CN115817660A - Double-crawler-belt chassis synchronous walking system and using method - Google Patents
Double-crawler-belt chassis synchronous walking system and using method Download PDFInfo
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- CN115817660A CN115817660A CN202211679697.0A CN202211679697A CN115817660A CN 115817660 A CN115817660 A CN 115817660A CN 202211679697 A CN202211679697 A CN 202211679697A CN 115817660 A CN115817660 A CN 115817660A
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Abstract
The invention discloses a double-crawler-belt chassis synchronous walking system and a using method thereof, wherein the double-crawler-belt chassis synchronous walking system comprises two walking chassis mechanisms, wherein each walking chassis mechanism comprises a crawler belt chassis assembly and a rotary assembly; the driving wheel module comprises a driving wheel, a walking encoder, a bracket and a first gear pair; the rotary driving module comprises a motor, a speed reducer and a rotary encoder, and the rotary supporting module comprises an inner rotary pipe disc, an outer rotary sleeve and a second gear pair. In the invention, the deflection angle difference between the travelling chassis mechanisms in the upright post units on two sides and the telescopic sleeve frame mechanism is monitored in time, the travel difference is calculated, the travelling speed of the travelling chassis mechanism behind is automatically fed back and adjusted according to the travel difference until the travel difference is compensated and the double-track travelling chassis mechanism returns to keep synchronous travelling, and meanwhile, the travelling speed of the double-track chassis is monitored in real time, so that the travelling chassis mechanism is ensured to run stably, and the integral use safety of the construction platform is improved.
Description
Technical Field
The invention relates to the technical field of construction equipment of steel structure industrial plants in the construction industry, in particular to a synchronous walking system with double crawler chassis and a use method thereof.
Background
The construction of steel structure industrial plants requires manual work to connect a large number of steel structural members by means of bolts, welding and the like. Because the steel structural member has large size and heavy weight, and most of the working surface is arranged at high altitude, the traditional high-altitude operation construction mode is mainly completed by adopting conventional equipment such as a self-made hanging basket, a derrick, a climbing car, a steel ladder and the like to be matched with a crane and a boom machine. However, in the construction process, the problems of limited actual operation space, inconvenience in operation, more dangerous sources and incapability of effectively controlling accident safety still exist when the crane and the boom machine are used for carrying out high-altitude operation, and the construction of the platform is carried out accordingly.
In order to meet the requirements of safely and efficiently carrying out high-altitude operation in a wider range and a wider space, an integrated platform for double-crawler traveling has been derived from the currently built platform. However, in the prior art, two crawler chassis are generally driven by hydraulic system, and when the crawler chassis of both sides the poor condition of asynchronous journey appears, the atress of the link of connection between two crawler chassis then can increase, when the poor certain value that reaches of asynchronous journey, the structure of link then can take place to destroy, and then whole building platform's structure also can follow and take place to damage, leads to the dual loss of personal safety, economic property.
Disclosure of Invention
The invention aims to solve the technical problem of providing a double-crawler chassis synchronous walking system which ensures the stable running of a chassis and protects the whole safety and a using method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme: a double-crawler-belt chassis synchronous walking system comprises two walking chassis mechanisms, wherein each walking chassis mechanism comprises a crawler-belt chassis assembly and a rotary assembly;
the crawler chassis assembly comprises a driving wheel module, the driving wheel module comprises a driving wheel, a walking encoder, a support and a first gear pair, the first gear pair comprises a first gear ring and a first gear, the first gear ring is fixedly sleeved on the periphery of the driving wheel, the first gear is coaxially connected with the walking encoder, the first gear and the walking encoder are respectively clamped and installed on two side surfaces of the support, and the first gear is meshed and matched with the first gear ring;
the slewing component comprises a slewing drive module and a slewing bearing module, the slewing drive module comprises a motor, a speed reducer and a slewing encoder, the slewing bearing module comprises an inner slewing pipe disc, an outer slewing sleeve and a second gear pair, the second gear pair comprises a second gear ring and a second gear, the second gear ring is fixedly embedded in an inner ring of the inner slewing pipe disc, the second gear is installed at the bottom of the slewing drive module, and the second gear is meshed with the second gear ring and matched with the second gear ring.
