CN210768841U - A tunnel prefabricated under-rail structure assembly trolley and its control system - Google Patents

Abstract

The utility model discloses a tunnel prefabricated assembled under-rail structure assembly trolley and a control system thereof, the tunnel prefabricated assembled under-rail structure assembly trolley comprises a frame, supporting legs, fixed rods, driving wheels, supporting wheels, travelling rails, a hoisting mechanism and a controller, wherein the hoisting mechanism is used for hoisting the tunnel prefabricated assembled structure; the supporting legs are arranged at two ends of the frame in the length direction and hinged with each other; one end of the fixed rod is fixedly connected to the frame, and the other end of the fixed rod is fixedly connected to the supporting leg; the supporting wheel and the driving wheel are fixed at the bottom of the supporting leg; the travelling crane rail is arranged on the frame; the hoisting mechanism is arranged on the travelling crane track; the driving wheel and the hoisting mechanism are in communication connection with the controller; a control system of a tunnel prefabricated under-rail structure assembling trolley comprises a power supply system, a control system, a communication system, a safety protection system and the trolley; the utility model discloses simple structure, simple to operate, reasonable in design, the operation of being convenient for, stable in structure is reliable, and application scope is wide.

Description

A tunnel prefabricated under-rail structure assembly trolley and its control system

technical field

The utility model relates to the technical field of tunnel construction equipment, in particular to a tunnel prefabricated assembling trolley for an under-rail structure and a control system thereof.

Background technique

At present, the technical level of equipment supporting and construction equipment in railway tunnel construction in my country are still in the early stage of tunnel construction mechanization. Most of the main construction equipment on the tunnel construction line is imported from abroad. The rate is high, resulting in a low degree of professionalism in the operation of tunnel prefabricated structures, which seriously affects the operation efficiency;

The construction equipment of the existing tunnel prefabricated structure is often complicated in structure and inconvenient to install. It often occupies a large operating space in the specific operation process, which greatly reduces the construction efficiency of the tunnel. Moreover, due to the complexity of its structure , resulting in poor flexibility and low operation accuracy in the specific operation process, while in the installation process of the prefabricated structure, the construction flexibility and accuracy of the equipment are required to be high;

In addition, the assembly of prefabricated parts in tunnel construction generally uses trolleys to hoist prefabricated parts. Due to the limitation of tunnel space, the range of hoisting trolleys in the tunnel is blocked, and the volume and weight of prefabricated parts are large. Therefore, it takes a lot of time. The installer needs a lot of physical strength to successfully install it, which has problems such as low installation efficiency and long occupation time;

In addition, in tunnel construction, prefabricated parts are generally assembled by trolley hoisting prefabricated parts, and the trolley is driven by laying steel rails on the ground, and the motor and reducer are used to drive the rail steel wheels to travel. This solution is easier to implement when it is convenient to lay the track, but its disadvantage is that it is difficult to lay the track, it is necessary to ensure a certain parallelism of the track, and it can only walk along the track, which has poor flexibility. Adjusting according to the height of the ground cannot guarantee the consistency of the height of the trolley, which is not conducive to the hoisting of prefabricated parts.

Therefore, it is urgent to develop a tunnel prefabricated under-rail structure assembly trolley and its control system to overcome the above-mentioned defects.

Utility model content

In view of this, the utility model provides a prefabricated under-rail structure assembling trolley for tunnel application and a control system thereof.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: a tunnel prefabricated assembly type under-rail structure assembly trolley, comprising:

Frame, the frame is a horizontally arranged rectangular frame;

Support legs, the support legs include a first support leg and a second support leg arranged in groups, the first support leg and the second support leg are both retractable support legs, the first support leg and the second support leg are respectively the length of the frame Both ends of the direction are hinged;

a fixed rod, one end of the fixed rod is fixedly connected to the connecting rod in the length direction of the rectangular frame, and the other end is fixedly connected to the first support leg or the second support leg;

a driving wheel, which is fixed on the bottom of the second support leg;

a support wheel, the support wheel is arranged at the bottom of the first support leg, and is rotatably connected with the first support leg through a connecting piece;

The running track, the running track is parallel to the width direction of the frame, and the two ends are fixedly connected to the length direction of the frame;

The hoisting mechanism used for hoisting the prefabricated structure of the tunnel, the hoisting mechanism is installed on the driving track and is movably connected with the driving track;

The controller, the driving wheel and the hoisting mechanism are all connected in communication with the controller.

The utility model adopts the above-mentioned technical scheme. Compared with the existing technical scheme, the utility model discloses and provides a tunnel prefabricated assembled under-rail structure trolley; It is easy to install and has good structural stability; by setting retractable support legs, the height of the frame can be adjusted, which expands the scope of application of the frame; The hoisting mechanism can slide along the track of the driving track, so as to transport the tunnel prefabricated structure to a predetermined position; by setting movable driving wheels at the bottom of the supporting legs, the trolley can be flexibly adjusted according to different operation needs. Therefore, the prefabricated structure of the hoisting tunnel can be accurately installed, which improves the flexibility and accuracy of the installation operation. The utility model has the advantages of simple structure, convenient installation, reasonable design, convenient operation, stable and reliable structure, and wide application range, which greatly improves the operation efficiency and installation accuracy of the tunnel prefabricated assembly structure, and has a good market application prospect.

