respectively provided with a third pin hole, the third pin is arranged in the third pin hole, the second wheel shell is fixedly installed on the first wheel shell, the second connecting plate is connected with the main bearing platform.
Furthermore, the main bearing platform comprises four stand columns, two cross beams and two longitudinal beams, the two longitudinal beams are arranged on the stand columns in parallel, the two cross beams are respectively bridged at the left end and the right end of the two longitudinal beams to form a frame of the main bearing platform, first guardrails are arranged on the periphery of the frame, an upper escalator and a lower escalator are arranged on two sides of each first guardrail, a cement frame is installed below each longitudinal beam, and the vehicle-mounted equipment platform is installed in the space surrounded by the four stand columns and is fixedly connected with the stand columns.
Further, the aligning mechanism comprises a height adjusting mechanism and a horizontal adjusting mechanism, the height adjusting mechanism comprises a first pulley, a second pulley, a third pulley, a steel wire rope and an aligning support, the first pulley, the second pulley and the third pulley are respectively arranged on a first installation surface, a second installation surface and a third installation surface which are adjacent to the upright post, the hydraulic executive component comprises a lifting oil cylinder, an oil cylinder support and the lifting oil cylinder are arranged on the first installation surface, one end of the lifting oil cylinder is arranged on the oil cylinder support through an oil cylinder installation shaft, the other end of the lifting oil cylinder is arranged at the bottom end of the sliding block support through a sliding block support installation shaft, the first pulley is arranged on the sliding block support through a first pulley installation shaft, a fixed support is arranged on a fourth installation surface of the upright post, and one end of the steel wire rope is connected to the fixed support, the other end of the first pulley, the second pulley and the third pulley is wound around and then fixedly connected to the connecting support on the aligning support.
Furthermore, the top of the first mounting surface is provided with a guide rail matched with the sliding block support, rollers are arranged around the bottom of the aligning support and are mounted on the aligning support through roller shafts, and the stand column is provided with a slide rail matched with the rollers.
Further, the horizontal adjusting mechanism comprises two transverse steel beams, two longitudinal steel beams and a balancing weight, the two longitudinal steel beams are arranged in parallel, the two transverse steel beams are respectively bridged at the head end and the tail end of the two longitudinal steel beams to form an aligning bracket, the balancing weight is slidably mounted between the two transverse steel beams, a lead screw is rotatably mounted between the two longitudinal steel beams, and a lead screw nut matched with the lead screw is arranged on the central axis of the balancing weight; the hydraulic actuating element comprises a driving motor, mounting grooves are formed in the inner sides of the longitudinal steel beams, one of the longitudinal steel beams is provided with the driving motor in the mounting groove, the other longitudinal steel beam is provided with a mounting support in the mounting groove, one end of the lead screw is connected with the output end of the driving motor, the other end of the lead screw is rotatably mounted on the mounting support, and a coupler is mounted at the end part of the lead screw connected with the driving motor.
Furthermore, the supporting device comprises a plurality of supporting oil cylinders, the supporting oil cylinders are arranged on the outer sides of the two cross beams, roller tracks are arranged on the inner sides of the two cross beams, and the telescopic operation platform is slidably arranged in the roller tracks and is connected with the output ends of the supporting oil cylinders; the fixed operation platform and the main bearing platform have the same structure.
Furthermore, the telescopic operation platform comprises two transverse rods, a longitudinal rod, a pedal and a second guardrail, the longitudinal rod is bridged between the top ends of the two transverse rods, the pedal is installed between the two transverse rods, the second guardrail is installed at the upper ends of the transverse rods and the longitudinal rod, and the main bearing platform and the telescopic operation platform on the fixed operation platform are fixed through a connecting rod.
Furthermore, the lifting operation platform is a scissors fork lifting platform.
