CN216038511U - Mechanical arm combined operation vehicle - Google Patents
Mechanical arm combined operation vehicle Download PDFInfo
- Publication number
- CN216038511U CN216038511U CN202121035319.XU CN202121035319U CN216038511U CN 216038511 U CN216038511 U CN 216038511U CN 202121035319 U CN202121035319 U CN 202121035319U CN 216038511 U CN216038511 U CN 216038511U
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- longitudinal
- transverse
- mechanical arm
- panel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Lining And Supports For Tunnels (AREA)
Abstract
The utility model discloses a mechanical arm combined operation vehicle, which comprises: the three support frames are parallel, and two adjacent support frames are connected through a plurality of longitudinal beams arranged at intervals; transverse slideways and longitudinal mutual channels are arranged on the longitudinal beams and the cross beams of the support frame along the directions; a lane change area is formed between two adjacent longitudinal slideways at the left end and the right end. A mechanical arm walking lifting platform is arranged on the transverse slideway or the longitudinal slideway, and comprises two plate bodies which are arranged up and down, and the two plate bodies are horizontal; a plurality of vertical telescopic rods are arranged between the two plate bodies and are used for driving the upper plate to ascend or descend; a mechanical arm is arranged on the upper layer plate; the bottom of the lower plate body is provided with a pulley. The mechanical arm combined operation vehicle achieves the purposes of quickly and efficiently replacing the lining and reducing the labor intensity.
Description
Technical Field
The utility model belongs to the technical field of tunnel disease treatment, and particularly relates to a mechanical arm combined operation vehicle.
Background
In the construction process of the transportation tunnel, the transportation tunnel is limited by the technical conditions at that time, a local area often has some slight defects, and with the continuous increase of the service life of the tunnel after the tunnel is built, the slight defects generated in the construction process become more and more serious under the comprehensive action of the change of passing vehicles and environments and develop into tunnel diseases, so that the driving safety is influenced. Therefore, the development of the disease control of the existing transportation tunnel becomes a big problem which the operation and maintenance chief responsible department has to face.
The tunnel disease treatment is a technical work with strong specialty, and not only needs professional maintainers, but also needs more advanced disease treatment equipment. The high-speed railway tunnel is in an operation state in most of one day, only hours in the morning can be used as a skylight point for carrying out tunnel disease treatment operation, the skylight time is short, the preparation before operation and the clearing time after operation are removed, the time really used for disease treatment is usually only 2-4 hours, the effective time of some tunnels is even less than 2 hours, and the skylight point is not available every day. Therefore, how to sufficiently and efficiently utilize the limited skylight time to quickly treat the tunnel diseases is very important, and a device which can reduce the labor intensity and has short construction time is urgently needed.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a mechanical arm combined operation vehicle to achieve the purposes of quickly and efficiently replacing a bushing and reducing the labor intensity aiming at the defects of the prior art.
In order to solve the technical problem, the technical scheme adopted by the utility model is that the mechanical arm combined operation vehicle comprises: the supporting frames are arranged on the flat car and are arranged in three rows at intervals in the front-back direction, each supporting frame is a trapezoidal frame with a large upper end and a small lower end, the three supporting frames are parallel, and two adjacent supporting frames are connected through a plurality of longitudinal beams arranged at intervals; a transverse slideway and a longitudinal slideway are arranged on each longitudinal beam and the cross beam of the support frame along each direction; a lane change area is formed between two adjacent longitudinal slideways at the left end and the right end.
A mechanical arm walking lifting platform is arranged on the transverse slideway or the longitudinal slideway, and comprises two plate bodies which are arranged up and down, and the two plate bodies are horizontal; a plurality of vertical telescopic rods are arranged between the two plate bodies and are used for driving the upper plate to ascend or descend; a mechanical arm is arranged on the upper layer plate; and pulleys are arranged at the bottom of the lower plate body and used for driving the mechanical arm walking lifting platform to walk on the transverse slide way or the longitudinal slide way in a sliding manner.
Furthermore, vertical second hydraulic legs are fixedly connected to the bottom of the panel of the flat car and located at four corners of the flat car, and each second hydraulic leg is used for supporting the panel; a transverse hydraulic support frame is arranged at the bottom of the panel and between the second hydraulic support legs at the left end and the right end; the transverse moving hydraulic support frame comprises four first hydraulic support legs, the four first hydraulic support legs are vertically arranged and are arranged in two rows transversely and are arranged in two rows longitudinally, the top of each row of the two first hydraulic support legs is connected with the top of each row of the two first hydraulic support legs through a connecting cross beam, the two ends of each connecting cross beam extend to the far end of the end where the connecting cross beam is located, and the two ends of each connecting cross beam are connected with the bottom of the panel in a sliding mode through sliding hanging pieces; and a bidirectional driving device is arranged on the transverse hydraulic support frame.