Further, the drive wheel module still includes the mounting panel, the support is fixed on the mounting panel, first ring gear is outer lane ring gear, and the tooth footpath is greater than the tooth footpath of first gear, first ring gear is the driving gear, first gear is driven gear, the drive wheel is used for driving first ring gear rotates, the walking encoder is used for monitoring the rotational speed of first gear.
Furthermore, the crawler chassis assembly further comprises a chassis and two crawlers, the two crawlers are respectively sleeved on two sides of the chassis, and the two driving wheel modules are respectively installed on two sides of the chassis and located in the crawlers.
The slewing bearing module further comprises a bearing plate, the inner slewing pipe disc is fixed on the bearing plate, the outer slewing sleeve is rotatably sleeved on the periphery of the inner slewing pipe disc, the second gear ring is an inner ring gear ring, the tooth diameter is larger than that of the second gear, the second gear is a driving gear, the second gear ring is a driven gear, the slewing driving module is used for driving the second gear to rotate, and the slewing encoder is arranged in the slewing driving module and used for monitoring the rotation angle of the second gear.
Furthermore, the walking chassis mechanism further comprises a supporting assembly, the supporting assembly comprises supporting beams, supporting leg oil cylinders and pressure equalizing plates, the supporting beams are erected on the crawler chassis assembly, the number of the supporting leg oil cylinders is four, the four supporting leg oil cylinders are respectively installed at four corners of the bottom of each supporting beam, and the bottom of each supporting leg oil cylinder is fixedly provided with the pressure equalizing plate which can abut against the ground.
Further, the supporting component still includes the tie-beam, the tie-beam is the upper and lower bilayer structure that is the X type, and the level is installed between the supporting beam between two parties, the gyration subassembly is installed between two parties on the track chassis subassembly, the lower floor fixed welding of tie-beam is connected to outer gyration sheathed tube's outer wall, the upper strata of tie-beam is located on the slewing bearing module, and can block the gyration drive module and restrict its pivoted route scope.
Further, still include operation platform unit and stand unit, the stand unit has two, install at the interval respectively the left and right sides both ends of operation platform unit bottom, the stand unit include flexible cover frame mechanism with walking chassis mechanism.
Furthermore, the telescopic sleeve frame mechanism comprises an inner sleeve frame and an outer sleeve frame which are sleeved inside and outside and matched in a sliding mode, the walking chassis mechanism is rotatably installed at the bottom of the outer sleeve frame, and the operation platform unit is adjustably hinged to the top of the inner sleeve frame.
The crossing connecting frame is positioned below the working platform unit and comprises a first section and a second section, wherein the first section is at least two, and can be horizontally hinged with each other or the second section.
A use method of a double-track chassis synchronous walking system comprises the double-track chassis synchronous walking system, and the method comprises the following steps:
s1: the supporting leg oil cylinder is contracted, the pressure equalizing plate is lifted off, and the two crawler chassis assemblies synchronously walk to drive the construction platform to transfer among construction stations;
s2: the slewing drive module drives the slewing bearing module to rotate to drive the crawler chassis assembly and the slewing bearing module to keep rotating in the same direction so as to realize transverse rotation and longitudinal rotation of the walking chassis mechanism and further realize flexible steering of the construction platform between stations;
s3: the supporting leg oil cylinders extend out, the pressure equalizing plate touches the ground, the two crawler chassis assemblies stop walking, and the construction platform is kept static;
s4: when the two walking chassis mechanisms move along the same walking direction, when one of the walking chassis mechanisms generates asynchronous stroke difference delta L due to skidding or other reasons, an angle difference of theta degrees can be generated between the telescopic sleeve frame mechanisms in the upright post units positioned on two sides and the walking chassis mechanisms, the angle difference of theta degrees is amplified through a rotation reduction ratio of a master control system and then respectively fed back to the rotary encoders in the two rotary driving modules, the rotary encoders can accurately measure the angle difference of theta degrees, the delta L stroke difference is obtained through calculation and processing, and the result is sent to the master control system;
s5: the master control system combines the current two walking speeds of the crawler chassis assemblies according to the received delta L stroke difference, the walking speed of the crawler chassis assemblies behind the synchronous stroke is increased until the delta L stroke difference is compensated and the two crawler chassis mechanisms return to synchronous walking, the walking encoder measures the rotating speed of the first gear, the rotating speed of the driving wheel is obtained through calculation and processing, the result is sent to the master control system, the walking speed of the crawler chassis assemblies is monitored in real time, and the two crawler chassis mechanisms are ensured to run stably.