The invention has the beneficial effects that:
1) the invention relates to a walking device of a trackless self-propelled platform car for subway tunnel maintenance, which is characterized in that two groups of clamping plates are arranged between a second connecting plate and a second wheel shell, the two groups of clamping plates are arranged in a staggered manner, the sizes of the clamping plates are multiple, the clamping plates with different sizes are staggered and then connected through pins, and then the angle between the second connecting plate and the second wheel shell can be installed to be an angle suitable for different tunnel hole diameters, and the second connecting plate connected with a car body of a subway tunnel maintenance car can rotate at a certain angle relative to the second wheel shell in a front view plane, so that the inclination angle of the whole walking device in contact with a circular pipe wall can be adjusted, and the walking device can be suitable for tunnels with different hole diameters, the hole diameter range is generally 6-8 meters, the applicability is wide, and the impact in the walking process of a vehicle can be effectively relieved; the hydraulic motor of the walking device receives the instructions of the PLC controller to drive the current walking device to walk trackless on the circular pipe wall of the subway tunnel so as to realize intelligent cruising and reliable parking; need not to occupy the transportation track or install interim track, can not influence tunnel construction, can not destroy the tunnel pipe wall yet.
2) The steel wire rope bypasses three groups of pulleys to be connected with the vehicle-mounted equipment platform, the lifting oil cylinder is directly connected with one group of pulleys, the lifting oil cylinder is driven to vertically extend and retract to drive the vehicle-mounted equipment platform to do lifting motion, so that the height of the equipment platform can be adjusted according to the working condition of the platform car, the position of the gravity center of the platform car in the vertical direction can be adjusted, the gravity center horizontal adjusting mechanism is simple in structure and convenient to adjust, the height of the vehicle-mounted equipment platform can be adjusted through the lifting oil cylinder, the pulley block and the steel wire rope according to the requirements of two different working conditions of parking operation and walking of the trackless self-propelled subway tunnel maintenance platform car, and the position of the gravity center of the platform car in the vertical direction can be adjusted; according to the gravity center horizontal adjusting mechanism, the motor drives the screw rod to rotate by adjusting the steering and rotating speed of the motor, so that the left-right movement direction of the balancing weight connected with the screw rod is controlled, the left-right deviation of the gravity center of the trackless self-propelled tunnel platform vehicle in a horizontal plane is regulated, and finally the gravity center of the platform vehicle is adjusted to a proper position; the driving motor and the lifting oil cylinder in the gravity center adjusting mechanism are controlled by the PLC controller, and the gravity center deviation can be adjusted according to the gravity center position measured by the gravity center monitoring system of the trackless self-propelled tunnel maintenance platform vehicle in real time, so that the automatic posture adjustment is realized.
3) The platform car occupies less space than the existing platform car, saves the tunnel construction cost, improves the construction safety, improves the tunnel construction quality and ensures the project progress; the working strength of constructors is reduced, the damage of tunnel segments is reduced, the construction effect is good, the efficiency and the safety are high, and the underground tunnel intelligent parking device has the advantages of being safe in walking, automatic in posture adjusting, intelligent in cruising, reliable in parking, flexible and the like.
Drawings
FIG. 1 is a schematic view of the assembly structure of the present invention platform truck within a hole diameter of 8 meters;
FIG. 2 is a schematic front view of the present invention platform truck in a hole diameter of 8 meters;
FIG. 3 is a schematic view of the assembly of the dolly of the invention within a 6 meter hole diameter;
FIG. 4 is a schematic front view of the present invention platform truck in a 6 meter hole diameter;
FIG. 5 is a schematic view of the front view of the platform truck of the present invention in a maintenance state within a diameter of 6 m;
FIG. 6 is a schematic view of an assembly structure of the flatcar of the present invention in a maintenance state within a diameter of 6 m;
FIG. 7 is a schematic view showing an assembled structure of the traveling unit of the dolly of the invention;
FIG. 8 is a front view of the front left wheel of the dolly of the invention;
FIG. 9 is a schematic view of a first wheel housing configuration of the dolly of the invention;
FIG. 10 is a schematic view of a second wheel housing configuration of the dolly of the invention;
FIG. 11 is a schematic view of a second connecting plate structure of the dolly of the invention;
FIG. 12 is a schematic view of the assembly structure of the main platform of the platform truck of the present invention;
FIG. 13 is a schematic view of the center of gravity height adjustment mechanism of the dolly of the invention;
