CN206475962U - High ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot - Google Patents
High ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot Download PDFInfo
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- CN206475962U CN206475962U CN201621054496.1U CN201621054496U CN206475962U CN 206475962 U CN206475962 U CN 206475962U CN 201621054496 U CN201621054496 U CN 201621054496U CN 206475962 U CN206475962 U CN 206475962U
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Abstract
The utility model provides high ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot a kind of simple in construction and reasonable in design.It includes chassis, platform and hydraulic cylinder, and multiple scissors are provided between chassis and platform, and scissor includes two scissor arms arranged in a crossed manner, and two scissor arms are connected by scissor axle, Driven by Hydraulic Cylinder scissor control platform raising and lowering, it is characterised in that：Welding robot is provided with platform, chassis includes sole, front axle and rear axle, wherein front axle is located at sole front end, rear axle is located at sole rear end, the two ends of front axle and rear axle are equipped with wheel, front axle is provided with limiting steering mechanism, limiting steering mechanism includes steering cylinder, two rotating shafts and draw-bar guide, steering cylinder two ends connecting base plate frame and draw-bar guide, draw-bar guide two ends connect two wheels, rotating shaft is separately positioned on sole both sides through rotating shaft set, and draw-bar guide can be with rotating shaft set clamping.
Description
Technical field
The utility model is related to spilled-oil recovery unit, and in particular to a kind of high ferro constructing metro tunnel and installation auxiliary equipment
Intelligent walking robot.
Background technology
Nowadays, in order to shorten running distance, at a high speed and Passenger Railway Line roadbed this cut-off, therefore along the railway in
Tunnel proportion is increasing, and middle length, super long tunnel are also more and more., it is necessary in tunnel in the construction in tunnel
Road inwall sets a variety of cables, optical cable, in order to install these cables, optical cable, need to just be punched in tunnel inner wall, and by correlation
Cable, cable carry out suspension processing.
Conventional tunnel drilling operation is all to hold impact drill on scaffold by workman to be punched, because tunnel compares
Height, workman climbs up scaffold danger coefficient than larger with instrument, and every dozen of complete local holes need to move a pin
Hand cradle, then fixes scaffold with steel wire rope again, and by the position of the fixed scaffold of other two workmans auxiliary.This method
It is not only dangerous, and labor intensity is big, and inefficiency especially when workload is big, can not often guarantee both quality and quantity on schedule
Completion work.
Utility model content
The utility model purpose is to provide high ferro constructing metro tunnel a kind of simple in construction and reasonable in design and installed auxiliary
Help facility Intelligent walking robot.
To achieve these goals, the utility model uses following technical scheme：
A kind of high ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot, including chassis, platform and hydraulic pressure
Cylinder, is provided with multiple scissors between chassis and platform, scissor includes two scissor arms arranged in a crossed manner, and two scissor arms pass through
Scissor axle is connected, Driven by Hydraulic Cylinder scissor control platform raising and lowering, it is characterised in that：Welding robot is provided with platform
People, chassis includes sole, front axle and rear axle, and wherein front axle is located at sole front end, and rear axle is located at after sole
The two ends of end, front axle and rear axle are equipped with wheel, and front axle is provided with limiting steering mechanism, and limiting steering mechanism includes turning
To cylinder, two rotating shafts and draw-bar guide, steering cylinder two ends connecting base plate frame and draw-bar guide, draw-bar guide two ends connect two wheels, rotating shaft
Sole both sides are separately positioned on through rotating shaft set, draw-bar guide can be with rotating shaft set clamping.
The utility model preferred scheme, chassis both sides are respectively equipped with supporting leg, and supporting leg includes fixed supporting leg frame, movable supporting legs
Frame, supporting leg cylinder and support plate, fixed supporting leg frame are arranged on sole, and movable supporting legs frame is hinged on fixed supporting leg frame, activity
Supporting rack lower end connects support plate, and supporting leg cylinder two ends are connected supporting rack and movable supporting legs frame.