Further, the drive wheel includes

upper connecting bridge;

The lower connecting bridge, the upper connecting bridge and one end of the lower connecting bridge are hingedly connected;

Micro-steering motor, the micro-steering motor is fixedly installed on the other end of the upper connecting bridge, and the driving end of the micro-steering motor is upwardly arranged and fixed with a connecting plate, and the connecting plate is fixedly connected with the bottom of the second support leg;

a support plate, the support plate is fixed on the other end of the lower connecting bridge, both ends of the support plate are connected with a driving hydraulic motor, and the output end of the driving hydraulic motor is fixedly connected with a wheel;

It is used to adjust the lifting hydraulic cylinder of the upper connecting bridge and the lower connecting bridge, and the two ends of the lifting hydraulic cylinder are fixed between the upper connecting bridge and the lower connecting bridge;

The micro-steering motor, the driving hydraulic motor and the lifting hydraulic cylinder are all connected in communication with the controller.

By setting the lifting hydraulic cylinder between the upper connecting bridge and the lower connecting bridge, the distance between the upper connecting bridge and the lower connecting bridge can be adjusted at any time according to the height of the ground, so that the trolley is on the same horizontal plane, maintaining the consistency of height and height, and more It is flexible, which is conducive to the hoisting of prefabricated parts; and the micro-steering motor can smoothly realize the overall rotation of the trolley, ensuring the accuracy and safety of the operation.

Further, the hoisting mechanism includes

The driving component, the driving component includes a driving platform, a driving wheel set and a driving motor, the driving wheel set is fixed on the driving platform, and the driving motor is connected with the driving wheel set for transmission;

There is a track rack on the driving track, and the traveling wheel group meshes with the track rack;

A rotating assembly, the rotating assembly includes a rotating motor, a rotating shaft and a rotating platform, the rotating motor is connected with the rotating shaft in a drive, one end of the rotating shaft is rotatably connected to the driving platform, and the other end is fixedly connected to the rotating platform;

Lifting components, the lifting components include four sets of electric hoists, which are evenly distributed on the rotating platform;

The traveling motor, rotating motor and electric hoist are all connected with the controller in communication.

The utility model adopts the above technical scheme. Compared with the prior art, the hoisting mechanism provided by the utility model is installed on the top frame of the assembled trolley. Under the action of the controller, the electric hoist of the lifting assembly hoists the prefabricated parts From the start, the traveling motor drives the traveling wheel set to make the traveling platform rotate on the driving track, so as to realize the movement of the prefabricated part by the hoisting mechanism. If the prefabricated part rotates in azimuth, the rotating motor drives the rotating shaft to make the rotating platform rotate and is installed on the rotating platform. The electric hoist drives the prefabricated parts to rotate, meets the assembly angle requirements of the prefabricated parts, completes the tunnel construction requirements of the prefabricated parts, realizes automatic mechanical operation, and improves work efficiency.

Further, there are four traveling wheel sets and four traveling motors, which are evenly distributed at the ends of the traveling platform frame in the vertical and horizontal directions;

The traveling wheel set includes a gear set and a bevel wheel set; the gear set is drivingly connected with the traveling motor, the gear set is fixedly connected with the bevel wheel set, and the bevel wheel set is engaged with the rail rack.

Further, the gear set includes a driving gear and two driven gears, the driving gear is meshed with the two driven gears at the same time, and the driving gear is fixedly connected with the driving motor; the bevel gear set has two groups, and each group includes two bevels arranged side by side. The two sets of wheels are relatively spaced apart to form an accommodating cavity, the running track is placed in the accommodating cavity, the track rack is meshed with the bevel wheel, and the two driven gears are respectively fixedly connected to the two bevel wheels of one group.

Further, the frame includes a first connecting rod and a second connecting rod. The lengths of the first connecting rod and the second connecting rod are different and both are telescopic and variable diameter connecting rods. There are two first connecting rods, and two first connecting rods. The rods are arranged oppositely, there are two second connecting rods, and the two second connecting rods are arranged oppositely;

It also includes a connecting support, there are two connecting supports, the two connecting supports are respectively arranged on the corresponding two first connecting rods, and are located above the two driving rails, and the two connecting supports are used for fixedly supporting the two connecting rods. a driving track.

The utility model has the beneficial effect of adopting the above-mentioned technical scheme, so that the frame can be easily adjusted according to the size of different tunnels, thus expanding the scope of application of the frame, and at the same time ensuring the stability of the frame structure. In addition, the frame can be adapted to the height difference caused by the slope in the operation process, so as to ensure smooth operation, improve operation efficiency and reduce operation failure rate.

Further, it also includes reinforcing ribs, the reinforcing ribs are strip-shaped connecting plates, the reinforcing ribs are arranged in groups, and there are two groups of reinforcing ribs, and the two groups of reinforcing ribs are respectively arranged in the middle of the two first support legs and the two second The middle part of the support leg is respectively fixedly connected with the first support leg and the second support leg.

The utility model has the beneficial effect of adopting the above technical solutions, which can play a good role in fixing the connection angle and connection position between the support legs and the frame, thereby ensuring the good structural stability of the frame device.

A control system for a tunnel prefabricated under-rail structure assembled trolley, comprising a power supply system, a control system, a communication system, a safety protection system, and the above-mentioned tunnel prefabricated under-rail structure assembled trolley;

The control system includes a controller, a vehicle travel control system, an overall micro-rotation control system, a translation control system, a rotation control system and a hoisting control system;

The controller communicates with the vehicle traveling control system, the overall micro-rotation control system, the translation control system, the rotation control system and the hoisting control system through the communication system; Electromechanical connection, the translation control system is electrically connected with the traveling motor, the rotation control system is electrically connected with the rotating motor, and the hoisting control system is electrically connected with the electric hoist;

The safety protection system includes weighing sensor, ultrasonic ranging sensor, level sensor, laser ranging sensor, limiter and analog-digital conversion module; the weighing sensor is installed on the electric hoist, the ultrasonic ranging sensor is installed on the wheel, and the level sensor Set on the first connecting rod and the second connecting rod, the laser ranging sensor is set on the side of the first support leg or the second support leg, and the limiter is set at the end of the travel motor and the displacement area of the electric hoist; analog and digital One end of the conversion module is connected with the weighing sensor, the ultrasonic distance measuring sensor, the level sensor, the laser distance measuring sensor and the limiter, and the other end is connected with the controller in communication;

The power supply system is the vehicle travel control system, the overall micro-rotation control system, the translation control system, the rotation control system, the lifting control system, the driving wheel, the micro-steering motor, the traveling motor, the rotating motor, the electric hoist, the load cell, and the ultrasonic distance measurement. Sensors, level sensors, laser ranging sensors, limiters and analog-to-digital conversion modules are powered.

The utility model adopts the above technical scheme to realize automatic control. The power supply system of the utility model is divided into two parts: strong power supply and weak current power supply, and then supplies power for each device and system; the utility model is highly integrated, has a high degree of automation, and is controllable. The utility model has good performance and can precisely realize the assembly of the tunnel prefabricated under-rail structure; and the utility model can self-safety protection, can stop in time after a fault, and increase the operation safety.

Further, it also includes a lighting system and a sound and light alarm system;

The sound and light alarm system includes an alarm and a color flash; both the alarm and the color flash are connected to the controller;

The power supply system supplies power to the alarm, color flashing lights, and lighting system.

Preferably, the controller is a Siemens PLC-200 series controller.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description It is only an embodiment of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative efforts.

1 is a schematic diagram of the overall structure of the utility model tunnel prefabricated under-rail structure assembled trolley;

Figure 2 is a schematic view of the frame structure of the utility model tunnel prefabricated under-rail structure assembled trolley;

3 is a top view of the structure of the hoisting mechanism of the prefabricated under-rail structure assembled trolley in the tunnel of the utility model;

4 is a front view of the structure of the hoisting mechanism of the prefabricated tunnel under-rail structure assembled trolley of the utility model;

Fig. 5 is the partial structural schematic diagram of the traveling assembly of the assembled trolley of the tunnel prefabricated under-rail structure of the utility model;

6 is a schematic structural diagram of the utility model tunnel prefabricated under-rail structure assembled trolley gear set;

7 is a side view of the drive wheel of the utility model tunnel prefabricated under-rail structure assembly trolley;

FIG. 8 is a schematic diagram of the drive wheel structure of the prefabricated tunnel under-rail structure assembled trolley of the utility model;

9 is a schematic diagram of the connection structure of the control system of the tunnel prefabricated under-rail structure assembled trolley of the present invention.

Among them, in the figure: 1 is the frame, 11 is the first connecting rod, 12 is the second connecting rod, 2 is the supporting leg, 21 is the first supporting leg, 22 is the second supporting leg, 3 is the fixing rod, and 4 is the drive Wheel, 41 is the upper connecting bridge, 42 is the lower connecting bridge, 43 is the micro steering motor, 44 is the support plate, 45 is the driving hydraulic motor, 46 is the wheel, 47 is the lifting hydraulic cylinder, 48 is the connecting plate, and 5 is the supporting wheel , 6 is the driving track, 7 is the hoisting mechanism, 71 is the driving component, 711 is the driving platform, 712 is the driving wheel set, 713 is the driving motor, 72 is the rotating component, 721 is the rotating motor, 722 is the rotating shaft, and 723 is the rotation Platform, 73 is electric hoist, 8 is controller, 320 is gear set, 321 is bevel gear set; 3201 is driving gear, 3202 is driven gear, 3210 is bevel wheel, 3211 is accommodating cavity, 9 is connecting support, 10 is the stiffener, 100 is the power supply system, 200 is the control system, 300 is the communication system, 2001 is the vehicle walking control system, 2002 is the overall micro-rotation control system, 2005 is the translation control system, 2003 is the rotation control system, and 2004 is the Lifting control system, 400 is a safety protection system, 4001 is a load cell, 4002 is an ultrasonic distance sensor, 4003 is a level sensor, 4004 is a laser distance sensor, 4005 is a limiter, 4006 is an analog-to-digital conversion module, and 500 is a Lighting system, 600 is the sound and light alarm system.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

As shown in Figure 1-9,

As shown in Figure 1-2: A tunnel prefabricated under-rail structure assembly trolley, including

Frame 1, frame 1 is a horizontally arranged rectangular frame;

Support leg 2, the support leg 2 includes a first support leg 21 and a second support leg 22 arranged in groups, the first support leg 21 and the second support leg 22 are both retractable support legs, the first support leg 21 and the second support leg 22 The support legs 22 are respectively hinged with both ends of the frame 1 in the length direction;

Fixed rod 3, one end of the fixed rod 3 is fixedly connected to the connecting rod in the length direction of the rectangular frame, and the other end is fixedly connected to the first support leg 21 or the second support leg 22;

The driving wheel 4, the driving wheel 4 is fixed on the bottom of the second supporting leg 22;

Support wheel 5, the support wheel 5 is arranged at the bottom of the first support leg 21, and is rotatably connected with the first support leg 21 through a connecting piece;

A running track 6, the running track 6 is parallel to the width direction of the frame 1 and both ends are fixedly connected to the length direction of the frame 1;

The hoisting mechanism 7 used for hoisting the prefabricated structure of the tunnel, the hoisting mechanism 7 is arranged on the driving track 6 and is movably connected with the driving track 6;

The controller 8 , the driving wheel 4 and the hoisting mechanism 7 are all connected in communication with the controller 8 .

The frame 1 includes a first connecting rod 11 and a second connecting rod 12. The lengths of the first connecting rod 11 and the second connecting rod 12 are different and both are telescopic and variable diameter connecting rods. There are two first connecting rods 11 and two The first connecting rods 11 are arranged oppositely, there are two second connecting rods 12, and the two second connecting rods 12 are arranged oppositely; it also includes a connecting support 9, there are two connecting supports 9, and the two connecting supports 9 are respectively provided. On the corresponding two first connecting rods 11 and located above the two traveling rails 6 , the two connecting supports 6 are used for fixedly supporting the two traveling rails 6 .

The utility model has the beneficial effect of adopting the above-mentioned technical scheme, so that the frame can be easily adjusted according to the size of different tunnels, thus expanding the scope of application of the frame, and at the same time ensuring the stability of the frame structure. In addition, the frame can be adapted to the height difference caused by the slope in the operation process, so as to ensure smooth operation, improve operation efficiency and reduce operation failure rate.

It also includes reinforcing ribs 10. The reinforcing ribs 10 are strip-shaped connecting plates. The reinforcing ribs 10 are arranged in groups, and there are two groups of the reinforcing ribs 10. The middle portion of each second support leg 22 is fixedly connected with the first support leg 21 and the second support leg 22 respectively.

The utility model has the beneficial effect of adopting the above technical solutions, which can play a good role in fixing the connection angle and connection position between the support legs and the frame, thereby ensuring the good structural stability of the frame device.

The present utility model adopts the above-mentioned technical scheme. Compared with the existing technical scheme, the utility model discloses and provides a tunnel prefabricated assembled under-rail structure trolley; The frame 1 is easy to install and has good structural stability; the height of the frame 1 can be adjusted by setting the telescopic support legs 2, which expands the scope of application of the frame 1; The hoisting mechanism 7 for hoisting the prefabricated structure of the tunnel can slide along the track of the driving track 6, so as to transport the prefabricated structure of the tunnel to a predetermined position; The trolley can flexibly adjust the position of the trolley according to different operation needs, so as to accurately install the prefabricated structure of the tunnel for hoisting and transportation, and improve the flexibility and accuracy of the installation operation. The utility model has the advantages of simple structure, convenient installation, reasonable design, convenient operation, stable and reliable structure, and wide application range, which greatly improves the operation efficiency and installation accuracy of the tunnel prefabricated assembly structure, and has a good market application prospect.

As shown in Figures 7-8, the drive wheel 4 of this embodiment includes

upper connecting bridge 41;

The lower connecting bridge 42, the upper connecting bridge 41 and the lower connecting bridge 42 are hingedly connected at one end;

Micro steering motor 43, the micro steering motor 43 is fixedly installed on the other end of the upper connecting bridge 1, and the driving end of the micro steering motor 43 is upwardly arranged and fixed with a connecting plate 48, and the connecting plate 48 is fixedly connected with the bottom of the second support leg 22 ;

A support plate 44, the support plate 44 is fixed on the other end of the lower connecting bridge 2, and both ends of the support plate 3 are connected with a driving hydraulic motor 45, and the output end of the driving hydraulic motor 45 is fixedly connected with a wheel 46;

It is used to adjust the lifting hydraulic cylinder 47 of the upper connecting bridge 1 and the lower connecting bridge 2, and the two ends of the lifting hydraulic cylinder 47 are fixed between the upper connecting bridge 1 and the lower connecting bridge 2;

The micro steering motor 43 , the driving hydraulic motor 45 and the lifting hydraulic cylinder 47 are all connected in communication with the controller 8 .

Drive hydraulic motor 45 selection

Power calculation of driving hydraulic motor 45: the assembled truck is about 10T without load, and the maximum side box culvert is about 10T; when it is fully loaded, the total is about 20T. The coefficient of static friction between rubber tires and concrete floors is 0.6. Speed 3m/min under load. The single wheel load is about 5T.

Static friction force f=μN=0.6*5000kg*10N/kg=30kN

Drive power P=f×v÷60÷η×k=30×3÷60÷0.8×1.5=2.8kW

In the formula, P power (kW), F traction force (kN), v speed (m/min), η transmission machinery efficiency, generally about 0.8. Considering the slope of ±3% in the tunnel, the driving power is initially selected as 4kW, which is driven by a motor with a reducer. Motor power 1.2KW,

By arranging the lifting hydraulic cylinder 47 between the upper connecting bridge 41 and the lower connecting bridge 42, the distance between the upper connecting bridge 41 and the lower connecting bridge 42 can be adjusted at any time according to the height of the ground, so that the trolley is at the same level and the height is maintained. Consistent and more flexible, it is beneficial to the hoisting of prefabricated parts; and the micro-steering motor 43 can smoothly realize the overall rotation of the trolley, ensuring the accuracy and safety of the operation.

As shown in Figures 3-6, the hoisting mechanism 7 includes

The driving assembly 71 includes a driving platform 711, a driving wheel set 712 and a driving motor 713. The driving wheel set 712 is fixed on the driving platform 713, and the driving motor 713 is drivingly connected with the driving wheel set 712;

There is a rail rack on the driving rail 6, and the driving wheel group 712 is engaged with the rail rack;

The rotating assembly 72 includes a rotating motor 721, a rotating shaft 722 and a rotating platform 723. The rotating motor 721 is drive-connected to the rotating shaft 722. One end of the rotating shaft 722 is rotatably connected to the traveling platform 711, and the other end is fixedly connected to the rotating platform 723. ;

Lifting assembly, the lifting assembly includes four sets of electric hoists 73, which are evenly distributed on the rotating platform 723;

The traveling motor 713 , the rotating motor 721 and the electric hoist 73 are all connected in communication with the controller 8 .

The present invention adopts the above-mentioned technical solution. Compared with the prior art, the hoisting mechanism provided by the present invention is installed on the top frame 1 of the assembling trolley. Under the action of the controller 8, the electric hoist 73 of the lifting assembly will The preform is hoisted, and the traveling motor 713 drives the traveling wheel set to make the traveling platform rotate on the driving track 6, so as to realize the movement of the preform by the hoisting mechanism 7. If the preform rotates in azimuth, the rotating motor 721 drives the rotating shaft to rotate the platform. Rotation, the electric hoist 73 installed on the rotating platform drives the prefabricated parts to rotate, meets the assembly angle requirements of the prefabricated parts, completes the tunnel construction requirements of the prefabricated parts, realizes automatic mechanical operation, and improves work efficiency.

There are four traveling wheel sets 712 and four traveling motors 713, which are evenly distributed at the ends of the frame of the traveling platform 711 in the vertical and horizontal directions;

The traveling wheel set 712 includes a gear set 320 and a bevel wheel set 321; the gear set 320 is drivingly connected with the traveling motor 33, the gear set 320 is fixedly connected with the bevel wheel set 321, and the bevel wheel set 321 meshes with the rail rack.

The gear set 320 includes a driving gear 3201 and two driven gears 3202, the driving gear 3201 meshes with the two driven gears 3202 at the same time, and the driving gear 3201 is fixedly connected to the driving motor 713; the bevel gear set 321 has two groups, each group includes two. There are two bevel wheels 3210 arranged side by side, two sets of oppositely spaced apart to form a accommodating cavity 3211, the running track 6 is placed in the accommodating cavity 3211, the track rack meshes with the bevel wheels 3210, and the two driven gears 3202 are respectively connected with one of the set of bevel wheels 3210. The two bevel wheels 3210 are fixedly connected.

The connection between the rotary motor 721 and the rotary shaft 722 adopts a rotary drive and consists of a worm, a rotary bearing, and a housing component; since the core component adopts a rotary bearing, it can bear axial force, radial force, and overturning moment at the same time. Compared with traditional slewing products, the slewing drive has the characteristics of simple installation, easy maintenance, and saving installation space to a greater extent. The worm gear and worm drive have the characteristics of reverse self-locking, which can realize reverse self-locking, that is, only the worm can drive the worm gear, but the worm cannot be driven by the worm gear to move. It not only improves the technological content of the main engine, but also greatly improves the operation of the main engine. Stability and operational safety factor. Compared with traditional slewing products, the slewing drive is easy to install, easy to maintain, and saves installation space to a greater extent.

The driving assembly 71 is composed of four sets of driving motors 713, two of which are driving wheels. The driving wheels need to bring a total load of about 14T, a single wheel load of about 3.5T, and a translation speed of 3m/min when loaded.

Static friction force f=μN=0.15*3500kg*10N/kg=5.25kN

Power P=f×v÷60÷η×k=5.25×3÷60÷0.8×1.25=0.4kW

In the formula, P power (kW), F traction force (kN), v speed (m/min), η transmission machinery efficiency, generally 0.8.

The power of the traveling motor 713 is initially selected as 0.75kW.

In order to ensure smooth start of translation and adjustable driving speed, inverters are added to all 713 traveling motors, and the inverters are selected to be 1.1kW inverters that are one level larger than the motors.

The electric hoist 73 adopts the method of "four-point lifting and three-point balance", which must require four lifting points on the spreader.

The principle of three-point balance for four-point lifting is that two of the lifting point wire ropes are wound through the balance pulley block to balance the force of the two lifting points to form a balanced lifting point, and the other two lifting point wire ropes are independently wound to form two lifting points. In this way, the four lifting points constitute a statically indeterminate three-point lifting system, which avoids the additional torque caused by the lifting deviation of the four lifting points. When the four lifting points are in the same horizontal position, the force of each lifting point is constant.

In order to ensure that the four lifting points can be kept at the same level, a level sensor 4003 is installed on the spreader. According to the attitude of the spreader fed back by the level sensor 4003, the lifting speed of each point is controlled during the lifting process to realize 4 sets of electric motors. The synchronous lifting and lowering of the hoist 73.

Selection of electric hoist 73: the maximum total lifting weight is about 13T (sling 3T + lifting weight 10 tons). In order to choose a 5T electric hoist during the safety period, the four electric hoists can theoretically lift 20T heavy objects, which is completely satisfactory for use. The 5T electric hoist motor is 7.5kW, the lifting height can reach 6m, and the lifting speed is two-speed adjustable. Switching, it can be lifted at high speed when it is empty, and lifted at low speed when it is loaded.

As shown in Figure 9: A control system for a tunnel prefabricated under-rail structure assembled trolley, including a power supply system 100, a control system 200, a communication system 300, a safety protection system 400 and the above-mentioned tunnel prefabricated under-rail structure assembled trolley;

The control system 200 includes a controller 8, a vehicle traveling control system 2001, an overall micro-rotation control system 2002, a translation control system 2005, a rotation control system 2003, and a hoisting control system 2004;

The controller 8 is in communication connection with the vehicle traveling control system 2001, the overall micro-rotation control system 2002, the translation control system 2005, the rotation control system 2003 and the hoisting control system 2004 through the communication system 300; the vehicle traveling system 2001 is electrically connected with the driving wheel 4 , the overall micro-rotation system 2002 is electrically connected to the micro-steering motor 43, the translation control system 2005 is electrically connected to the traveling motor 713, the rotation control system 2003 is electrically connected to the rotation motor 721, and the hoisting control system 2004 is electrically connected to the electric hoist 73;

The safety protection system 400 includes a weighing sensor 4001, an ultrasonic ranging sensor 4002, a level sensor 4003, a laser ranging sensor 4004, a limiter 4005 and an analog-to-digital conversion module 4006; the weighing sensor 4001 is arranged on the electric hoist 73, and the ultrasonic measuring The distance sensor 4002 is arranged on the wheel 46, the level sensor 4003 is arranged on the first connecting rod 11 and the second connecting rod 12, and the laser distance sensor 4004 is arranged on the side of the first support leg 21 or the second support leg 22, The positioner 4005 is arranged at the end of the displacement area of the traveling motor 713 and the electric hoist 73; one end of the analog-to-digital conversion module 4006 is connected to the load cell 4001, the ultrasonic distance sensor 4002, the level sensor 4003, the laser distance sensor 4004, and the limiter 4005. connected, and the other end is connected to the controller 8 for communication;

The power supply system 200 is a vehicle traveling control system 2001, an overall micro-rotation control system 2002, a translation control system 2005, a rotation control system 2003, a hoisting control system 2004, a driving wheel 4, a micro-steering motor 43, a traveling motor 713, a rotating motor 721, Electric hoist 73 , weighing sensor 4001 , ultrasonic ranging sensor 4002 , level sensor 4003 , laser ranging sensor 4004 , limiter 4005 and analog-to-digital conversion module 4006 supply power.

The utility model adopts the above technical scheme to realize automatic control. The power supply system of the utility model is divided into two parts: strong power supply and weak current power supply, and then supplies power for each device and system; the utility model is highly integrated, has a high degree of automation, and is controllable. The utility model has good performance and can precisely realize the assembly of the tunnel prefabricated under-rail structure; and the utility model can self-safety protection, can stop in time after a fault, and increase the operation safety.

Lighting system 500 and sound and light alarm system 600;

The sound and light alarm system 600 includes an alarm device and a color flashing light; the alarm device and the color flashing light are all connected in communication with the controller 8;

The power supply system 200 supplies power to the alarm, color flash, and lighting system 500 .

The controller is controlled by Siemens PLC-200 series. The above description of the disclosed examples enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A tunnel prefabricated under-rail structure assembling trolley is characterized in that, comprising The frame (1), the frame (1) is a horizontally arranged rectangular frame; A support leg (2), the support leg (2) includes a first support leg (21) and a second support leg (22) arranged in groups, and both the first support leg (21) and the second support leg (22) are optional. Telescopic support legs, the first support leg (21) and the second support leg (22) are respectively hinged with both ends of the frame (1) in the length direction; a fixing rod (3), one end of the fixing rod (3) is fixedly connected to the connecting rod in the length direction of the rectangular frame, and the other end is fixedly connected to the first support leg (21) or the second support leg (22); a driving wheel (4), the driving wheel (4) is fixed on the bottom of the second supporting leg (22); a support wheel (5), the support wheel (5) is arranged at the bottom of the first support leg (21), and is rotatably connected with the first support leg (21) through a connecting piece; a running track (6), the running track (6) is parallel to the width direction of the frame (1) and the two ends are respectively fixedly connected to the length direction of the frame (1); A hoisting mechanism (7) for hoisting a tunnel prefabricated structure, the hoisting mechanism (7) is arranged on the driving track (6), and is movably connected with the driving track (6); The controller (8), the driving wheel (4) and the hoisting mechanism (7) are all connected in communication with the controller (8). 2. A tunnel prefabricated under-rail structure assembly trolley according to claim 1, characterized in that the drive wheel (4) comprises upper connecting bridge (41); a lower connecting bridge (42), one end of the upper connecting bridge (41) and the lower connecting bridge (42) are hingedly connected; The micro-steering motor (43) is fixedly mounted on the other end of the upper connecting bridge (41), and the driving end of the micro-steering motor (43) is upwardly arranged and fixed with a connecting plate (48), the connecting plate ( 48) fixedly connected with the bottom of the second support leg (22); A support plate (44), the support plate (44) is fixed on the other end of the lower connecting bridge (42) and both ends of the support plate (44) are connected with a driving hydraulic motor (45), and the output end of the driving hydraulic motor (45) is fixedly connected with a wheel (46); It is used to adjust the lifting hydraulic cylinder (47) of the upper connecting bridge (41) and the lower connecting bridge (42), and both ends of the lifting hydraulic cylinder (47) are fixed between the upper connecting bridge (41) and the lower connecting bridge (42); The micro-steering motor (43), the driving hydraulic motor (45) and the lifting hydraulic cylinder (47) are all connected in communication with the controller (8). 3. A kind of tunnel prefabricated prefabricated under-rail structure assembling trolley according to claim 1, is characterized in that, the hoisting mechanism (7) comprises A traveling assembly (71), the traveling assembly (71) includes a traveling platform (711), a traveling wheel set (712) and a traveling motor (713), and the traveling wheel assembly (712) is fixed on the traveling platform (711), and the traveling motor (713) ) is drive-connected with the road wheel set (712); A rail rack is provided on the traveling rail (6), and the traveling wheel group (712) is engaged with the rail rack; A rotating assembly (72), the rotating assembly includes a rotating motor (721), a rotating shaft (722) and a rotating platform (723), the rotating motor (721) is drivingly connected with the rotating shaft (722), and one end of the rotating shaft (722) is rotatably connected On the driving platform (711), the other end is fixedly connected with the rotating platform (723); Lifting components, the lifting components include four sets of electric hoists (73), which are evenly distributed on the rotating platform (723); The traveling motor (713), the rotating motor (721) and the electric hoist (73) are all connected in communication with the controller (8). 