The invention has the beneficial effects that:
in the invention, the double-walking chassis mechanisms adopt a master control mode combining an electrical control system and a hydraulic control system, so that the double-crawler chassis can be flexibly moved and steered, the deflection angle difference between the walking chassis mechanisms and the telescopic sleeve frame mechanisms in the upright post units at two sides can be timely monitored when the walking chassis at two sides have asynchronous walking difference due to transfer slip or other reasons, the walking difference is calculated, the walking speed of the walking chassis mechanism behind is automatically fed back and adjusted according to the walking difference until the walking difference is compensated, the double-walking chassis mechanisms return to keep synchronous walking, and meanwhile, the walking speed of the double-crawler chassis is monitored in real time, so that the walking chassis mechanisms operate stably, and the safety of the integral use of the construction platform is improved.
Drawings
Fig. 1 is a front view of the overall structure of a running chassis mechanism according to an embodiment of the present invention when it is rotated to the longitudinal direction.
Fig. 2 is a front view of the overall structure of the undercarriage mechanism according to an embodiment of the present invention when it is rotated in the lateral direction.
Fig. 3 is an isometric view of a walking chassis mechanism of one embodiment of the present invention.
Fig. 4 is a partially assembled view of a slewing drive module and a slewing bearing module according to an embodiment of the present invention.
FIG. 5 is a partial schematic view of a drive wheel module according to an embodiment of the present invention.
Fig. 6 is a front view of a spanning attachment frame according to an embodiment of the present invention.
FIG. 7 is a schematic view of a dual track undercarriage illustrating a travel differential according to an embodiment of the present invention.
Parts of the drawings is marked as: 1. a work platform unit; 2. a column unit; 3. a telescopic sleeve frame mechanism; 4. a traveling chassis mechanism; 5. a track chassis assembly; 501. a chassis; 502. a crawler belt; 6. a drive wheel module; 601. a drive wheel; 602. a walking encoder; 603. mounting a plate; 604. a support; 7. a first gear pair; 701. a first gear ring; 702. a first gear; 8. a support assembly; 801. a support beam; 802. a connecting beam; 803. a support oil cylinder; 804. a pressure equalizing plate; 9. a swivel assembly; 10. a rotation driving module; 1001. a motor; 1002. a speed reducer; 1003. a rotary encoder; 11. a slewing bearing module; 1101. an inner rotary pipe disc; 1102. an outer rotating sleeve; 1103. a support plate; 12. a second gear pair; 1201. a second gear ring; 1202. a second gear; 13. a crossing connection frame; 1301. a first segment; 1302. a second segment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. It should be noted that if the description of "first", "second", etc. is provided in the embodiment of the present invention, the description of "first", "second", etc. is only for descriptive purposes and is not to be construed as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
See fig. 1-7.
The invention provides a double-crawler-belt chassis synchronous walking system, which comprises two walking chassis mechanisms 4, wherein each walking chassis mechanism 4 comprises a crawler-belt chassis assembly 5 and a rotary assembly 9;
the crawler chassis assembly 5 comprises a driving wheel module 6, the driving wheel module 6 comprises a driving wheel 601, a traveling encoder 602, a bracket 604 and a first gear pair 7, the first gear pair 7 comprises a first gear ring 701 and a first gear 702, the first gear ring 701 is fixedly sleeved on the periphery of the driving wheel 601, the first gear 702 is coaxially connected with the traveling encoder 602, the first gear 702 and the traveling encoder 602 are respectively clamped and installed on two side surfaces of the bracket 604, and the first gear 702 is meshed and matched with the first gear ring 701;
the slewing assembly 9 comprises a slewing drive module 10 and a slewing bearing module 11, the slewing drive module 10 comprises a motor 1001, a speed reducer 1002 and a slewing encoder 1003, the slewing bearing module 11 comprises an inner slewing pipe disc 1101, an outer slewing sleeve 1102 and a second gear pair 12, the second gear pair 12 comprises a second gear ring 1201 and a second gear 1202, the second gear ring 1201 is fixedly embedded in an inner ring of the inner slewing pipe disc 1101, the second gear 1202 is installed at the bottom of the slewing drive module 10, and the second gear 1202 is meshed and matched with the second gear ring 1201.
In the invention, the double-walking chassis mechanism adopts a master control mode combining an electric control system and a hydraulic control system, not only can the movement and the steering of the double-crawler chassis be flexibly and freely realized, but also the deflection angle difference between the walking chassis mechanism and the telescopic sleeve frame mechanism in the upright post units at two sides can be timely monitored when the crawler chassis at two sides have asynchronous stroke difference due to transfer slip or other reasons, so as to further calculate the stroke
And automatically feeding back and adjusting the walking speed of the backward walking chassis mechanism according to the stroke difference until the stroke difference of 5 is compensated, returning the double-walking chassis mechanism to keep synchronous walking, and simultaneously monitoring the walking speed of the double-track chassis in real time to ensure that the walking chassis mechanism operates stably and improve the safety of the whole use of the construction platform.
In an embodiment, the driving wheel module 6 further includes a mounting plate 603, the bracket 604 is fixed on the mounting plate 603, the first gear ring 701 is an outer ring gear ring, and the tooth diameter is larger than the first gear ring
The tooth diameter of the gear 702, the first gear ring 701 is a driving gear, the first gear 702 is a driven 0 gear, the driving wheel 601 is used for driving the first gear ring 701 to rotate, and the walking encoder 602
For monitoring the rotational speed of the first gear 702. By such a design, the driving wheel module 6 drives the crawler chassis assembly 5 to move, the rotating speed of the driving wheel 601 is represented as the moving speed of the crawler chassis assembly 5, the first gear ring 701 rotates coaxially with the driving wheel 601, the first gear 702 is meshed with the first gear ring 701, that is, the rotating speed is kept the same as that of the driving wheel 601, and the 5-way encoder 602 is connected to the first gear 702, that is, the moving speed of the crawler chassis assembly 5 can be measured in real time by measuring the rotating speed of the first gear 702 in real time.
In one embodiment, the crawler chassis assembly 5 further includes a chassis 501 and two crawler belts 502, the crawler belts 502 are respectively disposed on two sides of the chassis 501, and the driving wheel module 6 has two
And the two parts are respectively arranged on two sides of the chassis 501 and positioned in the crawler 502. In the design, a hydraulic drive motor and a walking speed reducer are arranged in the chassis 501 of the platform 0, and the crawler chassis assembly 5 drives the integrated platform to stably move between the construction stations through walking.
In one embodiment, the slewing bearing module 11 further comprises a bearing plate 1103, the inner slewing pipe disc 1101 is fixed on the bearing plate 1103, and the outer slewing sleeve 1102 is rotatably sleeved on the inner slewing sleeve 1102
The second gear ring 1201 is an inner ring gear ring on the periphery of the rotary pipe plate 1101, the tooth diameter of the second gear ring 1201 is larger than that of the 5 th gear 1202, the second gear 1202 is a driving gear, the second gear ring 1201 is a driven gear, the rotary driving module 10 is configured to drive the second gear 1202 to rotate, and the rotary encoder 1003 is arranged in the rotary driving module 10 and configured to monitor a rotation angle of the second gear 1202. By the design, the rotation driving module 10 drives the rotation supporting module 11 to rotate, and drives the crawler chassis assembly 5 fixed at the bottom of the rotation supporting module 11 to rotate together, so that the walking chassis mechanism 4 can rotate transversely or longitudinally, the flexible rotation and transfer of the integrated platform between stations can be realized, and the operation is stable.
In an embodiment, the traveling chassis mechanism 4 further includes a supporting assembly 8, the supporting assembly 8 includes a supporting beam 801, four leg cylinders 803 and a pressure equalizing plate 804, the supporting beam 801 is erected on the crawler chassis assembly 5, the four leg cylinders 803 are respectively installed at four corners of the bottom of the supporting beam 801, and the pressure equalizing plate 804 capable of abutting against the ground is fixed at the bottom of each leg cylinder 803. By the design, when the supporting leg oil cylinder 803 is contracted upwards, the pressure equalizing plate 804 is lifted off the ground, the two crawler chassis assemblies 5 keep walking synchronously, the construction platform is driven to be transferred among construction stations, when the supporting leg oil cylinder 803 extends downwards, the pressure equalizing plate 804 contacts the ground, the two crawler chassis assemblies 5 stop walking, and the construction platform keeps standing still.