FIG. 14 is a schematic structural view of the mechanism for adjusting the center of gravity of the dolly of the invention;
FIG. 15 is a top plan view of the dolly center of gravity leveling mechanism of the invention;
FIG. 16 is a schematic view of an assembly structure of the telescopic work platform of the platform truck of the present invention;
FIG. 17 is a schematic structural view of the retractable work platform of the platform truck of the present invention;
in the figure, 1-running gear, 101-driving wheel, 102-driven wheel, 103-wheel shaft, 104-rolling bearing, 105-wheel shell cover plate, 106-first connecting plate, 107-first wheel shell, 108-hydraulic motor, 109-second wheel shell, 110-clamping plate, 111-second connecting plate, 112-first pin hole, 113-second pin hole, 114-first pin, 115-second pin, 116-bolt, 117-stopping lug, 118-groove mounting part, 119-third pin hole, 120-third pin, 2-main bearing platform, 201-upright post, 202-cross beam, 203-longitudinal beam, 204-first guardrail, 205-up and down escalator, 206-cement frame, 3-fixed operation platform, 4-lifting work platform, 5-telescopic work platform, 501-cross bar, 502-longitudinal bar, 503-pedal, 504-second guardrail, 505-connecting bar, 6-supporting device, 601-supporting cylinder, 602-roller track, 7-vehicle equipment platform, 8-aligning mechanism, 801-first pulley, 802-second pulley, 803-third pulley, 804-steel wire rope, 805-aligning bracket, 806-cylinder support, 807-lifting cylinder, 808-cylinder mounting shaft, 809-slider support mounting shaft, 810-slider support, 811-first pulley mounting shaft, 812-fixed support, 814-connecting support, 814-guiding track, 815-roller, 816-roller shaft, 817-transverse steel beam, 818-longitudinal steel beam, 819-balancing weight, 820-lead screw, 821-lead screw nut, 822-driving motor and 823-mounting support.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
Referring to fig. 1-17, the present invention provides a technical solution:
referring to fig. 1-6, a trackless self-propelled platform car for subway tunnel maintenance 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 both 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.
According to the trackless self-propelled platform car for subway tunnel maintenance, the walking device of the trackless self-propelled platform car walks on the circular pipe wall of the subway tunnel trackless to realize intelligent cruising and reliable parking, the driving motor 822 and the lifting oil cylinder 807 in the gravity center adjusting mechanism are controlled by the PLC controller, and the gravity center offset can be adjusted according to the gravity center position measured by the gravity center monitoring system of the trackless self-propelled tunnel maintenance platform car in real time, so that automatic posture adjustment is realized.
Referring to fig. 7-11, the traveling apparatus 1 includes four wheel sets and an angle adjustable mechanism, the wheel set includes two driving wheels 101 and two driven wheels 102, the two driving wheels 101 and the two driven wheels 102 are respectively connected by a wheel axle 103, rolling bearings 104 are respectively installed at two ends of the wheel axle 103, a wheel housing cover plate 105 is installed at a tail end of the wheel axle 103, a first connecting plate 106 is welded on the wheel housing cover plate 105, the first connecting plate 106 is connected to a first wheel housing 107 by a fastening mechanism, the angle adjustable mechanism is installed on the first wheel housing 107, a hydraulic motor 108 is installed at an outer side of the wheel housing cover plate 105 connected to one of the driving wheels 101, and an output end of the hydraulic motor 108 is connected to the wheel axle 103.
The angle adjustable mechanism of the invention can adjust the angle between the first wheel shell 107 and the second wheel shell 109 to the angle suitable for the tunnel bores with different diameters, and simultaneously, the second wheel shell 109 connected with the body of the subway tunnel maintenance vehicle can rotate at a certain angle relative to the first wheel shell 107 in the front view plane, so that the inclination angle of the whole walking device 1 contacted with the circular pipe wall can be adjusted, and the angle adjustable mechanism can adapt to the tunnels with different diameters.
The angle adjustable mechanism includes second wheel housing 109, a plurality of splint 110 and second connecting plate 111, splint 110's size has two kinds and more than two kinds, a plurality of splint 110 falls into two sets and installs respectively on second wheel housing 109 and second connecting plate 111, and is two sets of splint 110 staggered arrangement each other, first pin hole 112 has been seted up to splint 110's one end, second pin hole 113 has been seted up at splint 110's center, and first pin 114 wears to locate first pin hole 112 and second pin 115 wear to locate second pin hole 113 rotates second wheel housing 109 and second connecting plate 111 to be connected, fastening device is bolt 116 and nut, shelves ear 117 is all installed at second wheel housing 109's both ends, all set up third pin hole 119 on shelves ear 117 and the recess installation department 118 of first wheel housing 107, and third pin 120 wears to locate third pin hole 119 is with second wheel housing 109 fixed mounting on first wheel housing 107 And the second connecting plate 111 is connected with the main bearing platform 2.