When the first hydraulic support leg leaves the ground in the tunnel and the bottom of the second hydraulic support leg is positioned on the ground in the tunnel, the bidirectional driving device is used for providing power to drive the transverse hydraulic support frame to transversely move left and right on the sliding hanging piece; when the bottom of the second hydraulic support leg leaves the ground in the tunnel and the bottom of the first hydraulic support leg is located in the ground in the tunnel, the bidirectional driving device is used for providing power to drive the panel to move left and right transversely.
Furthermore, the two-way driving device is two double-rod hydraulic oil cylinders which are arranged at intervals from front to back, and each double-rod hydraulic oil cylinder is arranged on a longitudinal beam between two first hydraulic supporting legs in the same row and is parallel to the connecting longitudinal beam; one end of the double-rod hydraulic oil cylinder is connected with the bottom of the panel through a hinged lug plate, and the other end of the double-rod hydraulic oil cylinder is connected with the connecting beam through a hinged lug plate.
Furthermore, the four sliding hanging pieces are L-shaped plates and are arranged on the wall surface of the bottom of the panel, and the two rows of sliding hanging pieces are arranged horizontally and two rows of sliding hanging pieces are arranged vertically; the vertical arms of the L-shaped plates are vertically fixed on the bottom wall surface of the panel, and the horizontal arms of the L-shaped plates in the two rows face to opposite directions and face to the opposite ends of the ends where the L-shaped plates are located; the distance between the ends of the horizontal arms of the two "L" shaped plates in a row, which horizontal arms carry the two ends of the connecting beam, corresponds to the length of the connecting beam.
Furthermore, a chassis system is arranged at the bottom of the panel and in the middle and comprises a box body with an opening at the lower end, the upper end of the box body is fixedly connected with the bottom of the panel, vertical box body supporting springs are arranged at the left end and the right end in the box body, wheel pairs are arranged at the lower end of each box body supporting spring, and the distance between the two wheel pairs on the left straight line and the right straight line is consistent with the width of a track in a railway tunnel; and a chain transmission system is arranged on each wheel pair and is used for driving the wheel pairs to slide back and forth on the track.
The utility model has the following advantages: (1) the mechanical arm system replaces manual operation, work efficiency can be greatly improved, safety is high, and original short skylight operation time is extended in efficiency. (2) The operation vehicle travels on the track and transversely moves from the track on one side to the track on the other side, so that the transportation of other disease treatment materials cannot be hindered due to long-time occupation of the track; and the tunnel can automatically move transversely to the transverse channel in the tunnel after the operation in the tunnel is finished, so that the tunnel is convenient to use next time. Personnel and auxiliary lifting appliances are not needed in the whole process, so that resources and cost are saved. (3) The operation vehicle has the functions of transverse moving and lifting extension, and can realize the repair work of the tunnel lining universe diseases. (4) The small-sized equipment and tools required by disease control can be directly placed on the operation rack and stored in the tunnel transverse hole along with the operation vehicle, and the equipment and tools do not need to be moved up and down during operation, so that time and labor are saved.
Drawings
FIG. 1 is a schematic view of a robotic arm combine;
FIG. 2 is a top view of a robotic arm work vehicle travel slide;
FIG. 3 is a front view of the flat car of the present invention;
FIG. 4 is a schematic structural view of a chassis system of the body of the flat car according to the present invention;
FIG. 5 is a top plan view of the chassis system of the body of the flat car of the present invention;
wherein: 2. platform lorry, 2a. first hydraulic leg, 2b. second hydraulic leg, 2c. chassis system, 2c1Wheel pair, 2c2Case supporting spring, 2c3Case, 2c4A chain transmission system, 2d a panel, 2e a traversing device, 3a support frame, 5 a mechanical arm walking lifting platform and 5b a mechanical arm; 6a longitudinal slideway, 6b transverse slideway, 6c lane change area.