The utility model preferred scheme, fixed supporting leg frame is provided with supporting leg cylinder limiting plate.
The utility model preferred scheme, it also includes Multi-stage cylinder, and Multi-stage cylinder one end is sleeved in Multi-stage cylinder fixing axle, should
The tensioned screw mandrel of Multi-stage cylinder fixing axle is fixed on platform, and the Multi-stage cylinder other end is fixed in Multi-stage cylinder fixed plate, and Multi-stage cylinder is solid
Fixed board is arranged on chassis.
The utility model preferred scheme, platform is surrounded by coaming plate, and coaming plate is provided with capstan winch link and LED.
The beneficial effects of the utility model are：High ferro constructing metro tunnel can be completed using said structure and auxiliary is installed
Facility, improves operating efficiency, simple in construction and reasonable in design.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation after the utility model shrinks.
Fig. 3 is the utility model chassis structure schematic diagram.
Fig. 4 is the utility model front axle structural representation.
Fig. 5 is the utility model leg structure schematic diagram.
Fig. 6 is the utility model platform structure schematic diagram.
1, chassis in figure, 2, scissor, 3, platform, 4, Multi-stage cylinder, 5, welding robot, 6, hydraulic cylinder, 1.1, front truck
Bridge, 1.2, rear axle, 1.3, left panel, 1.4, right side coaming plate, 1.5, supporting leg, 1.6. capstan winches, 1.7. laser rangings sensing
Device, 1.8. GPS locators, 1.9. apertures, 1.11, steering cylinder, 1.12, draw-bar guide, 1.13, pull bar board spacer, 1.14, turn to
Column, 1.15, rotating shaft set, 1.51, fixed supporting leg frame, 1.52, movable supporting legs frame, 1.53, supporting leg cylinder, 1.54, Multi-stage cylinder fixes
Plate, 1.55, supporting leg cylinder limiting plate, 1.56, support plate, 3.1, right coaming plate, 3.2, left coaming plate, 3.3, capstan winch link, 3.4, LED
Lamp, 3.5, Multi-stage cylinder fixing axle, 3.6, inverter, 3.7, power distribution cabinet, 3.8, tense screw mandrel.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, develop simultaneously implementation referring to the drawings
Example, the utility model is further described.
With reference to Fig. 1 and Fig. 2, a kind of high ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot, including bottom
Disk 1, platform 3 and hydraulic cylinder 6, are provided with multiple scissors 2 between chassis 1 and platform 3, scissor 2 includes two scissors arranged in a crossed manner
Arm, two scissor arms are connected by scissor axle, the raising and lowering of the driving scissor of hydraulic cylinder 6 control platform 3, on platen 3
Provided with welding robot 5, with reference to Fig. 3, chassis 1 includes sole, front axle 1.1, rear axle 1.2, left panel 1.3 and right side
Coaming plate 1.4, wherein front axle 1.1 are located at sole front end, and rear axle 1.2 is located at sole rear end, front axle 1.1 and rear axle
1.2 two ends are equipped with wheel, with reference to Fig. 4, and front axle 1.1 is provided with limiting steering mechanism, and limiting steering mechanism includes turning to
Cylinder 1.11, two rotating shafts and draw-bar guide 1.12, the two ends connecting base plate frame of steering cylinder 1.11 and draw-bar guide 1.12,1.12 liang of draw-bar guide
Diverted column 1.14 is held to connect two wheels, rotating shaft is separately positioned on sole both sides, the energy of draw-bar guide 1.12 through rotating shaft set 1.15
The enough and clamping of rotating shaft set 1.15.