In an embodiment, the supporting assembly 8 further includes a connecting beam 802, the connecting beam 802 is an X-shaped upper and lower double-layer structure, and is horizontally installed between the supporting beams 801 in the center, the revolving assembly 9 is installed in the center on the crawler chassis assembly 5, the lower layer of the connecting beam 802 is fixedly welded to the outer wall of the outer revolving casing 1102, and the upper layer of the connecting beam 802 is located above the revolving support module 11 and can clamp the revolving drive module 10 and limit the range of the path of rotation thereof. Due to the design, since the lower layer of the connecting beam 802 is fixedly connected between the outer wall of the outer rotary sleeve 1102 and the supporting beam 801, when the rotary driving module 10 drives the inner rotary pipe plate 1101 to rotate, the outer rotary sleeve 1102 sleeved on the periphery of the inner rotary pipe plate 1101 keeps not rotating, and since the rotary driving module 10 is located between the upper layers of the connecting beam 802, when the rotary driving module 10 drives the second gear 1202 to rotate around the inner ring of the second gear ring 1201 in a meshing manner, the rotary driving module 10 is clamped by the upper layer of the connecting beam 802 and cannot rotate, and then the second gear ring 1201 rotates around the second gear 1202, that is, the inner rotary pipe plate 1101 rotates, so that the rotary supporting module 11 drives the crawler chassis assembly 5 to rotate.
In an embodiment, the device further comprises a working platform unit 1 and a stand column unit 2, the two stand column units 2 are respectively installed at the left end and the right end of the bottom of the working platform unit 1 at intervals, and each stand column unit 2 comprises a telescopic sleeve frame mechanism 3 and a traveling chassis mechanism 4. By the design, the operation platform unit 1 is supported by the two column units 2 at the bottom, so that the structure is more stable, and the operation platform unit is suitable for constructing and using wider plants.
In one embodiment, the telescopic frame mechanism 3 comprises an inner frame and an outer frame which are sleeved inside and outside and matched in a sliding manner, the walking chassis mechanism 4 is rotatably installed at the bottom of the outer frame, and the work platform unit 1 is adjustably hinged at the top of the inner frame. Design like this, through upper and lower slide adjusting interior jacket frame and overcoat frame, adjustment the height of flexible jacket frame mechanism 3 to the construction demand of the higher or lower factory building of adaptation height, application scope is wider, use more nimble.
In an embodiment, the device further comprises a spanning connection frame 13 connected between the two telescopic jacket structures 3, wherein the spanning connection frame 13 is positioned below the working platform unit 1 and comprises a first section 1301 and a second section 1302, and the first section 1301 has at least two sections and can be horizontally hinged with each other or with the second section 1302. By means of the design, the length of the spanning connection frame 13 is changed by removing or connecting the first section 1301 and the second section 1302 so as to adapt to the construction requirements of a plant with a narrower or wider span, and meanwhile, the spanning connection frame 13 also plays a role in enhancing the overall structural strength of the construction platform.
A use method of a double-track chassis synchronous walking system comprises the double-track chassis synchronous walking system, and the method comprises the following steps:
s1: the supporting leg oil cylinders 803 are contracted, the pressure equalizing plates 804 are lifted off, and the two crawler chassis assemblies 5 keep walking synchronously to drive the construction platform to transfer among construction stations;
s2: the rotary driving module 10 drives the rotary supporting module 11 to rotate, and drives the crawler chassis assembly 5 and the rotary supporting module 11 to keep rotating in the same direction, so that the transverse rotation and the longitudinal rotation of the walking chassis mechanism 4 are realized, and the flexible steering of the construction platform between stations is further realized;
s3: the supporting leg oil cylinders 803 extend out, the pressure equalizing plates 804 contact the ground, the two crawler chassis assemblies 5 stop walking, and the construction platform is kept static;
s4: when the two traveling chassis mechanisms 4 move along the same traveling direction, when one of the traveling chassis mechanisms 4 generates asynchronous stroke difference Δ L due to slipping or other reasons, an angle difference of θ ° is generated between the telescopic sleeve frame mechanisms 3 in the upright post units 2 positioned on both sides and the traveling chassis mechanism 4, and after the angle difference of θ ° is amplified by a rotation reduction ratio of a master control system, the angle difference of θ ° is respectively fed back to the rotary encoders 1003 in the two rotary drive modules 10, and the rotary encoders 1003 can accurately measure the angle difference of θ °, calculate and process the angle difference to obtain Δ L stroke difference, and send the result to the master control system;
s5: the master control system combines the current two walking speeds of the crawler chassis assemblies 5 according to the received delta L stroke difference, the walking speed of the crawler chassis assemblies 5 behind the synchronous stroke is increased until the delta L stroke difference is compensated and the two crawler chassis mechanisms 4 return to synchronous walking, the walking encoder 602 measures the rotating speed of the first gear 702, the rotating speed of the driving wheel 601 is obtained through calculation and processing, the result is sent to the master control system, the walking speed of the crawler chassis assemblies 5 is monitored in real time, and the two crawler chassis mechanisms 4 are ensured to run stably.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure, and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this disclosure.
Claims (10)
1. The utility model provides a synchronous traveling system of two crawler chassis which characterized in that: the crawler type crawler belt chassis comprises two walking chassis mechanisms (4), wherein each walking chassis mechanism (4) comprises a crawler belt chassis component (5) and a rotary component (9);
the crawler chassis assembly (5) comprises a driving wheel module (6), the driving wheel module (6) comprises a driving wheel (601), a walking encoder (602), a bracket (604) and a first gear pair (7), the first gear pair (7) comprises a first gear ring (701) and a first gear (702), the first gear ring (701) is fixedly sleeved on the periphery of the driving wheel (601), the first gear (702) is coaxially connected with the walking encoder (602) and respectively clamped and installed on two side faces of the bracket (604), and the first gear (702) is meshed and matched with the first gear ring (701);
the slewing assembly (9) comprises a slewing drive module (10) and a slewing bearing module (11), the slewing drive module (10) comprises a motor (1001), a speed reducer (1002) and a slewing encoder (1003), the slewing bearing module (11) comprises an inner slewing pipe disc (1101), an outer slewing sleeve (1102) and a second gear pair (12), the second gear pair (12) comprises a second gear ring (1201) and a second gear (1202), the second gear ring (1201) is fixedly embedded in an inner ring of the inner slewing pipe disc (1101), the second gear (1202) is installed at the bottom of the slewing drive module (10), and the second gear (1202) is meshed and matched with the second gear ring (1201).
2. The dual-track undercarriage synchronous walking system of claim 1 wherein: drive wheel module (6) still includes mounting panel (603), support (604) are fixed on mounting panel (603), first gear circle (701) are outer lane ring gear, and the tooth diameter is greater than the tooth diameter of first gear (702), first gear circle (701) are the driving gear, first gear (702) are driven gear, drive wheel (601) are used for driving first gear circle (701) rotate, walking encoder (602) are used for monitoring the rotational speed of first gear (702).
3. The dual-track undercarriage synchronous walking system of claim 1 wherein: the crawler chassis assembly (5) further comprises a chassis (501) and two crawler belts (502), the two crawler belts (502) are respectively sleeved on two sides of the chassis (501), and the two driving wheel modules (6) are respectively installed on two sides of the chassis (501) and located in the crawler belts (502).
4. The dual-track undercarriage synchronous walking system of claim 1 wherein: the slewing bearing module (11) further comprises a bearing plate (1103), the inner slewing pipe disc (1101) is fixed on the bearing plate (1103), the outer slewing sleeve (1102) is rotatably sleeved on the periphery of the inner slewing pipe disc (1101), the second gear ring (1201) is an inner ring gear ring, the tooth diameter of the second gear ring is larger than that of the second gear (1202), the second gear (1202) is a driving gear, the second gear ring (1201) is a driven gear, the slewing drive module (10) is used for driving the second gear (1202) to rotate, and the slewing encoder (1003) is arranged in the slewing drive module (10) and used for monitoring the rotation angle of the second gear (1202).