Detailed Description
The present invention relates to a robot arm combination working vehicle, as shown in fig. 1 and 2, comprising: the three-row support frames 3a are arranged on the flat car 2 and are arranged at intervals in the front-back direction, each support frame is a trapezoidal frame with a large upper end and a small lower end, the three support frames are parallel, and two adjacent support frames 3a are connected through a plurality of longitudinal beams arranged at intervals; and the flat car 2 is arranged in the railway tunnel 1 and moves forwards and backwards or transversely left and right along the longitudinal direction of the railway tunnel 1.
A transverse slideway 6b and a longitudinal slideway 6a are arranged on the longitudinal beams and the cross beam of the support frame 3a along the directions; a lane change area 6c is formed between the adjacent two longitudinal runners at the left and right ends.
A mechanical arm walking lifting platform 5 is arranged on the transverse slideway 6b or the longitudinal slideway 6a, the mechanical arm walking lifting platform 5 comprises two plate bodies which are arranged up and down, and the two plate bodies are horizontal; a plurality of vertical telescopic rods are arranged between the two plate bodies and are used for driving the upper plate to ascend or descend; a mechanical arm 5b is arranged on the upper layer plate; and pulleys are arranged at the bottom of the lower plate body and used for driving the mechanical arm walking lifting platform 5 to slide and walk on the transverse slide way 6b or the longitudinal slide way 6a.
As shown in fig. 3 and 4, at the bottom of the panel 2d of the flat car 2, at four corners of the panel, vertically-oriented second hydraulic legs 2b are fixedly connected, and each second hydraulic leg 2b is used for supporting the panel 2d.
A transverse hydraulic support frame is arranged at the bottom of the panel 2d and between the second hydraulic support legs 2b at the left end and the right end; the transverse moving hydraulic support frame comprises four first hydraulic support legs 2a, the four first hydraulic support legs 2a are vertically arranged and are transversely arranged in two rows and longitudinally arranged in two rows, the top between the two first hydraulic support legs 2a in each row is connected through a connecting crossbeam, two ends of each connecting crossbeam extend to the far end of the end where the connecting crossbeam is located, and two ends of each connecting crossbeam are connected with the bottom of the panel 2d in a sliding mode through sliding hangers; a bidirectional driving device is arranged on the transverse hydraulic support frame.
When the first hydraulic support leg 2a leaves the ground in the tunnel and the bottom of the second hydraulic support leg 2b is positioned on the ground in the tunnel, the bidirectional driving device is used for providing power to drive the transverse hydraulic support frame to transversely move left and right on the sliding hanging piece. When the bottom of the second hydraulic leg 2b leaves the ground in the tunnel and the bottom of the first hydraulic leg 2a is located in the ground in the tunnel, the bidirectional driving device is used for providing power to drive the panel 2d to move left and right transversely.
The two-way driving device is two double-rod hydraulic oil cylinders which are arranged at intervals from front to back, and each double-rod hydraulic oil cylinder is arranged on a longitudinal beam between two first hydraulic supporting legs 2a in the same row and is parallel to a connecting longitudinal beam; one end of the double-rod hydraulic oil cylinder is connected with the bottom of the panel 2d through a hinged lug plate, and the other end of the double-rod hydraulic oil cylinder is connected with the connecting beam through a hinged lug plate.
The four sliding hangers are L-shaped plates, are arranged on the wall surface at the bottom of the panel 2d, and are arranged in two rows transversely and two columns longitudinally; the vertical arms of which are fixed perpendicularly to the bottom wall of the panel 2d, the horizontal arms of the two rows of "L" shaped plates being oriented oppositely and towards the opposite end of the end where they are located; the distance between the ends of the horizontal arms of the two "L" shaped plates in a row, which horizontal arms carry the two ends of the connecting beam, corresponds to the length of the connecting beam.
As shown in fig. 5, a chassis system 2c is further provided at the bottom and in the middle of the panel 2d, and the chassis system 2c includes a box body 2c with an opening at the lower end3Case 2c3Is fixedly connected with the bottom of the panel 2d, and is arranged in the box body 2c3In the inner part, and the left and right ends are provided with vertical box body supporting springs 2c2Supporting springs 2c in each case2Has a wheel pair 2c mounted at the lower end thereof1Two wheel pairs 2c on the same straight line from left to right1The spacing between the two is consistent with the width of the track in the railway tunnel; at each wheel pair 2c1Thereon is provided with a chain transmission system 2c4For driving the wheel pairs 2c1Sliding back and forth on the track.
The operation method of the mechanical arm combined operation vehicle comprises the following specific steps:
entering a tunnel: the mechanical arm combined operation vehicle enters the track 1f, travels on the track 1f and travels to the section where the damage is located.