4. A tunnel prefabricated under-rail structure assembling trolley according to claim 3, characterized in that the traveling wheel set (712) and the traveling motor (713) both have four, which are evenly distributed on the frame of the traveling platform (711) The ends of the longitudinal and transverse directions; The traveling wheel set (712) includes a gear set (320) and a bevel wheel set (321); the gear set (320) is drivingly connected with the traveling motor (713), the gear set (320) is fixedly connected with the bevel wheel set (321), and the bevel wheel set (321) is fixedly connected. The wheel set (321) is engaged with the track rack. 5. The manufacturing process of a tunnel prefabricated under-rail structure assembling trolley according to claim 4, wherein the gear set (320) comprises a driving gear (3201) and two driven gears (3202), the driving gear (3201) meshes with two driven gears (3202) at the same time, and the driving gear (3201) is fixedly connected with the traveling motor (713); the bevel wheel group (321) has two groups, each group including two bevel wheels (3201) arranged side by side 3210), the two groups are relatively spaced apart to form an accommodating cavity (3211), the driving track (6) is placed in the accommodating cavity (3211), the track rack meshes with the bevel wheel (3210), and the two driven gears (3202) are respectively It is fixedly connected with the two bevel wheels (3210) of one group. 6. A tunnel prefabricated under-rail structure assembling trolley according to any one of claims 1-5, wherein the frame (1) comprises a first connecting rod (11) and a second connecting rod (12), The first connecting rod (11) and the second connecting rod (12) have different lengths and are both telescopic and variable diameter connecting rods, there are two first connecting rods (11), and the two first connecting rods (11) are arranged opposite to each other , there are two second connecting rods (12), and the two second connecting rods (12) are arranged oppositely; It also includes a connecting support (9), there are two connecting supports (9), the two connecting supports (9) are respectively arranged on the corresponding two first connecting rods (11), and are located on the two driving rails ( Above 6), two connecting supports (9) are used for fixedly supporting two running rails (6). 7. A tunnel prefabricated under-rail structure assembling trolley according to claim 6, characterized in that it further comprises reinforcing ribs (10), the reinforcing ribs (10) are strip-shaped connecting plates, and the reinforcing ribs (10) are formed in groups Arrangement, and there are two groups of reinforcing ribs (10), and the two groups of reinforcing ribs (10) are respectively arranged in the middle of the two first support legs (21) and the middle of the two second support legs (22), and are respectively connected with the middle of the two first support legs (21). The first support leg (21) and the second support leg (22) are fixedly connected. 8. A control system for a tunnel prefabricated under-rail structure assembling trolley, characterized in that it comprises a power supply system (100), a control system (200), a communication system (300), a safety protection system (400), and a A tunnel prefabricated under-rail structure assembly trolley of requirements 6 or 7; A control system (200) includes a controller (8), a vehicle travel control system (2001), an overall micro-rotation control system (2002), a translation control system (2005), a rotation control system (2003) and a hoisting control system (2004) ; The controller (8) communicates with the vehicle travel control system (2001), the overall micro-rotation control system (2002), the translation control system (2005), the rotation control system (2003) and the hoisting control system (2004) through the communication system (300) Communication connection; the vehicle traveling control system (2001) is electrically connected with the driving wheel (4), the overall micro-rotation control system (2002) is electrically connected with the micro-steering motor (43), and the translation control system (2005) is electrically connected with the traveling motor (713) Electrical connection, the rotation control system (2003) is electrically connected with the rotating motor (721), and the hoisting control system (2004) is electrically connected with the electric hoist (73); The safety protection system (400) includes a load cell (4001), an ultrasonic ranging sensor (4002), a level sensor (4003), a laser ranging sensor (4004), a limiter (4005) and an analog-to-digital conversion module (4006) ; The load cell (4001) is set on the electric hoist (73), the ultrasonic ranging sensor (4002) is set on the wheel (46), and the level sensor (4003) is set on the first connecting rod (11) and the second connecting rod On (12), the laser ranging sensor (4004) is arranged on the side of the first support leg (21) or the second support leg (22), and the limiter (4005) is arranged on the traveling motor (713) and the electric hoist ( 73) The end of the displacement area; one end of the analog-to-digital conversion module (4006) is connected with the load cell (4001), the ultrasonic distance sensor (4002), the level sensor (4003), the laser distance sensor (4004), the limiter ( 4005) is connected, and the other end is connected to the controller (8) for communication; The power supply system (100) is a vehicle traveling control system (2001), an overall micro-rotation control system (2002), a translation control system (2005), a rotation control system (2003), a hoisting control system (2004), and a driving wheel (4) , Micro steering motor (43), traveling motor (713), rotating motor (721), electric hoist (73), load cell (4001), ultrasonic distance sensor (4002), level sensor (4003), laser distance measurement The sensor (4004), the limiter (4005) and the analog-to-digital conversion module (4006) are powered. 9. The control system of a tunnel prefabricated under-rail structure assembly trolley according to claim 8, further comprising a lighting system (500) and a sound and light alarm system (600); The sound and light alarm system (600) includes an alarm device and a color flashing light; the alarm device and the color flashing light are all connected in communication with the controller (8); The power supply system (100) supplies power to the alarm, the color flash and the lighting system (500). 10 . The control system for a tunnel prefabricated under-rail structure assembling trolley according to claim 9 , wherein the controller is a Siemens PLC-200 series controller. 11 .

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