5. The dual-track undercarriage synchronous walking system of claim 1 wherein: walking chassis mechanism (4) still include supporting component (8), supporting component (8) are including supporting beam (801), landing leg hydro-cylinder (803) and equalizer plate (804), supporting beam (801) erect in on the crawler chassis subassembly (5), landing leg hydro-cylinder (803) have four, install respectively the bottom four corners of supporting beam (801), and each the bottom of landing leg hydro-cylinder (803) all is fixed with can contradict to ground equalizer plate (804).
6. The dual-track undercarriage synchronous walking system of claim 5 wherein: support assembly (8) still include tie-beam (802), tie-beam (802) are the upper and lower bilayer structure that is the X type, and the level is installed centrally between supporting beam (801), install centrally rotary assembly (9) on crawler chassis subassembly (5), the lower floor of tie-beam (802) is fixed welded to the outer wall of outer gyration sleeve pipe (1102), the upper strata of tie-beam (802) is located on slewing bearing module (11), and can block slewing drive module (10) and restrict its pivoted route scope.
7. The dual-track undercarriage synchronous walking system of claim 1 wherein: still include operation platform unit (1) and stand unit (2), stand unit (2) have two, install at the interval respectively both ends about operation platform unit (1) bottom, stand unit (2) including flexible jacket frame mechanism (3) with walking chassis mechanism (4).
8. The dual track undercarriage synchronous walking system of claim 7 wherein: the telescopic sleeve frame mechanism (3) comprises an inner sleeve frame and an outer sleeve frame which are sleeved inside and outside and matched in a sliding mode, the walking chassis mechanism (4) is rotatably installed at the bottom of the outer sleeve frame, and the operation platform unit (1) is adjustably hinged to the top of the inner sleeve frame.
9. The dual track undercarriage synchronous walking system of claim 7 wherein: the cross connection frame (13) is connected between the two telescopic sleeve frame mechanisms (3), the cross connection frame (13) is positioned below the working platform unit (1) and comprises a first section (1301) and a second section (1302), and the first section (1301) is at least two and can be horizontally hinged to each other or the second section (1302).
10. A use method of a double-crawler-belt chassis synchronous walking system is characterized by comprising the following steps: a dual track undercarriage synchronous walking system comprising any one of claims 1-9, the method comprising the steps of:
s1: the supporting leg oil cylinders (803) are contracted, the pressure equalizing plates (804) are lifted off, and the two crawler chassis assemblies (5) keep walking synchronously to drive the construction platform to transfer among construction stations;
s2: the slewing drive module (10) drives the slewing bearing module (11) to rotate to drive the crawler chassis assembly (5) and the slewing bearing module (11) to rotate in the same direction so as to realize transverse rotation and longitudinal rotation of the walking chassis mechanism (4) and further realize flexible steering of the construction platform between stations;
s3: the supporting leg oil cylinders (803) extend out, the pressure equalizing plates (804) contact the ground, the two crawler chassis assemblies (5) stop walking, and the construction platform is kept static;
s4: when the two walking chassis mechanisms (4) move along the same walking direction, when one walking chassis mechanism (4) generates asynchronous stroke difference delta L due to slipping or other reasons, the angle difference of theta degrees can be generated between the telescopic sleeve frame mechanisms (3) in the upright post units (2) on the two sides and the walking chassis mechanism (4), the angle difference of theta degrees is amplified through the rotation reduction ratio of the master control system and then fed back to the rotary encoders (1003) in the two rotary driving modules (10), the rotary encoders (1003) can accurately measure the angle difference of theta degrees, the delta L stroke difference is obtained through calculation and processing, and the result is sent to the master control system;
s5: the total control system combines the current two traveling speeds of the crawler chassis assemblies (5) according to the received delta L stroke difference, the traveling speed of the crawler chassis assemblies (5) behind the synchronous stroke is improved, the traveling speed of the crawler chassis assemblies (5) is reduced until the delta L stroke difference and the two traveling chassis mechanisms (4) return to synchronous traveling, the traveling encoder (602) measures the rotating speed of the first gear (702), the rotating speed of the driving wheel (601) is obtained through calculation processing, the result is sent to the total control system, the traveling speed of the crawler chassis assemblies (5) is monitored in real time, and the traveling chassis mechanisms (4) are ensured to run stably.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211679697.0A CN115817660A (en) | 2022-12-21 | 2022-12-21 | Double-crawler-belt chassis synchronous walking system and using method |
Applications Claiming Priority (1)
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