The mechanical arm combined operation vehicle moves left and right: the bottom end of the first hydraulic support leg 2a is contracted upwards and leaves the ground in the tunnel 1; the transverse hydraulic support frame is erected on the sliding hanger; the driving device drives the transverse moving hydraulic support frame to move a distance towards the left end or the right end of the tunnel; after the movement, the bottom end of the first hydraulic leg 2a extends downward to the ground in the tunnel. The bottom end of the second hydraulic support leg 2b is contracted upwards and leaves the ground in the tunnel; transversely moving the hydraulic support frame support panel 2 d; the driving device drives the panel 2d to move towards the left end or the right end of the tunnel for a certain distance, and the moving distance is the same as the moving distance of the transverse moving hydraulic support frame; after moving, the bottom end of the second hydraulic support leg 2b extends downwards to the ground in the tunnel;
constructing the disease part by the mechanical arm: the mechanical arm walking lifting platform 5 slides left and right and back and forth along the transverse slide way (6b) and the longitudinal slide way (6a) to a disease part to be constructed, and works on the disease part, and slides left and right or back and forth in the working process, so that construction in the whole disease range is guaranteed; and at the position where the mechanical arm is inconvenient to construct, the construction is carried out by personnel.
And repeating the process of left and right movement to construct the position of the next disease. After the diseases are treated, the mechanical arm combined operation vehicle moves into the tunnel cross hole and is parked in the tunnel cross hole.
Claims (5)
1. A robotic arm combine, comprising: the supporting device comprises three rows of supporting frames (3a) which are arranged on a flat car (2) at intervals in the front-back direction, wherein each supporting frame is a trapezoidal frame with a large upper end and a small lower end, the three supporting frames are parallel, and two adjacent supporting frames (3a) are connected through a plurality of longitudinal beams arranged at intervals;
transverse slideways (6b) and longitudinal slideways (6a) are arranged on the longitudinal beams and the cross beams of the support frame (3a) along the directions of the longitudinal beams and the cross beams; a lane change area (6c) is formed between two adjacent longitudinal slideways at the left end and the right end;
a mechanical arm walking lifting platform (5) is arranged on the transverse slideway (6b) or the longitudinal slideway (6a), the mechanical arm walking lifting platform (5) comprises two plate bodies which are arranged up and down, and the two plate bodies are horizontal; a plurality of vertical telescopic rods are arranged between the two plate bodies and are used for driving the upper plate to ascend or descend; a mechanical arm (5b) is arranged on the upper plate; and pulleys are arranged at the bottom of the lower plate body and used for driving the mechanical arm walking lifting platform (5) to slide and walk on the transverse slide way (6b) or the longitudinal slide way (6 a).
2. A robot arm combine vehicle according to claim 1, wherein vertically oriented second hydraulic legs (2b) are fixedly connected to the bottom of the deck (2d) of the platform vehicle (2) at the four corners thereof, each second hydraulic leg (2b) being adapted to support the deck (2 d);
a transverse hydraulic support frame is arranged at the bottom of the panel (2d) and between the second hydraulic support legs (2b) at the left end and the right end; the transverse moving hydraulic support frame comprises four first hydraulic support legs (2a), the four first hydraulic support legs (2a) are vertically arranged and are arranged in two rows transversely and arranged in two rows longitudinally, the top between the two first hydraulic support legs (2a) in each row is connected through a connecting beam, two ends of each connecting beam extend to the far end of the end where the connecting beam is located, and two ends of each connecting beam are connected with the bottom of the panel (2d) in a sliding mode through sliding hangers; a bidirectional driving device is arranged on the transverse hydraulic support frame;
when the first hydraulic leg (2a) leaves the ground in the tunnel and the bottom of the second hydraulic leg (2b) is positioned on the ground in the tunnel, the bidirectional driving device is used for providing power to drive the transverse hydraulic support frame to transversely move left and right on the sliding pendant;
when the bottom of the second hydraulic leg (2b) leaves the ground in the tunnel and the bottom of the first hydraulic leg (2a) is located in the ground in the tunnel, the bidirectional driving device is used for providing power to drive the panel (2d) to move left and right transversely.
3. A robotic arm working vehicle as claimed in claim 2, wherein the two-way drive means is two double-bar hydraulic rams mounted at spaced intervals fore and aft, each of said double-bar hydraulic rams being arranged on a longitudinal beam between two said first hydraulic legs (2a) in the same row, parallel to the connecting longitudinal beam; one end of the double-rod hydraulic oil cylinder is connected with the bottom of the panel (2d) through a hinged lug plate, and the other end of the double-rod hydraulic oil cylinder is connected with the connecting beam through a hinged lug plate.
