CN112160790A - Tunnel hoisting robot - Google Patents

Abstract

The invention relates to a lifting robot, in particular to a tunnel lifting robot. The automatic pipe fitting machine comprises a main body frame, a power mechanism, a clamping mechanism, link mechanisms, a protection mechanism and a wheel mechanism, the power mechanism is connected at the middle part of the main body frame, the clamping mechanism is connected at the inner end of the middle part of the main body frame, the mirror symmetry of the link mechanisms is provided with two, the two link mechanisms are connected at the front end and the rear end of the main body frame, the wheel mechanism is connected at the left end and the right end of each link mechanism, the pipeline lifting can be carried out on the tunnel which is difficult to enter and dangerous to the people, the clamping mechanism can drive the lifting pipeline to rotate through the power mechanism at the butt joint position when lifting the lifting pipeline is carried out, the phenomenon.

Description

Tunnel hoisting robot

Technical Field

The invention relates to a lifting robot, in particular to a tunnel lifting robot.

Background

For example, the utility model discloses a tunnel lifting robot with the publication number of CN201820971379.4, which comprises a machine body connecting frame, at least two groups of hoisting portal frames are arranged on the machine body connecting frame, a landing leg telescopic driving device is arranged between an upper landing leg and a lower landing leg of the portal frame, a portal frame beam comprises a left half beam and a right half beam, a beam telescopic driving device is connected between the left half beam and the right half beam, a multidimensional travelling wheel bracket is fixedly arranged on the lower supporting leg of the gantry, a travelling wheel swinging bracket is hinged on the multidimensional wheel bracket, a swinging driving device is supported between the travelling wheel swinging bracket and the multidimensional wheel bracket, the walking wheel swing support is rotatably supported with a walking wheel support, a wheel carrier rotation transmission device is arranged between the walking wheel swing support and the walking wheel support, the walking wheel support is rotatably supported with a walking wheel, and the walking wheel is in transmission connection with a walking wheel driving device. The utility model discloses a not only rational in infrastructure, can directly stabilize and support walking on pipe tunnel inner wall cambered surface, can stride across the obstacle by oneself moreover and carry out the operation. But it cannot clamp and hoist the pipeline.

Disclosure of Invention

The invention aims to provide a tunnel lifting robot which can clamp and lift a pipeline.

The purpose of the invention is realized by the following technical scheme:

the tunnel lifting robot comprises a main body frame, two power mechanisms, two clamping mechanisms, two link mechanisms, two protection mechanisms and two wheel mechanisms, wherein the power mechanisms are connected to the middle of the main body frame, the clamping mechanisms are connected to the inner end of the middle of the main body frame, the two link mechanisms are arranged in a mirror symmetry mode, the two link mechanisms are connected to the front end and the rear end of the main body frame, the two protection mechanisms are arranged in a mirror symmetry mode, the two protection mechanisms are connected to the front end and the rear end of the main body frame, and the two wheel mechanisms are connected to.

The main body frame includes frame, slip strip hole, slide bar, rotation hole and frame, and the left and right sides of frame upper end all is provided with a slip strip hole, and the four corners of frame bottom all is provided with a strip hole, slide bar of the equal fixed connection in both ends around the frame lower extreme, and the left and right sides at both ends all is provided with a rotation hole around the frame bottom, and frame fixed connection is in the frame bottom.

Power unit includes mount, first electric putter, biax motor, rotary rod and rolling disc, and the upper end fixed connection of mount is at first electric putter expansion end, and first electric putter's stiff end fixed connection is at the middle part on frame top, and biax motor fixed connection is in the mount inner, and the output shaft at both ends passes through rotary rod of shaft coupling difference fixed connection about the biax motor, a rolling disc of the equal fixed connection in outer end of every rotary rod.

Fixture includes the centre gripping motor, the lead screw, the gripper jaw, the bull stick, the carousel, the slide opening, band pulley and belt, the lead screw is provided with two, both ends rotate respectively around a lead screw and connect and rotate downthehole being located left two, both ends rotate respectively around another lead screw and connect in two rotation holes that are located the right side, the output shaft of centre gripping motor passes through shaft coupling and the lead screw fixed connection who is located the right-hand member, gripper jaw of equal mirror symmetry threaded connection in both ends around every lead screw, the lower extreme of every gripper jaw all rotates and connects a bull stick, carousel of equal fixed connection in both ends about every bull stick, the downside of every gripper jaw all is provided with a slide opening, band pulley of equal fixed connection in front end of every lead screw, two band pulleys pass through belt transmission and connect, centre gripping motor fixed connection is in.

Link mechanism includes the lifter, the seat goes up and down, the stock, the montant, the pipe, the quarter butt, control seat and second electric putter, seat fixed connection goes up and down at the lifter middle part, stock fixed connection is in the seat back end that goes up and down, pipe fixed connection is at the montant lower extreme, quarter butt fixed connection is in the montant upper end, the pipe rotates to be connected at the stock middle part, the equal fixed connection's in both ends control seat about the lifter, the upper end of every control seat all with a second electric putter's expansion end fixed connection, link mechanism mirror symmetry is provided with two, the equal sliding connection in two strip holes that are located the front side in both ends about a lifter, the equal sliding connection in two strip holes that are located the rear side about another lifter.

Protection machanism includes the guard plate, the protection seat, the back pole, the connecting plate, preceding pole and promotion hole, protection seat of the equal fixed connection in four corners of guard plate bottom, both ends fixed connection is at the lower extreme that is located two protection seats of rear end about the back pole, both ends fixed connection is at the lower extreme that is located two protection seats of front end about the preceding pole, the front end fixed connection of connecting plate is at the front rod middle part, the rear end fixed connection of connecting plate is at the back pole middle part, promote the hole setting in the front side of connecting plate, both ends difference sliding connection is downthehole at two slides about the front pole, protection machanism mirror symmetry is provided with two, both ends rotate respectively around two quarter butts and connect at two promotion downtheholes.

The wheel mechanism includes solid fixed ring, the telescopic link, the footstock, a pedestal, the sill bar, wheel and compression spring, gu fixed ring's lower extreme and the footstock of the equal fixed connection in rear end, the outer end of every footstock and the stiff end fixed connection of telescopic link, the equal fixed connection of expansion end base of every telescopic link, sill bar of the equal fixed connection of lower extreme of every base, the both ends of every sill bar are all rotated and are connected a wheel, the lower extreme of every footstock all with a compression spring's one end fixed connection, the upper end of every base all with a compression spring's other end fixed connection, the wheel mechanism is provided with four, gu fixed ring of the equal fixed connection in both ends about every lifter.

The main body frame further comprises two limiting strip holes, the two limiting strip holes are formed in the front side and the rear side of the upper end of the frame, and the two short rods are connected in the limiting strip holes in a sliding mode respectively.

The main body frame further comprises four top plates, the four top plates are fixedly connected to four corners of the upper end of the frame, the two second electric push rods are fixedly connected to the lower ends of the two top plates located at the rear end, and the other two second electric push rods are fixedly connected to the lower ends of the two top plates located at the front end.

This protection machanism still includes the limiting plate, the limiting plate be provided with four, the equal fixed connection limiting plate in both ends about every front mast.

The tunnel hoisting robot has the beneficial effects that:

can carry out the pipeline handling for the tunnel that is difficult for getting into and comparatively dangerous to the people, fixture can drive the handling pipeline through power unit and rotate the butt joint of being convenient for in the butt joint position when carrying out the handling to the handling pipeline, avoid the people for working for a long time in dangerous tunnel operational environment, the efficiency of operation is improved, thereby link mechanism drives the lift of wheel mechanism and reduces or risees the distance of main body frame and ground, link mechanism further can adjust the speed of holding the framework fortune, speed when reducing with the height on ground improves, thereby protection mechanism protects the handling pipeline and prevents that the inside tunnel flyrock that has of handling pipeline when speed is high from splashing into, speed reduces when improving with the height on ground, and then be convenient for observe the internal situation.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic view of the overall structure of the tunnel handling robot of the present invention;