With reference to Fig. 5, supporting leg 1.5 includes fixed supporting leg frame 1.51, movable supporting legs frame 1.52, supporting leg cylinder 1.53 and support plate
1.56, fixed supporting leg frame 1.51 is arranged on sole, and movable supporting legs frame 1.52 is hinged on fixed supporting leg frame 1.51, activity branch
The lower end of leg support 1.52 connects support plate 1.56, and the two ends of supporting leg cylinder 1.53 are connected supporting rack 1.51 and movable supporting legs frame 1.52.
Fixed supporting leg frame 1.51 is provided with supporting leg cylinder limiting plate 1.55.Compact using said structure, support force is strong.
Capstan winch 1.6 is connected by capstan winch fixed plate on movable supporting legs frame 1.52 with reference to Fig. 3, with supporting leg 1.5 when using
Shrink and shrink, before lifting, hanging on the capstan winch link 3.3 of platform surrounding on capstan winch 1.6 can both reduce
The amplitude that equipment is rocked in lifting process, can ensure that robot remains unchanged position of platform when carrying out various operations again.
The present embodiment, it also includes Multi-stage cylinder 4, and the one end of Multi-stage cylinder 4 is sleeved in Multi-stage cylinder fixing axle, and the Multi-stage cylinder is consolidated
The tensioned screw mandrel 3.8 of dead axle is fixed on platen 3, and the other end of Multi-stage cylinder 4 is fixed in Multi-stage cylinder fixed plate 1.54, and Multi-stage cylinder is solid
Fixed board 1.54 is arranged on chassis 1.Tension screw mandrel 3.8 is coordinated to carry out mechanical leveling using Multi-stage cylinder 4, degree of regulation is higher,
Stability is good, it is to avoid due to hydraulic system is constantly in working condition and the problem of platform stable can not be kept for a long time.
With reference to Fig. 4, platform 3 is surrounded by coaming plate, including right coaming plate 3.1 and left coaming plate 3.2, right coaming plate 3.1 and left coaming plate
3.2 are provided with capstan winch link 3.3 and LED 3.4.
In order to complete the depth walking positioning in tunnel in the present embodiment, and after the completion of positioning, driving hydraulic pressure positioning is oriented to
Platform 3, workbench 3 is provided for spot welding robot, then by the Automatic-searching punch position of welding robot 5, carries out level support
Lift.Meanwhile, GPS locator 1.8 and laser range sensor 1.7 are installed on chassis 1, its correspondence is in the He of left panel 1.3
The relevant position of right side coaming plate 1.4 is provided with aperture 1.9, for the transmitting of laser range sensor light, can be with by GPS locator
Punch position is accurately positioned, in the process of walking, is monitored in real time by laser range sensor, once laser range sensor
Detect the utility model and deviate fixed route, feed back to control system, be automatically adjusted according to deviation value.The utility model
Automaticity is higher, and traditional Manual punching method can be replaced completely, operating efficiency is greatly improved.
Above-mentioned embodiment is only specific case of the present utility model, is not to make other forms to the utility model
Limitation, any those skilled in the art are changed or are modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent implementations of change.But on the premise of every technical principle without departing from the utility model, according to of the present utility model
Any simple modification, equivalent variations and remodeling that technical spirit is made to embodiment of above, should all fall into of the present utility model
Scope of patent protection.
Claims (6)
1. a kind of high ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot, including chassis, platform and hydraulic pressure
Cylinder, is provided with multiple scissors between chassis and platform, scissor includes two scissor arms arranged in a crossed manner, and two scissor arms pass through
Scissor axle is connected, Driven by Hydraulic Cylinder scissor control platform raising and lowering, it is characterised in that：Welding robot is provided with platform
People, chassis includes sole, front axle and rear axle, and wherein front axle is located at sole front end, and rear axle is located at after sole
The two ends of end, front axle and rear axle are equipped with wheel, and front axle is provided with limiting steering mechanism, and limiting steering mechanism includes turning
To cylinder, two rotating shafts and draw-bar guide, steering cylinder two ends connecting base plate frame and draw-bar guide, draw-bar guide two ends connect two wheels, rotating shaft
Sole both sides are separately positioned on through rotating shaft set, draw-bar guide can be with rotating shaft set clamping.
2. high ferro constructing metro tunnel and installing auxiliary equipment Intelligent walking robot according to claim 1, its feature exists
In：Chassis both sides are respectively equipped with supporting leg, and supporting leg includes fixed supporting leg frame, movable supporting legs frame, supporting leg cylinder and support plate, fixed supporting leg
Frame is arranged on sole, and movable supporting legs frame is hinged on fixed supporting leg frame, movable supporting legs frame lower end connection support plate, supporting leg cylinder
Two ends are connected supporting rack and movable supporting legs frame.
3. high ferro constructing metro tunnel and installing auxiliary equipment Intelligent walking robot according to claim 1, its feature exists
In：GPS locator and laser range sensor are installed on chassis, sole is provided with and opens foraminate left panel and the right side
Gusset plate.
4. high ferro constructing metro tunnel and installing auxiliary equipment Intelligent walking robot according to claim 2, its feature exists
In：Fixed supporting leg frame is provided with supporting leg cylinder limiting plate.
5. high ferro constructing metro tunnel and installing auxiliary equipment Intelligent walking robot according to claim 1, its feature exists
In：It also includes Multi-stage cylinder, and Multi-stage cylinder one end is sleeved in Multi-stage cylinder fixing axle, and the tensioned screw mandrel of Multi-stage cylinder fixing axle is consolidated
It is scheduled on platform, the Multi-stage cylinder other end is fixed in Multi-stage cylinder fixed plate, Multi-stage cylinder fixed plate is arranged on chassis.
6. according to any one of claim 1 to the 5 high ferro constructing metro tunnel and auxiliary equipment Intelligent walking robot is installed,
It is characterized in that：Platform is surrounded by coaming plate, and coaming plate is provided with capstan winch link and LED.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621054496.1U CN206475962U (en) | 2016-09-14 | 2016-09-14 | High ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621054496.1U CN206475962U (en) | 2016-09-14 | 2016-09-14 | High ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206475962U true CN206475962U (en) | 2017-09-08 |
Family
ID=59755765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621054496.1U Active CN206475962U (en) | 2016-09-14 | 2016-09-14 | High ferro constructing metro tunnel and installation auxiliary equipment Intelligent walking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206475962U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428285A (en) * | 2016-09-14 | 2017-02-22 | 济南华北升降平台制造有限公司 | Intelligent walking robot for construction of high-speed rail and subway tunnels and installation of auxiliary facilities |
| CN108015782A (en) * | 2017-12-28 | 2018-05-11 | 武汉英思工程科技股份有限公司 | Intelligent construction robot |
| CN108857164A (en) * | 2018-07-18 | 2018-11-23 | 杜宗英 | Energy walking can turn can be across the Intelligent welding robot of parapet |
| CN109252810A (en) * | 2018-11-28 | 2019-01-22 | 佛山科学技术学院 | A kind of tunnel construction damping type water-rich sand layer detection perforating device |
-
2016
- 2016-09-14 CN CN201621054496.1U patent/CN206475962U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428285A (en) * | 2016-09-14 | 2017-02-22 | 济南华北升降平台制造有限公司 | Intelligent walking robot for construction of high-speed rail and subway tunnels and installation of auxiliary facilities |
| CN108015782A (en) * | 2017-12-28 | 2018-05-11 | 武汉英思工程科技股份有限公司 | Intelligent construction robot |
| CN108857164A (en) * | 2018-07-18 | 2018-11-23 | 杜宗英 | Energy walking can turn can be across the Intelligent welding robot of parapet |
| CN109252810A (en) * | 2018-11-28 | 2019-01-22 | 佛山科学技术学院 | A kind of tunnel construction damping type water-rich sand layer detection perforating device |
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