4. A robot arm combine according to claim 3, wherein the number of the sliding suspension members is four, and the four sliding suspension members are arranged on the bottom wall surface of the panel (2d) and are arranged in two rows in the transverse direction and two columns in the longitudinal direction; the vertical arms of which are vertically fixed to the bottom wall of the panel (2d), the horizontal arms of the "L" -shaped plates of the two rows being oriented oppositely and towards the opposite end to the end where they are located; the distance between the ends of the horizontal arms of the two "L" shaped plates in a row, which horizontal arms carry the two ends of the connecting beam, corresponds to the length of the connecting beam.
5. A robot arm combine vehicle according to claim 4, wherein a chassis system (2c) is further provided at the bottom and in the middle of the panel (2d), said chassis system (2c) comprising a box (2c) open at the lower end3) Said box (2c)3) Is fixedly connected with the bottom of the panel (2d),in the box body (2c)3) A vertical box body supporting spring (2c) is arranged at the left end and the right end2) A spring (2c) is supported by each of the cases2) A wheel pair (2c) is arranged at the lower end of the wheel1) Two wheel pairs (2c) on the same straight line on the left and right1) The spacing between the two is consistent with the width of the track in the railway tunnel;
at each wheel pair (2c)1) On which a chain transmission system (2c) is arranged4) For driving said wheel pair (2c)1) Sliding back and forth on the track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121035319.XU CN216038511U (en) | 2021-05-14 | 2021-05-14 | Mechanical arm combined operation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121035319.XU CN216038511U (en) | 2021-05-14 | 2021-05-14 | Mechanical arm combined operation vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216038511U true CN216038511U (en) | 2022-03-15 |
Family
ID=80614245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121035319.XU Active CN216038511U (en) | 2021-05-14 | 2021-05-14 | Mechanical arm combined operation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216038511U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119145874A (en) * | 2024-11-07 | 2024-12-17 | 洛阳中铁强力机械有限公司 | A combined operation trolley for arch-anchoring and grouting and a construction method thereof |
-
2021
- 2021-05-14 CN CN202121035319.XU patent/CN216038511U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119145874A (en) * | 2024-11-07 | 2024-12-17 | 洛阳中铁强力机械有限公司 | A combined operation trolley for arch-anchoring and grouting and a construction method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105649654B (en) | Automatic hydraulic inverted arch trestle chassis and its construction method | |
| CN111022079A (en) | Trestle type full-section inverted arch two-lining trolley equipment and construction method thereof | |
| CN107009361A (en) | Gantry robot | |
| CN107725078B (en) | Mining face crossheading circulation self-moving advanced support system and track self-moving system | |
| CN210419104U (en) | Lifting workbench for hull machine maintenance | |
| CN209761465U (en) | Non-repeated support advance support and carrying complete equipment | |
| CN206419058U (en) | A kind of hydraulic bracket installation machine structure | |
| CN216038511U (en) | Mechanical arm combined operation vehicle | |
| CZ280313B6 (en) | Mobile device for removing or lying, as well as transport of track panels | |
| CN202508847U (en) | Self-driven hydraulic pushing lift truck | |
| RU2072015C1 (en) | Device for laying and replacing members of railway track and method for replacing members of railway track | |
| CN213740374U (en) | Self-walking track laying device | |
| CN113200063B (en) | Self-working track flat car for disease control of operation tunnel and operation method | |
| CN211342938U (en) | Trestle type full-section inverted arch two-lining trolley equipment | |
| CN107914731B (en) | Hydraulic car pusher for electric trailer and car pushing method | |
| CN112144332B (en) | Self-propelled track laying device | |
| DE3628154A1 (en) | Battery-changing device | |
| CN103510436B (en) | Base plate template rapid transfer device and rapid transfer process thereof | |
| CN214459645U (en) | Cross tunnel fortune roof beam car | |
| CN207448477U (en) | Gantry robot | |
| CN215042738U (en) | Flatbed capable of moving left and right | |
| CN112356759B (en) | Low-position girder transporting vehicle | |
| CN106545353B (en) | A kind of hydraulic bracket installation machine structure and its application | |
| CN213898337U (en) | Double-layer garage | |
| CN214005427U (en) | Lattice beam accurate adjusting device that takes one's place |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |