CN208617242U - Tunnel handling robot - Google Patents
Tunnel handling robot Download PDFInfo
- Publication number
- CN208617242U CN208617242U CN201820971379.4U CN201820971379U CN208617242U CN 208617242 U CN208617242 U CN 208617242U CN 201820971379 U CN201820971379 U CN 201820971379U CN 208617242 U CN208617242 U CN 208617242U
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- China
- Prior art keywords
- door frame
- supporting leg
- fork beam
- wheel
- traveling wheel
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Abstract
The utility model discloses a kind of tunnel handling robots, it includes fuselage connection frame, two groups of lifting door frames are at least installed on the fuselage connection frame, landing leg stretching driving device is provided between supporting leg under door frame upper supporting leg and door frame, door frame crossbeam includes left fork beam and right fork beam, crossbeam retractable driving device is connected between left fork beam and right fork beam, multidimensional row wheel support is fixedly installed on supporting leg under door frame, it is hinged on multidimensional wheel support to have traveling wheel swinging mounting, oscillatory gearing mechanism is supported between traveling wheel swinging mounting and multidimensional wheel support, rotating support has walking wheel support on traveling wheel swinging mounting, wheel carrier slewing gear is provided between traveling wheel swinging mounting and walking wheel support, rotating support has traveling wheel in walking wheel support, the traveling wheel and traction drive device are sequentially connected.The utility model is not only structurally reasonable, can directly consolidate to be supported in circular tube shaped tunnel inner wall cambered surface and walk, and voluntarily can carry out operation by leaping over obstacles.
Description
Technical field
The utility model relates to a kind of lifting equipments, more particularly to open up to the upgrading of lifting equipment function used in tunnel
It is wide.
Background technique
In city rail construction, when being laid with track especially in circular tube shaped tunnel hole, gate-type lifting equipment is answered more
With existing gate-type lifting appliance is substantially to be fixedly installed in the traveling wheel of door frame bottom by door frame and be set to above door frame
Boom hoisting formed.Though existing gate-type lifting equipment can be laid with track in circular tube shaped tunnel hole, its
There are still upper deficiencies in actual use: on the one hand, because of all traveling wheels of support door frame, its axis is arranged in parallel, it is clear that
Existing gate-type lifting appliance is only suitable for construction operation and walking on plane ground, and cannot be supported directly on circular tube shaped Tunnel-hole
On inner wall, it can allow gate-type lifting appliance that can be walked in circular tube shaped tunnel, implement handling track operation, Chang Cai in engineering
The auxiliary road of walking for having constructed gate-type lifting appliance in advance before laying a railway track, completes to track and is removed again, this to construct walking
Allow gate-type lifting appliance to construct in tunnel though the mode that auxiliary road is removed again is able to achieve, the auxiliary road of walking construct and dismounting needs to consume
Take lot of materials, time and manpower, causes the increase of engineering cost and the waste of duration;Another aspect, because door frame width is fixed,
Then door frame span in orbit cannot be adjusted, this not only constrains the handling range of lifting appliance, and equal when transport, storage
Occupy larger space;On the other hand, because of a gate-type lifting appliance generally rigid structure, obstacle is met during the work time
When (convex bank or pit), it must be realized and be crossed over by means of other ancillary equipments, cannot achieve and voluntarily cross, this is in practical application
In just seem fairly cumbersome.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of not only structurally reasonable, it can directly consolidate and be supported on circle
Walk in tubular tunnel inner wall cambered surface, and can voluntarily leaping over obstacles tunnel handling robot.
In order to solve the above-mentioned technical problem, the tunnel handling robot of the utility model, including
Fuselage connection frame is at least equipped with two groups of lifting door frames on the fuselage connection frame, which includes door frame branch
Leg and door frame crossbeam, the door frame supporting leg include supporting leg under the door frame upper supporting leg and door frame being mutually slidably connected, and are propped up on door frame
Landing leg stretching driving device is provided under leg and door frame between supporting leg, which includes left fork beam and right fork beam, on a left side
It is connected with crossbeam retractable driving device between fork beam and right fork beam, is fixedly installed with multidimensional row wheel branch on supporting leg under door frame
Frame, it is hinged on the multidimensional wheel support to have traveling wheel swinging mounting, it is supported between the traveling wheel swinging mounting and multidimensional wheel support
Oscillatory gearing mechanism, rotating support has walking wheel support on traveling wheel swinging mounting, in traveling wheel swinging mounting and traveling wheel
Wheel carrier slewing gear is provided between bracket, rotating support has traveling wheel in walking wheel support, the traveling wheel and traveling wheel
Driving device transmission connection.
After adopting the above structure, due to being provided with door frame and fuselage connection frame, then entire machine is just obtained by gantry unit
The function that the composed structure for adding fuselage connection frame not only facilitates manufacture and assembly, but also reached according to needed for machine can be by door
Frame unit is set as four groups or four groups or more;Again since door frame supporting leg to be set as including the door frame upper supporting leg being mutually slidably connected
With supporting leg under door frame, and landing leg stretching driving device is provided between supporting leg under door frame upper supporting leg and door frame, door frame crossbeam is set
It is set to including left fork beam and right fork beam, and is connected with crossbeam retractable driving device between left fork beam and right fork beam,
Then door frame supporting leg and door frame crossbeam have all had retractable, and in work progress, when meeting earth bulging, (convex bank is recessed in this way
Hole) when, supporting leg under the door frame in gantry unit at machine obstacle near the ground can be risen by landing leg stretching driving device, allow it
After crossing earth bulging during random device advances, is resetted by landing leg stretching driving device and be supported in walking surface
On, then successively supporting leg under the door frame in gantry unit at next close earth bulging is risen, crossed and resetted, so
Back and forth just being able to achieve allows machine voluntarily to cross over earth bulging, in addition passes through landing leg stretching driving device and cross in transport and storage
Door frame can be contracted to minimum dimension in height and width direction by beam retractable driving device, that is, realizing can allow machine in minimum
Transport and storage under volume;Due also to multidimensional wheel support is fixedly installed on supporting leg under door frame, and on multidimensional wheel support
It is hinged to have traveling wheel swinging mounting, it is supported with oscillatory gearing mechanism between the traveling wheel swinging mounting and multidimensional wheel support, then
The angle between traveling wheel swinging mounting and multidimensional wheel support can be adjusted by oscillatory gearing mechanism;And it is swung in traveling wheel
Rotating support has walking wheel support on bracket, and wheel carrier revolution transmission is provided between traveling wheel swinging mounting and walking wheel support
Device, rotating support has traveling wheel in walking wheel support, then walking wheel support can be driven to exist by wheel carrier slewing gear
Make circumferential revolution on traveling wheel swinging mounting, the traveling wheel being supported in walking wheel support so just can follow traveling wheel to swing
The adjustment of operating angle needed for bracket obtains together, and the adjustment of the circumferential angle needed for acting as of walking wheel support one can be followed.It is logical
The angle adjustment for crossing traveling wheel swinging mounting followed to traveling wheel can allow the wheel face of traveling wheel close to circular tube shaped tunnel inner wall, row
It walks to take turns just can directly consolidate to be supported in circular tube shaped tunnel inner wall cambered surface and walk, that is, realizing can allow machine directly in circular tube shaped tunnel
Carrying out the construction operations such as handling in road can not only by the in due course adjustment to the followed walking wheel support circumferential direction angle of traveling wheel
Realization is bonded traveling wheel wheel face with tunnel inner wall holding always, is also achieved that machine can be in tunnel
It is interior steadily to be turned round, moreover it is possible to allow machine to be moved in non-Construction State along setting up deflection, by by traveling wheel and row
Wheel drive unit transmission connection is walked, then provides necessary walking power for traveling wheel, ensure that work of the machine in tunnel
Row moves.
One preferred embodiment of the utility model is that the fuselage connection frame is fixedly connected on door frame upper supporting leg;
The fuselage connection frame is fixedly connected on left fork beam and right fork beam.No matter set fuselage connection to and door frame upper supporting leg
Or with left fork beam and right fork beam Joint, be able to achieve the firm assembly connection to machine.
Another preferred embodiment of the utility model is the mutual sliding sleeve of supporting leg under the door frame upper supporting leg and door frame
It connects;The landing leg stretching driving device is telescopic oil cylinder.Supporting leg under door frame upper supporting leg and door frame is set as mutually being slidably socketed
Mode, have it is simple and reasonable, manufacture easy to implement and adjustment the advantages of;And telescopic oil cylinder is used to drive as landing leg stretching
Device equally has the advantages that manufacture easy to implement.
Another preferred embodiment of the utility model is that the left fork beam and right fork beam are directly slidably socketed;
The left fork beam and right fork beam are slidably socketed by crossbeam connector;The crossbeam retractable driving device is telescopic oil cylinder;
The both ends difference twisted branch of the crossbeam retractable driving device is on left fork beam and right fork beam;The crossbeam retractable driving device
It is two sets, on crossbeam connector, the flexible driving of two sets of crossbeams fills the equal twisted branch in one end of two sets of crossbeam retractable driving devices
The other end difference twisted branch set is on left fork beam and right fork beam.No matter crossbeam set-up mode takes two-part, and (i.e. left half is horizontal
Beam and right fork beam are directly slidably socketed) or three-stage (i.e. left fork beam and right fork beam pass through crossbeam connector sliding sleeve
Connect), can achieve the purpose that be adjusted crossbeam span, and three-stage crossbeam compared to two-part crossbeam have it is broader across
Spend adjusting range;Use telescopic oil cylinder that there is manufacture easy to implement and easy to adjust reliable excellent as crossbeam retractable driving device
Point.
Another preferred embodiment of the utility model is that the oscillatory gearing mechanism is telescopic oil cylinder;The wheel carrier
Slewing gear is worm-gear speed reducer;The traction drive device is motor.Make wobble drive dress with telescopic oil cylinder
It sets, makees wheel carrier slewing gear with worm-gear speed reducer, make traction drive device with motor and all have system easy to implement
The advantages of making.
Detailed description of the invention
The tunnel handling robot of the utility model is described further with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structural schematic diagram of specific embodiment of the utility model tunnel handling robot;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the top view of Fig. 2;
Fig. 4 is that a kind of structural schematic diagram under the utility model tunnel handling robot is in running order (is shown in figure
Tunnel cross-section);
Fig. 5 is the structural schematic diagram (fixation of traction drive device 8.1 in figure of multidimensional wheel running gear in the utility model
It is installed on traveling wheel swinging mounting 8.7);
Fig. 6 is the structural schematic diagram (fixation of traction drive device 8.1 in figure of multidimensional wheel running gear in the utility model
It is installed in walking wheel support 8.9);
Fig. 7 is structural schematic diagram (traveling wheel 8.12 and the traveling wheel drive in figure of multidimensional wheel running gear in the utility model
Dynamic device 8.1 is directly connected to).
In figure, supporting leg under 1- door frame, 2- landing leg stretching driving device, 3- door frame upper supporting leg, 4- crossbeam retractable driving device,
5- crossbeam connector, the left fork beam of 6-, the right fork beam of 7-, 8- multidimensional wheel running gear, the tunnel 9-, 10- fuselage connection frame, 11-
Boom hoisting, 8.1- traction drive device, 8.2- oscillatory gearing mechanism, 8.3- multidimensional wheel support, 8.4- wheel carrier revolution driving
Device, 8.5- worm screw, 8.6- worm gear, 8.7- traveling wheel swinging mounting, 8.8- wheel carrier slewing gear, 8.9- traveling wheel branch
Frame, 8.10- traveling wheel bearing, 8.11- live axle, 8.12- traveling wheel, 8.13- drive bevel gear, 8.14- drive bevel gear,
8.15- traveling wheel wheel face.