The size of splint 110 has two kinds and more than two kinds, a plurality of mounting holes have been seted up on the second connecting plate 111, fastening component passes through the mounting hole is connected with the automobile body of subway tunnel maintenance car, the quantity of the screw hole on connecting portion and the first connecting plate 106 is three.
When the walking device 1 is used and platform car tunnel trackless walking is implemented, firstly, the clamping plates 110 with proper sizes are selected according to the tunnel hole diameter, then the included angle between the second connecting plate 111 of the walking device 1 and the second wheel shell 109 is adjusted to a proper angle through the clamping plate 110 groups which are arranged in a staggered mode, and then the clamping plates are fixed.
The size of splint 110 has multiple selection, can install the angle between second connecting plate 111 and the second wheel casing 109 after different sizes's splint 110 staggered arrangement through pin joint into the angle that is fit for different tunnel hole footpaths needs, also make the second connecting plate 111 of being connected with the automobile body of subway tunnel maintenance car can carry out certain angle's rotation in the plane of orthographic view for second wheel casing 109, make the inclination of whole running gear 1 and circular pipe wall contact adjustable, can adapt to the tunnel of different hole footpaths, and wide applicability still can effectively alleviate the impact of vehicle walking in-process.
Referring to fig. 12, the main load-bearing platform 2 includes four upright columns 201, two cross beams 202 and two longitudinal beams 203, the two longitudinal beams 203 are arranged in parallel on the upright columns 201, the two cross beams 202 are respectively bridged at the left and right ends of the two longitudinal beams 203 to form a frame of the main load-bearing platform 2, first guardrails 204 are arranged around the frame, upper and lower escalators 205 are arranged at two sides of the first guardrail 204, a cement frame 206 is installed below the longitudinal beams 203, and the vehicle-mounted equipment platform 7 is installed in a space surrounded by the four upright columns 201 and is fixedly connected with the upright columns 201.
Referring to fig. 13-15, the center adjusting mechanism 8 includes a height adjusting mechanism and a horizontal adjusting mechanism, the height adjusting mechanism includes a first pulley 801, a second pulley 802, a third pulley 803, a wire cable 804 and a center adjusting bracket 805, the first pulley 801, the second pulley 802 and the third pulley 803 are respectively mounted on a first mounting surface, a second mounting surface and a third mounting surface adjacent to the upright 201, the hydraulic actuator includes a lift cylinder 807, a cylinder support 806 and a lift cylinder 807 are disposed on the first mounting surface, one end of the lift cylinder is mounted on the cylinder support 806 through a cylinder mounting shaft 808, the other end of the lift cylinder 807 is mounted at the bottom end of a slider support 810 through a slider support mounting shaft 809, the first pulley 801 is mounted on the slider support 810 through a first pulley 811, and a fixing support 812 is disposed on a fourth mounting surface of the upright 201, one end of the steel wire rope 804 is connected to the fixed support 812, and the other end of the steel wire rope is fixedly connected to a connecting support 813 on the aligning support 805 after passing around the first pulley 801, the second pulley 802 and the third pulley 803.
The top of the first mounting surface is provided with a guide rail 814 matched with the slider support 810, and when the lifting cylinder 807 is driven, the slider support 810 can slide on the guide rail 814 along with the output end of the lifting cylinder 807. All be equipped with gyro wheel 815 around the bottom of aligning support 805, gyro wheel 815 passes through roller shaft 816 and installs on aligning support 805, be equipped with on the stand 201 with the slide rail of gyro wheel 815 complex.
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 a second pulley 802 installation shaft, a third pulley 803 support is installed at the joint end of the cross beam 202 and the third installation surface, and the third pulley 803 is installed on the third pulley 803 support through a third pulley 803 installation shaft. The top of stand 201 is installed fixed work platform 3 main structure, fixed work platform 3 main structure is connected with the automobile body of subway tunnel trackless self-propelled platform truck.