FIG. 2 is a partial schematic view of the first embodiment of the present invention;

FIG. 3 is a second partial schematic structural view of the present invention;

FIG. 4 is a third schematic view of a portion of the present invention;

FIG. 5 is a fourth schematic view of a portion of the present invention;

FIG. 6 is a schematic diagram of a portion of the present invention;

FIG. 7 is a schematic diagram six of a portion of the present invention;

FIG. 8 is a seventh schematic view of a portion of the present invention;

FIG. 9 is a partial schematic view eight of the present invention;

FIG. 10 is a partial schematic illustration nine of the present invention;

fig. 11 is a partial schematic structural diagram of the present invention.

In the figure: a main body frame 1; a frame 101; a slide bar hole 102; a limiting strip hole 103; a bar hole 104; a slide bar 105; the rotation hole 106; a top plate 107; a base 108; a power mechanism 2; a fixed frame 201; a first electric putter 202; a biaxial motor 203; a rotating rod 204; a rotating disk 205; a clamping mechanism 3; a clamp motor 301; a lead screw 302; a gripper jaw 303; a rotating rod 304; a turntable 305; a slide hole 306; a pulley 307; a belt 308; a link mechanism 4; a lifter 401; a lifting base 402; a long rod 403; a vertical rod 404; a circular tube 405; a short bar 406; a control seat 407; a second electric putter 408; a protection mechanism 5; a protection plate 501; a protective seat 502; a limit plate 503; a rear rod 504; a connection plate 505; a front rod 506; a push hole 507; a wheel mechanism 6; a fixed ring 601; a telescoping rod 602; a top seat 603; a base 604; a bottom bar 605; a wheel 606; compressing the spring 607.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The present invention will be described in further detail with reference to the accompanying drawings.

The first embodiment is as follows:

as shown in fig. 1-11, the tunnel lifting robot includes a main frame 1, a power mechanism 2, a clamping mechanism 3, link mechanisms 4, two protection mechanisms 5 and wheel mechanisms 6, wherein the power mechanism 2 is connected to the middle of the main frame 1, the clamping mechanism 3 is connected to the inner end of the middle of the main frame 1, the link mechanisms 4 are arranged in mirror symmetry, the two link mechanisms 4 are connected to the front and rear ends of the main frame 1, the two protection mechanisms 5 are arranged in mirror symmetry, the two protection mechanisms 5 are connected to the front and rear ends of the main frame 1, and the left and right ends of each link mechanism 4 are connected to one wheel mechanism 6.

The second embodiment is as follows:

as shown in fig. 1 to 11, the tunnel lifting robot includes a main frame 1, a frame 101, a sliding bar hole 102, a bar hole 104, a sliding rod 105, a rotating hole 106, and a base 108, where the left and right sides of the upper end of the frame 101 are provided with the sliding bar hole 102, the four corners of the bottom end of the frame 101 are provided with the bar holes 104, the front and rear ends of the lower end of the frame 101 are fixedly connected with the sliding rod 105, the left and right sides of the front and rear ends of the bottom end of the frame 101 are provided with the rotating hole 106, and the base 108 is fixedly connected to the bottom. The structure is stable and reasonable, the storage is convenient when the device is not used, the sliding rod 105 is polished, and the follow-up sliding on the sliding rod 105 is convenient to avoid the effect that the working action is influenced by large friction force.

The third concrete implementation mode:

as shown in fig. 1 to 11, the tunnel lifting robot, the power mechanism 2 includes a fixing frame 201, a first electric push rod 202, a dual-axis motor 203, a rotating rod 204 and a rotating disc 205, the upper end of the fixing frame 201 is fixedly connected to the movable end of the first electric push rod 202, the fixed end of the first electric push rod 202 is fixedly connected to the middle portion of the top end of the frame 101, the dual-axis motor 203 is fixedly connected to the inner end of the fixing frame 201, output shafts at the left end and the right end of the dual-axis motor 203 are respectively and fixedly connected to one rotating rod 204 through a coupler, and the outer end of each rotating. During the use, the double-shaft motor 203 is driven to drive the rotating discs 205 at two ends to rotate, the surface of the rotating disc 205 has certain friction force, the size of the pipeline adapting to lifting is improved, the first electric push rod 202 is driven to further adjust the positions of the two rotating discs 205 at the lower end so as to meet the requirements of working when the pipeline is in rotary butt joint, the two rotating discs 205 are close to the pipeline to be butted, the further rotating disc 205 rotates to drive the lifting pipeline to be butted, and the lifting pipeline can be butted conveniently in working requirement.

The fourth concrete implementation mode:

as shown in fig. 1-11, the tunnel handling robot, the gripping mechanism 3 includes a gripping motor 301, two lead screws 302, two gripping claws 303, two rotating rods 304, two rotating discs 305, two sliding holes 306, belt pulleys 307 and a belt 308, the lead screws 302 are provided, the front and rear ends of one lead screw 302 are respectively rotatably connected in the two rotating holes 106 on the left side, the front and rear ends of the other lead screw 302 are respectively rotatably connected in the two rotating holes 106 on the right side, the output shaft of the gripping motor 301 is fixedly connected with the lead screw 302 on the right end through a coupler, the front and rear ends of each lead screw 302 are respectively connected with one gripping claw 303 in a mirror symmetry and threaded manner, the lower end of each gripping claw 303 is rotatably connected with one rotating rod 304, the left and right ends of each rotating rod 304 are respectively fixedly connected with one rotating disc 305, the lower side of each gripping claw 303 is provided with one sliding hole 306, the front end of each, the two pulleys 307 are in transmission connection through a belt 308, and the clamping motor 301 is fixedly connected to the upper end of the base 108. In order to improve the specification and size of the pipeline suitable for hoisting, the clamping motor 301 is utilized to drive the two lead screws 302 at the two ends to rotate, the thread turning directions of the two ends of the two lead screws 302 are opposite, when in use, the two lead screws 302 rotate to drive the clamping claws 303 at the two ends to approach or depart from each other, therefore, when the clamping claw 303 is close to or far away from the pipeline, the lifting pipelines with different specifications and sizes are clamped and lifted, and in order to prevent the clamping claws 303 at the two ends from deviating when approaching or departing, the two sliding rods 105 for polishing treatment are slidably connected in the sliding holes 306, the two rotating discs 205 approach to the pipeline to be butted and drive the hoisting pipeline at the lower end to rotate, the rotating disc 305 in contact with the hoisting pipeline rotates relative to the rotating disc 205 to further help the hoisting pipeline rotate, thereby be convenient for the staff to dock the handling pipeline, avoid the people for working for a long time in dangerous tunnel operational environment, improve work efficiency.

The fifth concrete implementation mode:

as shown in fig. 1-11, the link mechanism 4 of the tunnel lifting robot comprises a lifting rod 401, a lifting seat 402, a long rod 403 and a vertical rod 404, pipe 405, quarter butt 406, control seat 407 and second electric putter 408, lift seat 402 fixed connection is at lift 401 middle part, stock 403 fixed connection is at lift seat 402 rear end, pipe 405 fixed connection is at montant 404 lower extreme, quarter butt 406 fixed connection is in montant 404 upper end, pipe 405 rotates to be connected at stock 403 middle part, lift 401 controls control seat 407 of the equal fixed connection in both ends, the upper end of every control seat 407 all with a second electric putter 408's expansion end fixed connection, 4 mirror symmetry of link mechanism is provided with two, the equal sliding connection in two strip holes 104 that are located the front side in both ends about a lift 401, the equal sliding connection in two strip holes 104 that are located the rear side about another lift 401. During operation, the two second electric push rods 408 are driven to drive the lifting rod 401 at the lower end to lift, so that the lifting rod 401 can drive the vertical rod 404 to lift, a certain angle is formed between the initial position of the vertical rod 404 and the vertical direction, the vertical rod is inclined towards the inner end, and subsequent movement is facilitated.

The sixth specific implementation mode:

as shown in fig. 1-11, the tunnel lifting robot, the protection mechanism 5 includes a protection plate 501, protection seats 502, a rear rod 504, a connection plate 505, a front rod 506 and pushing holes 507, four corners of the bottom end of the protection plate 501 are fixedly connected with one protection seat 502, two ends of the rear rod 504 are fixedly connected to the lower ends of the two protection seats 502 located at the rear end, two ends of the front rod 506 are fixedly connected to the lower ends of the two protection seats 502 located at the front end, the front end of the connection plate 505 is fixedly connected to the middle of the front rod 506, the rear end of the connection plate 505 is fixedly connected to the middle of the rear rod 504, the pushing holes 507 are arranged at the front side of the connection plate 505, two ends of the front rod 506 are respectively slidably connected to the two sliding bar holes 102, two protection mechanisms 5 are arranged in mirror symmetry, and the front and rear ends of the two short rods 406 are respectively rotatably. When two second electric putter 408 of drive the lift of lifter 401 of lower extreme, because there is certain angle with vertical direction during the initial position of montant 404, to the inner end by certain slope, so when lifter 401 rises, the short bar 406 that drives montant 404 and montant 404 upper end by lifter 401 in step moves, thereby promote connecting plate 505 to remove by short bar 406, further remove to the inner end by front boom 506, the front boom 506 both ends take place to slide in slip strip hole 102, the inside end of guard plate 501 at both ends is close to, thereby carry out guard work to the handling pipeline of clamping claw 303 centre gripping by guard plate 501.

The seventh embodiment:

as shown in fig. 1-11, the tunnel handling robot, the wheel mechanism 6 includes a fixed ring 601, an expansion link 602, a top seat 603, a base 604, a bottom rod 605, wheels 606 and compression springs 607, the lower end and the rear end of the fixed ring 601 are all fixedly connected with one top seat 603, the outer end of each top seat 603 is fixedly connected with the fixed end of the expansion link 602, the movable end of each expansion link 602 is all fixedly connected with one base 604, the lower end of each base 604 is all fixedly connected with one bottom rod 605, the two ends of each bottom rod 605 are all rotatably connected with one wheel 606, the lower end of each top seat 603 is all fixedly connected with one end of one compression spring 607, the upper end of each base 604 is all fixedly connected with the other end of one compression spring 607, the wheel mechanism 6 is provided with four, and the left and right ends of each lifting rod 401 are all fixedly connected with one. The lifting of the lifting rod 401 further drives the fixing rings 601 at two ends to lift, when the fixing rings 601 are driven by the lifting rod 401 to lift, the frame 101 is close to the ground, thereby reducing the wind resistance for driving the lifting pipeline to advance and increasing the advancing speed, meanwhile, the speed is increased to prevent splashed stones from entering the device, in order to adapt to different width degrees in the tunnel, the wheels 606 with one horizontal side can prevent the device from inclining and deviating towards two sides when advancing so as to adapt to the width degree in the track and the telescopic rods 602 in the horizontal direction can contract, meanwhile, under the action of the compression springs 607, the telescopic rods 602 in the horizontal direction can contract freely and recover the original positions, and the frame 101 can be more stable when advancing, when the lifting pipeline in the two clamping claws 303 needs to be observed during working, the lifting rod 401 recovers the positions reversely, and then the frame 101 is lifted to reduce the moving speed of the wheels 606, meanwhile, the protection plates 501 at the two ends move towards the two sides to be opened, so that the internal situation can be observed manually, and the wheels 606 are powered by the motor.

The specific implementation mode is eight:

as shown in fig. 1-11, the tunnel lifting robot further includes two limiting bar holes 103 in the main frame 1, the two limiting bar holes 103 are disposed on the front and rear sides of the upper end of the frame 101, and the two short rods 406 are respectively slidably connected in the limiting bar holes 103. The limiting strip holes 103 further prevent the vertical rods 404 from shifting to two sides when moving, and the protection plate 501 is guaranteed to move smoothly.

The specific implementation method nine:

as shown in fig. 1-11, the tunnel hoisting robot, the main frame 1 further includes four top plates 107, the four top plates 107 are fixedly connected to four corners of the upper end of the frame 101, two second electric push rods 408 are fixedly connected to the lower ends of the two top plates 107 at the rear end, and the other two second electric push rods 408 are fixedly connected to the lower ends of the two top plates 107 at the front end. The top plate 107 provides a stable working position for the second electric push rod 408, so that the position of the second electric push rod 408 is reasonable, and the unstable force point phenomenon is avoided.

The detailed implementation mode is ten:

as shown in fig. 1 to 11, the tunnel lifting robot, the protection mechanism 5, further includes four limiting plates 503, and the left and right ends of each front rod 506 are fixedly connected to one limiting plate 503. The limiting plate 503 further prevents the front rod 506 from shifting when sliding in the sliding bar hole 102, so that the front rod 506 moves more stably, and the work is more stable while the work efficiency is improved.

The invention relates to a tunnel lifting robot, which has the working principle that:

the structure is stable and reasonable, the storage is convenient when the device is not used, the sliding rod 105 is polished, and the follow-up sliding on the sliding rod 105 is convenient to avoid the effect that the working action is influenced by large friction force. During the use, the double-shaft motor 203 is driven to drive the rotating discs 205 at two ends to rotate, the surface of the rotating disc 205 has certain friction force, the size of the pipeline adapting to lifting is improved, the first electric push rod 202 is driven to further adjust the positions of the two rotating discs 205 at the lower end so as to meet the requirements of working when the pipeline is in rotary butt joint, the two rotating discs 205 are close to the pipeline to be butted, the further rotating disc 205 rotates to drive the lifting pipeline to be butted, and the lifting pipeline can be butted conveniently in working requirement. In order to improve the specification and size of the pipeline suitable for hoisting, the clamping motor 301 is utilized to drive the two lead screws 302 at the two ends to rotate, the thread turning directions of the two ends of the two lead screws 302 are opposite, when in use, the two lead screws 302 rotate to drive the clamping claws 303 at the two ends to approach or depart from each other, therefore, when the clamping claw 303 is close to or far away from the pipeline, the lifting pipelines with different specifications and sizes are clamped and lifted, and in order to prevent the clamping claws 303 at the two ends from deviating when approaching or departing, the two sliding rods 105 for polishing treatment are slidably connected in the sliding holes 306, the two rotating discs 205 approach to the pipeline to be butted and drive the hoisting pipeline at the lower end to rotate, the rotating disc 305 in contact with the hoisting pipeline rotates relative to the rotating disc 205 to further help the hoisting pipeline rotate, thereby be convenient for the staff to dock the handling pipeline, avoid the people for working for a long time in dangerous tunnel operational environment, improve work efficiency. During operation, the two second electric push rods 408 are driven to drive the lifting rod 401 at the lower end to lift, so that the lifting rod 401 can drive the vertical rod 404 to lift, a certain angle is formed between the initial position of the vertical rod 404 and the vertical direction, the vertical rod is inclined towards the inner end, and subsequent movement is facilitated. When two second electric putter 408 of drive the lift of lifter 401 of lower extreme, because there is certain angle with vertical direction during the initial position of montant 404, to the inner end by certain slope, so when lifter 401 rises, the short bar 406 that drives montant 404 and montant 404 upper end by lifter 401 in step moves, thereby promote connecting plate 505 to remove by short bar 406, further remove to the inner end by front boom 506, the front boom 506 both ends take place to slide in slip strip hole 102, the inside end of guard plate 501 at both ends is close to, thereby carry out guard work to the handling pipeline of clamping claw 303 centre gripping by guard plate 501. The lifting of the lifting rod 401 further drives the fixing rings 601 at two ends to lift, when the fixing rings 601 are driven by the lifting rod 401 to lift, the frame 101 is close to the ground, thereby reducing the wind resistance for driving the lifting pipeline to advance and increasing the advancing speed, meanwhile, the speed is increased to prevent splashed stones from entering the device, in order to adapt to different width degrees in the tunnel, the wheels 606 with one horizontal side can prevent the device from inclining and deviating towards two sides when advancing so as to adapt to the width degree in the track and the telescopic rods 602 in the horizontal direction can contract, meanwhile, under the action of the compression springs 607, the telescopic rods 602 in the horizontal direction can contract freely and recover the original positions, and the frame 101 can be more stable when advancing, when the lifting pipeline in the two clamping claws 303 needs to be observed during working, the lifting rod 401 recovers the positions reversely, and then the frame 101 is lifted to reduce the moving speed of the wheels 606, meanwhile, the protection plates 501 at the two ends move towards the two sides to be opened, so that the internal situation can be observed manually, and the wheels 606 are powered by the motor. The limiting strip holes 103 further prevent the vertical rods 404 from shifting to two sides when moving, and the protection plate 501 is guaranteed to move smoothly. The top plate 107 provides a stable working position for the second electric push rod 408, so that the position of the second electric push rod 408 is reasonable, and the unstable force point phenomenon is avoided. The limiting plate 503 further prevents the front rod 506 from shifting when sliding in the sliding bar hole 102, so that the front rod 506 can move more stably, the work efficiency is improved, and the work is more stable, the upper end of the compression spring 607 is fixedly connected with the top seat 603, the lower end of the compression spring 607 is fixedly connected with the base 604, so that the telescopic rod 602 is prevented from rotating, the telescopic rod 602 is composed of a rod-shaped member and a tubular member, the rod-shaped member is slidably connected in the tubular member, for further preventing from rotating, a slotted hole can be opened in the tubular member, the rod-shaped member can be provided with a limiting part, and the limiting part is slidably connected in the slotted hole for preventing from.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims (10)

1. Tunnel handling robot, including main body frame (1), power unit (2), fixture (3), link mechanism (4), protection machanism (5) and wheel mechanism (6), its characterized in that: power unit (2) are connected in main body frame (1) middle part, and fixture (3) are connected in the inner in main body frame (1) middle part, and link mechanism (4) mirror symmetry is provided with two, and both ends around main body frame (1) are connected in two link mechanism (4), and protection machanism (5) mirror symmetry is provided with two, and both ends around main body frame (1) are connected in two protection machanism (5), and a wheel mechanism (6) is all connected at both ends about every link mechanism (4).

2. The tunnel handling robot of claim 1, wherein: the main body frame (1) comprises a frame (101), sliding strip holes (102), strip holes (104), sliding rods (105), rotating holes (106) and a base (108), wherein the sliding strip holes (102) are formed in the left side and the right side of the upper end of the frame (101), the strip holes (104) are formed in the four corners of the bottom end of the frame (101), the sliding rods (105) are fixedly connected to the front end and the rear end of the lower end of the frame (101), the rotating holes (106) are formed in the left side and the right side of the front end and the rear end of the bottom end of the frame (101), and the base (108) is fixedly connected to the bottom end.

3. The tunnel handling robot of claim 2, wherein: power unit (2) are including mount (201), first electric putter (202), double-shaft motor (203), rotary rod (204) and rolling disc (205), the upper end fixed connection of mount (201) is at first electric putter (202) expansion end, the stiff end fixed connection of first electric putter (202) is at the middle part on frame (101) top, double-shaft motor (203) fixed connection is in mount (201) the inner, the output shaft at both ends passes through rotary rod (204) of shaft coupling difference fixed connection about double-shaft motor (203), rolling disc (205) of the equal fixed connection in outer end of every rotary rod (204).

4. A tunnel handling robot as claimed in claim 3, wherein: the clamping mechanism (3) comprises two clamping motors (301), screw rods (302), clamping claws (303), rotating rods (304), turntables (305), sliding holes (306), belt wheels (307) and belts (308), wherein the front end and the rear end of one screw rod (302) are respectively and rotatably connected in the two rotating holes (106) on the left side, the front end and the rear end of the other screw rod (302) are respectively and rotatably connected in the two rotating holes (106) on the right side, an output shaft of the clamping motor (301) is fixedly connected with the screw rod (302) on the right end through a coupling, the front end and the rear end of each screw rod (302) are respectively in mirror symmetry threaded connection with one clamping claw (303), the lower end of each clamping claw (303) is rotatably connected with one rotating rod (304), the left end and the right end of each rotating rod (304) are respectively and fixedly connected with one turntable (305), and the lower side of each clamping claw (303) is provided with one sliding hole (306), the front end of each lead screw (302) is fixedly connected with a belt wheel (307), the two belt wheels (307) are in transmission connection through a belt (308), and the clamping motor (301) is fixedly connected to the upper end of the base (108).

5. The tunnel handling robot of claim 4, wherein: the link mechanism (4) comprises a lifting rod (401), a lifting seat (402), a long rod (403), a vertical rod (404), a round pipe (405), a short rod (406), a control seat (407) and a second electric push rod (408), wherein the lifting seat (402) is fixedly connected to the middle part of the lifting rod (401), the long rod (403) is fixedly connected to the rear end of the lifting seat (402), the round pipe (405) is fixedly connected to the lower end of the vertical rod (404), the short rod (406) is fixedly connected to the upper end of the vertical rod (404), the round pipe (405) is rotatably connected to the middle part of the long rod (403), the left end and the right end of the lifting rod (401) are fixedly connected with one control seat (407), the upper end of each control seat (407) is fixedly connected with the movable end of one second electric push rod (408), the link mechanism (4) is arranged in a mirror symmetry manner, the left end and the right end of one lifting rod (401), the left end and the right end of the other lifting rod (401) are connected in two strip holes (104) on the rear side in a sliding mode.

6. The tunnel handling robot of claim 5, wherein: the protection mechanism (5) comprises a protection plate (501), a protection seat (502), a rear rod (504), a connecting plate (505), a front rod (506) and a pushing hole (507), protection plate (501) the equal fixed connection in four corners of bottom protects seat (502), both ends fixed connection is at the lower extreme that is located two protection seats (502) of rear end about back pole (504), both ends fixed connection is at the lower extreme that is located two protection seats (502) of front end about front rod (506), the front end fixed connection of connecting plate (505) is in front rod (506) middle part, the rear end fixed connection of connecting plate (505) is in back pole (504) middle part, promote hole (507) and set up the front side at connecting plate (505), both ends difference sliding connection is in two slip strip holes (102) about front rod (506), protection mechanism (5) mirror symmetry is provided with two, the front and back both ends of two quarter butt (406) are rotated respectively and are connected in two promotion holes (507).

7. The tunnel handling robot of claim 6, wherein: the wheel mechanism (6) comprises a fixed ring (601), a telescopic rod (602), a top seat (603), a base (604), a bottom rod (605), wheels (606) and a compression spring (607), the lower extreme and the equal fixed connection of rear end of solid fixed ring (601) footstock (603), the outer end of every footstock (603) and the stiff end fixed connection of telescopic link (602), equal fixed connection of the expansion end of every telescopic link (602) base (604), equal fixed connection of the lower extreme of every base (604) sill (605), the both ends of every sill (605) all rotate and connect a wheel (606), the lower extreme of every footstock (603) all with the one end fixed connection of a compression spring (607), the upper end of every base (604) all with the other end fixed connection of a compression spring (607), wheel mechanism (6) are provided with four, solid fixed ring (601) of the equal fixed connection in both ends about every lifter (401).

8. The tunnel handling robot body frame (1) of claim 7, characterized in that: the main body frame (1) further comprises two limiting strip holes (103), the two limiting strip holes (103) are arranged on the front side and the rear side of the upper end of the frame (101), and the two short rods (406) are respectively connected in the limiting strip holes (103) in a sliding mode.

9. The tunnel handling robot body frame (1) of claim 2, characterized in that: the main body frame (1) further comprises four top plates (107), the four top plates (107) are fixedly connected to four corners of the upper end of the frame (101), the two second electric push rods (408) are fixedly connected to the lower ends of the two top plates (107) located at the rear end, and the other two second electric push rods (408) are fixedly connected to the lower ends of the two top plates (107) located at the front end.

10. The tunnel handling robot guard mechanism (5) of claim 6, characterized in that: the protection mechanism (5) further comprises four limiting plates (503), and the left end and the right end of each front rod (506) are fixedly connected with one limiting plate (503).

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