Specific embodiment
In handling robot in tunnel shown in Fig. 1 to Fig. 4, four groups are installed with by the connection of fuselage connection frame 10 and plays overhang-door
Frame, the lifting door frame is by door frame supporting leg, door frame crossbeam and is fixed in the multidimensional wheel running gear 8 of door frame supporting leg bottom and forms.It should
Door frame supporting leg includes supporting leg 1 under door frame upper supporting leg 3 and door frame, and supporting leg 1 is mutually slidably socketed under door frame upper supporting leg 3 and door frame,
Landing leg stretching driving device 2 is provided under door frame upper supporting leg 3 and door frame between supporting leg 1, which is flexible oil
Cylinder, the door frame crossbeam are three-stage, are made of left fork beam 6, right fork beam 7 and crossbeam connector 5, left fork beam 6 and the right side
The connecting pin of fork beam 7 is slidably socketed in crossbeam connector 5, and the fixing end of left fork beam 6 and right fork beam 7 is fixed in
Its respectively where side door frame upper supporting leg 3 on, the both ends of crossbeam retractable driving device difference twisted branch is in left fork beam and the right side
On fork beam, it is all connected with crossbeam retractable driving device 4 between left fork beam 6 and right fork beam 7 and crossbeam connector 5, the cross
Beam retractable driving device 4 is telescopic oil cylinder, and the equal twisted branch in one end of two telescopic oil cylinder is on crossbeam connector 5, the two flexible oil
The other end difference twisted branch of cylinder is on left fork beam 6 and right fork beam 7, which can also be used two-part, by mutual
Left fork beam 6 and right fork beam 7 composition being directly socketed are connected with the flexible drive of crossbeam between left fork beam 6 and right fork beam 7
Dynamic device 4, fuselage connection frame 10 is fixedly installed on door frame upper supporting leg 3 or left fork beam 6 and right fork beam 7, after the implementation,
It, can be by landing leg stretching driving device 2 by machine barrier near the ground in work progress when meeting earth bulging (convex bank or pit)
Hinder supporting leg 1 under the door frame in place's gantry unit to rise, after allowing it to cross earth bulging during random device advances, passes through supporting leg
Retractable driving device 2 is resetted and is supported on walking surface, then successively in gantry unit at next close earth bulging
Door frame under supporting leg risen, crossed and resetted, be and so on just able to achieve and machine allowed voluntarily to cross over earth bulging, in addition exist
It can be by door frame in height and width direction by landing leg stretching driving device 2 and crossbeam retractable driving device 4 when transport and storage
It is contracted to minimum dimension, that is, realizes the transport and storage that can allow machine under minimum volume;Multidimensional wheel running gear 8 includes
Multidimensional row wheel support 8.3, which is fixedly connected on 1 bottom end of supporting leg under door frame, on the multidimensional wheel support 8.3
It is hinged to have traveling wheel swinging mounting, oscillatory gearing mechanism is supported between the traveling wheel swinging mounting 8.7 and multidimensional wheel support 8.3
8.2, the angle between traveling wheel swinging mounting 8.7 and multidimensional wheel support 8.3 can be adjusted by oscillatory gearing mechanism 8.2,
Rotating support has walking wheel support 8.9 on traveling wheel swinging mounting 8.7, in traveling wheel swinging mounting 8.7 and walking wheel support
Wheel carrier slewing gear 8.8 is provided between 8.9, the wheel carrier slewing gear 8.8 and wheel carrier device for revolving and driving 8.4 pass
Dynamic connection, the wheel carrier slewing gear 8.8 are worm-gear speed reducer, which is hydraulic motor,
The hydraulic motor is directly connected on the worm screw 8.5 of worm-gear speed reducer, and walking wheel support 8.9 is fixedly connected on worm and gear
On the worm gear 8.6 of speed reducer, live axle 8.11 is fixedly mounted in walking wheel support 8.9, passes through on the live axle 8.11
Traveling wheel bearing 8.10 is rotatablely connected traveling wheel 8.12, and the traveling wheel wheel face 8.15 of the traveling wheel 8.12 is arc, the walking
It is equal with 9 inner wall radius of tunnel or greatly to suitable to take turns 8.15 arc curvature radius of wheel face, is fixedly mounted on the traveling wheel 8.12
Drive bevel gear 8.13, the drive bevel gear 8.13 are meshed with driving bevel gear 8.14, which passes through tooth
It takes turns transmission case and traction drive device 8.1 is sequentially connected, which is fixedly installed on traveling wheel swinging mounting 8.7
(see figure 5), the gear can also be fixedly installed on (see figure 6) on the worm gear 8.6 for be connected to walking wheel support 8.9, the drive
Dynamic bevel gear 8.14 is fixedly connected on gear and goes out shaft end, and the gear shaft and worm gear 8.6 are coaxially disposed, should
Traction drive device 8.1 is motor, and Fig. 7 shows another the feasible driving method of traveling wheel 8.12, traveling wheel in figure
8.12 directly with walk wheel drive unit 8.1 and connect, it is hydraulic motor or motor that this, which walks wheel drive unit 8.1, is passed through in the implementation
Wheel carrier slewing gear 8.4 can drive walking wheel support 8.9 to make circumferential revolution on traveling wheel swinging mounting 8.7, prop up in this way
Holding the traveling wheel 8.12 in walking wheel support 8.9 just can follow traveling wheel swinging mounting 8.7 to obtain required operating angle together
The adjustment of degree, and the adjustment of the circumferential angle needed for acting as of walking wheel support 8.9 can be followed, by being followed to traveling wheel 8.12
The angle adjustment of traveling wheel swinging mounting 8.7 can allow the wheel face of traveling wheel close to circular tube shaped tunnel inner wall, and traveling wheel 8.12 just can
Directly firm be supported in circular tube shaped tunnel inner wall cambered surface is walked, that is, realizing can allow machine directly to carry out in circular tube shaped tunnel
The construction operations such as handling can not only be real by the in due course adjustment to the 8.12 circumferential angle of followed walking wheel support 8.9 of traveling wheel
It is bonded traveling wheel wheel face 8.15 with tunnel inner wall holding always, is also achieved that machine can be in tunnel
It is steadily turned round in road, moreover it is possible to allow machine to be moved in non-Construction State along setting up deflection, by by traveling wheel
8.12 are sequentially connected with traction drive device 8.1, then provide necessary walking power for traveling wheel 8.12, ensure that machine
Working line in tunnel moves.This implementation, which has reached, can not only allow machine is directly firm to be supported in circular tube shaped tunnel inner wall cambered surface
Walking, and can voluntarily leaping over obstacles, and simple and reasonable implementation purpose.
Above-mentioned only to have enumerated some preferred embodiments of the utility model tunnel handling robot, but it is not limited to this,
Without prejudice to the utility model basic principle, it can also make several transformation and improvement.For example, to oscillatory gearing mechanism
Selection is not only limited to telescopic oil cylinder, also can be some devices that commonly can be carried out expanding-contracting action such as cylinder;To gantry unit group
Several applications are not only limited to four groups, can also be more or less than four groups, and so on.As long as being made on the basis of the utility model
Any structure it is close, intimate variation pattern is accordingly to be regarded as falling into the protection scope of the utility model.
Claims (10)
1. a kind of tunnel handling robot, including fuselage connection frame (10), it is characterised in that: fuselage connection frame is at least pacified on (10)
Equipped with two groups of lifting door frames, which includes door frame supporting leg and door frame crossbeam, and the door frame supporting leg includes that mutually sliding connects
Supporting leg (1) under the door frame upper supporting leg (3) and door frame that connect, is provided with supporting leg between supporting leg (1) under door frame upper supporting leg (3) and door frame and stretches
Contracting driving device (2), which includes left fork beam (6) and right fork beam (7), in left fork beam (6) and right fork beam
(7) crossbeam retractable driving device (4) are connected between;Multidimensional wheel support (8.3) are fixedly installed on supporting leg (1) under door frame,
It is hinged on the multidimensional wheel support (8.3) to have traveling wheel swinging mounting (8.7), the traveling wheel swinging mounting (8.7) and multidimensional wheel branch
Oscillatory gearing mechanism (8.2) are supported between frame (8.3), rotating support has traveling wheel branch on traveling wheel swinging mounting (8.7)
Frame (8.9) is provided with wheel carrier slewing gear between traveling wheel swinging mounting (8.7) and walking wheel support (8.9)
(8.8), rotating support has traveling wheel (8.12) in walking wheel support (8.9), the traveling wheel (8.12) and traction drive device
(8.1) it is sequentially connected.
2. tunnel handling according to claim 1 robot, it is characterised in that: the fuselage connection frame (10) is fixedly connected
In on door frame upper supporting leg (3).
3. tunnel handling according to claim 1 robot, it is characterised in that: the fuselage connection frame (10) is fixedly connected
In on left fork beam (6) and right fork beam (7).
4. tunnel handling according to claim 1 robot, it is characterised in that: under the door frame upper supporting leg (3) and door frame
Supporting leg (1) is mutually slidably socketed.
5. tunnel handling according to claim 1 robot, it is characterised in that: the landing leg stretching driving device (2) is
Telescopic oil cylinder.
6. tunnel handling according to claim 1 robot, it is characterised in that: the left fork beam (6) and right fork beam
(7) it is directly slidably socketed.
7. tunnel handling according to claim 1 robot, it is characterised in that: the left fork beam (6) and right fork beam
(7) it is slidably socketed by crossbeam connector (5).
8. tunnel handling according to claim 6 or 7 robot, it is characterised in that: the crossbeam retractable driving device (4)
Both ends difference twisted branch on left fork beam (6) and right fork beam (7).
9. tunnel handling according to claim 8 robot, it is characterised in that: the crossbeam retractable driving device (4) is
Two sets, the equal twisted branchs in one end of two sets of crossbeam retractable driving devices (4) is driven on crossbeam connector (5), two sets of crossbeams are flexible
The other end difference twisted branch of dynamic device (4) is on left fork beam (6) and right fork beam (7).
10. tunnel handling according to claim 1 robot, it is characterised in that: the oscillatory gearing mechanism (8.2) is to stretch
Contracting oil cylinder;The wheel carrier slewing gear (8.8) is worm-gear speed reducer;The crossbeam retractable driving device (4) is to stretch
Contracting oil cylinder.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201820971379.4U CN208617242U (en) | 2018-06-23 | 2018-06-23 | Tunnel handling robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201820971379.4U CN208617242U (en) | 2018-06-23 | 2018-06-23 | Tunnel handling robot |
Publications (1)
Publication Number | Publication Date |
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CN208617242U true CN208617242U (en) | 2019-03-19 |
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ID=65703200
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CN201820971379.4U Active CN208617242U (en) | 2018-06-23 | 2018-06-23 | Tunnel handling robot |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108622809A (en) * | 2018-06-23 | 2018-10-09 | 东台市富康机械有限公司 | tunnel handling robot |
CN110342418A (en) * | 2019-07-26 | 2019-10-18 | 河南隧通机械有限公司 | Openning part installs rack |
CN111572718A (en) * | 2020-06-30 | 2020-08-25 | 中船绿洲镇江船舶辅机有限公司 | Retractable double-lifting-point boat retracting device and using method thereof |
-
2018
- 2018-06-23 CN CN201820971379.4U patent/CN208617242U/en active Active
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108622809A (en) * | 2018-06-23 | 2018-10-09 | 东台市富康机械有限公司 | tunnel handling robot |
CN111453626A (en) * | 2018-06-23 | 2020-07-28 | 卓中朝 | Tunnel hoisting robot |
CN111453626B (en) * | 2018-06-23 | 2021-07-20 | 上海勤顺建设工程有限公司 | Tunnel hoisting robot |
CN110342418A (en) * | 2019-07-26 | 2019-10-18 | 河南隧通机械有限公司 | Openning part installs rack |
CN111572718A (en) * | 2020-06-30 | 2020-08-25 | 中船绿洲镇江船舶辅机有限公司 | Retractable double-lifting-point boat retracting device and using method thereof |
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