When the gravity center height adjusting mechanism is used, the steel wire rope 804 bypasses the three groups of pulleys to be connected with the vehicle-mounted equipment platform 7, the lifting oil cylinder 807 is directly connected with one group of pulleys, the lifting oil cylinder 807 is driven to vertically extend and retract to drive the vehicle-mounted equipment platform 7 to move up and down on the slide rails of the upright posts 201, so that the height of the equipment platform can be adjusted according to the working condition of the platform car, the position of the gravity center of the platform car in the vertical direction can be adjusted, the mechanism is simple in structure and convenient to adjust, the height of the vehicle-mounted equipment platform 7 can be adjusted through the lifting oil cylinder 807, the pulley block and the steel wire rope 804 according to requirements of two different working conditions of parking operation and walking of the trackless self-propelled subway tunnel maintenance platform car, and the position of the gravity center of the platform car in the vertical direction can be adjusted.
Referring to fig. 14 to 15, the horizontal adjustment mechanism includes two horizontal steel beams 817, two longitudinal steel beams 818 and a counterweight 819, the two longitudinal steel beams 818 are arranged in parallel, the two horizontal steel beams 817 are respectively bridged at the head and tail ends of the two longitudinal steel beams 818 to form a center-adjusting bracket 805, the counterweight 819 is slidably mounted between the two horizontal 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 counterweight 819; the hydraulic actuating element comprises a driving motor 822, mounting grooves are formed in the inner sides of the longitudinal steel beams 818, the driving motor 822 is mounted in the mounting groove of one longitudinal steel beam 818, 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 of the lead screw 820 connected with the driving motor 822.
The gravity center horizontal adjusting mechanism adjusts the steering and rotating speed of the motor by driving the motor 822, and the motor drives the lead screw 820 to rotate, so that the left-right movement direction of the balancing weight 819 connected with the lead screw 820 is controlled, and the left-right deviation of the gravity center of the trackless self-propelled tunnel platform vehicle in a horizontal plane is regulated and controlled.
The inner sides of the two transverse steel beams 817 are respectively provided with a roller sliding rail, two ends of the balancing weight 819 are respectively provided with a roller shaft 816, and the roller shaft 816 is sleeved with a roller 815 matched with the roller sliding rails. The balancing weight 819 can move along the radial direction of the roller sliding rail, and the end of the roller shaft 816 is provided with a limit set screw. The idler wheel 815 is axially fixed and limited by the limiting set screw, the number of the lead screw 820 nuts is 3, and the lead screw 820 nuts are all mounted on the balancing weight 819 through a balancing weight support. Three lead screw 820 nuts are arranged to divide and average the gravity borne by the lead screw 820 nuts to the balancing weight 819, the transverse steel beam 817 and the longitudinal steel beam 818 are H-shaped steel beams, and fixed angle steel is mounted at the connecting corner of the transverse steel beam 817 and the longitudinal steel beam 818. The fixed angle steel is used for fixing the H-shaped steel beam and improving the strength of the whole steel structure.
When the gravity center horizontal adjusting mechanism is used in cooperation with a trackless self-propelled platform car of a subway tunnel, the rotation of a motor can be transmitted to the lead screw 820 through the coupler according to gravity center measuring data provided by the gravity center measuring system of the platform car in real time, the rotary motion of the lead screw 820 is converted into the linear motion of the nut of the lead screw 820, and the nut of the lead screw 820 drives the balancing weight 819 to roll on a roller sliding rail of an H-shaped steel beam, so that the position of the balancing weight 819 is adjusted in real time, and the purpose of adjusting the horizontal gravity center of the platform car is achieved.
Referring to fig. 16, the supporting device 6 includes a plurality of supporting cylinders 601, the supporting cylinders 601 are installed at the outer sides of the two cross beams 202, roller rails 602 are installed at the inner sides of the two cross beams 202, and the telescopic work platform 5 is installed in the roller rails 602 in a sliding manner and connected to the output ends of the supporting cylinders; the fixed working platform 3 has the same structure as the main bearing platform 2.
The supporting device 6 in the mechanical system is a supporting oil cylinder 601 which is arranged at two sides of a beam 202 of the bearing main structure, the left side and the right side of each beam 202 are respectively provided with one, and when the platform truck stops working, the supporting oil cylinder 601 extends to be propped against the wall of the tunnel pipe to stabilize the platform truck.
Referring to fig. 17, the telescopic work platform 5 includes two cross bars 501, a longitudinal bar 502, a pedal 503 and a second guardrail 504, the longitudinal bar 502 is spanned between the top ends of the two cross bars 501, the pedal 503 is installed between the two cross bars 501, the second guardrail 504 is installed at the upper ends of the cross bars 501 and the longitudinal bar 502, and the main load-bearing platform 2 and the telescopic work platform 5 on the fixed work platform 3 are fixed by a connecting rod 505.
The edges of the main bearing structure, the vehicle-mounted equipment frame, the fixed operation platform 3, the telescopic operation platform 5 and the lifting operation platform 4 in the vehicle mechanical system are all provided with escalator guardrails so as to ensure the safety of workers.
Referring to fig. 1, the lifting platform 4 is a scissors fork lifting platform.
In the self-propelled platform car for maintaining the subway tunnel, a control system of the self-propelled platform car mainly comprises an industrial personal computer, a touch screen, a PLC (programmable logic controller), a button switch, a video system, a sensor, a signal line, a remote controller, an alarm device and the like, wherein the PLC has the functions of centering mechanism 8 control, automatic cruise control, automatic attitude adjustment control, brake control, support oil cylinder 601 control and the like.
In the self-propelled platform truck for subway tunnel maintenance, the hydraulic system comprises a hydraulic oil tank, a hydraulic pump, a hydraulic valve group, a hydraulic oil pipe and a joint, a hydraulic actuating element and the like. The valve group in the hydraulic system comprises 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 drive hydraulic motor 108, etc.
In the self-propelled platform truck is maintained in a subway tunnel of foretell, electrical power generating system includes a diesel generator, 24V storage battery and block terminal.
In the self-propelled platform truck for subway tunnel maintenance, the lighting system is mainly used for construction lighting, platform lighting and walking lighting, and the lighting lamps or searchlights are arranged around the body structure.
In the self-propelled platform truck for subway tunnel maintenance, the platform truck further comprises a remote controller in wireless connection with the control system.
As shown in the figures, the vehicle-mounted equipment is placed on a vehicle-mounted equipment platform 7 and mainly comprises a diesel generator, a hydraulic station, a grouting pump, a slurry tank, a pipe seam grouting machine, a pipe piece cleaning machine, a pipe piece repairing machine and the like.
The specific working modes of the self-propelled platform car for maintaining the subway tunnel can be divided into three aspects of tunnel trackless walking, tunnel parking maintenance and tunnel switching work with different tunnel diameters.
In terms of trackless walking of the platform truck tunnel, the diameter of the tunnel is taken as 6 meters, as shown in fig. 3 and 4. Firstly, setting the traveling device 1 to a proper angle according to the tunnel diameter, and then fixing the traveling device by using a clamping plate; secondly, the supporting oil cylinder 601 and the lifting oil cylinder 807 are ensured to be in a withdrawing state; finally, the vehicle-mounted device platform 7 is lowered to the lowest point, and the counterweight 819 adjusts the center of gravity of the platform truck to be in the center position, so that the center of gravity of the platform truck is lowered to the lowest point and is in a balanced state. In the walking process, the gravity center of the platform truck is monitored through the control system, and the gravity center position is adjusted through the aligning mechanism 8, so that the balance state of the platform truck is ensured; steering and the like are realized by differential traveling of the left and right traveling devices 1.
In terms of parking and maintenance work of the tunnel, an 8-meter hole diameter is taken as an example, and fig. 2, 5 and 6 are combined for illustration. When the platform truck approaches the maintenance operation position, the platform truck is decelerated and parked through the control system. Then the supporting oil cylinder 601 drives the left and right telescopic operation platforms 5 to extend out, and when the left and right telescopic operation platforms extend out for 1 meter, the operation stops immediately; after the support oil cylinder 601 is disconnected from the telescopic operation platform 5, the support oil cylinder 601 continues to push towards two sides until reaching the tunnel pipe wall, and then stops when reaching the acting force with proper magnitude, and the support oil cylinder 601 supports on the tunnel pipe wall to stabilize the platform truck. Then lift cylinder 807 jacks up, pulls vehicle-mounted equipment platform 7 to rise through wire rope 804, and drives vehicle-mounted equipment and aligning mechanism 8 to rise to the height of main bearing platform 2, so that the worker can conveniently use the vehicle-mounted equipment to maintain the tunnel pipe wall. The lifting work platform 4 can be used when maintenance of the tunnel roof is required. At the hole diameter of 6 meters, the lifting operation platform 4 and the telescopic operation platform 5 are not required to be started.
In the aspect of switching tunnels with different hole diameters, as shown in fig. 2 and 4, when the platform truck switches from 6-meter hole diameter to 8-meter hole diameter for maintenance work, in the walking process, as the hole diameter is increased, the distance from the platform truck to the bottom of the tunnel is reduced, the deflection angle of the walking device 1 needs to be adjusted to be matched with the hole diameter of the tunnel, and then a correct clamping plate and a pin shaft are selected for fixing; during maintenance operation, the distance between the main bearing platform 2 with the diameter of 8 meters and the fixed operation platform 3 and the tunnel pipe wall is increased relative to the distance between the main bearing platform 2 with the diameter of 6 meters and the tunnel pipe wall, in order to complete short-distance maintenance operation, the telescopic operation platforms 5 on the two sides are required to be pushed out by one meter through the supporting oil cylinders 601, the distance between the left side and the right side of the platform truck and the tunnel pipe wall is shortened, and a worker can stand on the telescopic operation platforms 5 to complete maintenance operation. For the upper portion of the tunnel tube wall, the maintenance distance can be shortened by raising the scissor platform.
The second connection 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 adapt to tunnels with different tunnel diameters by adjusting different angles. After the rotation angle is determined by the hole diameter, the fixing can be carried out through clamping plates with different sizes and pin shafts. In addition, the first wheel housing 107 can rotate within a certain angle in the left viewing plane of the first wheel housing, so that the impact during walking can be effectively relieved.
The guardrail staircase sets up at the border that bears main structure, fixed work platform 3, lift operation platform 4 and flexible operation platform 5 to guarantee staff's safety.
During tunnel maintenance construction, in order to ensure that a small train for transporting materials and discharging slag passes through, the vehicle-mounted equipment platform 7 is lifted to the height of the bearing main structure platform; the mobile unit platform 7 has the effect of adjusting the height of the center of gravity of the platform truck, when the platform truck walks, in order to guarantee the walking safety of the platform truck, the center of gravity of the platform truck is lowered to the lower side of the center of the tunnel, the mobile unit platform 7 is lowered to the lowest point so as to lower the whole center of gravity of the platform truck, and the safety of the walking process of the platform truck is guaranteed.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

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;
the walking device (1) comprises four wheel sets and an angle adjustable mechanism;
the wheel set comprises two driving wheels (101) and two driven wheels (102), the two driving wheels (101) and the two driven wheels (102) are respectively connected through a wheel shaft (103), rolling bearings (104) are respectively installed at two ends of the wheel shaft (103), a wheel shell cover plate (105) is installed 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 installed on the first wheel shell (107), a hydraulic motor (108) is installed on the outer side of the wheel shell cover plate (105) connected with one driving wheel (101), and the output end of the hydraulic motor (108) is connected with the wheel shaft (103);
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 stop lugs (117) and the groove mounting portions (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);
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, a fixed support (812) is arranged on the fourth mounting surface of the upright post (201), one end of the steel wire rope (804) is connected to the fixed support (812), and the other end of the steel wire rope is fixedly connected to a connecting support (813) on the aligning support (805) after passing through the first pulley (801), the second pulley (802) and the third pulley (803);
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).
2. 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).
3. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 1, 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).
4. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 2, 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.
5. The trackless self-propelled platform trolley for subway tunnel maintenance according to claim 4, 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).
6. 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.
CN201910969642.5A 2019-10-12 2019-10-12 Trackless self-propelled platform car for subway tunnel maintenance Active CN110655015B (en)

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CN114572917B (en) * 2022-03-21 2023-09-12 中车太原机车车辆有限公司 Tunnel maintenance construction operation car group
CN114634138B (en) * 2022-03-21 2023-09-12 中车太原机车车辆有限公司 Electric rail car capable of lifting operation
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