CN217711815U - Movable base vehicle for box girder end construction robot - Google Patents
Movable base vehicle for box girder end construction robot Download PDFInfo
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- CN217711815U CN217711815U CN202221991214.6U CN202221991214U CN217711815U CN 217711815 U CN217711815 U CN 217711815U CN 202221991214 U CN202221991214 U CN 202221991214U CN 217711815 U CN217711815 U CN 217711815U
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Abstract
The utility model discloses a movable base vehicle for a box girder end construction robot, which comprises a vehicle truss, a driving wheel group, a robot longitudinal moving mechanism arranged on the vehicle truss, four telescopic supporting columns, a supporting and traversing mechanism arranged at the rear end of the bottom of the vehicle truss and a laser ranging mechanism arranged on the side wall of the vehicle truss; the supporting and traversing mechanism comprises a temporary telescopic bottom support, a mounting frame, a slide rail in sliding fit with the mounting frame and a double-rod piston type hydraulic telescopic oil cylinder arranged in the mounting frame in a penetrating mode. The utility model realizes the fine adjustment of the position of the car truss after parking by arranging the supporting and traversing mechanism, and ensures that the longitudinal moving mechanism on the car truss can be arranged in parallel with the end surface of the box girder, thereby ensuring the subsequent construction effect; and the longitudinal moving mechanism is combined to enlarge the longitudinal moving range of the construction robot on the car truss, so that the car truss is prevented from being moved and positioned for many times during the construction of one box girder end face, thereby reducing the construction operation steps and greatly improving the construction efficiency.
Description
Technical Field
The utility model belongs to the technical field of the case roof beam construction, concretely relates to case roof beam tip construction robot is with removing base car.
Background
In the process of processing the prefabricated box girder, a plurality of processing operations are required to be carried out on the end part of the prefabricated box girder, so that various box girder end part construction robots are derived, such as a box girder end face spraying robot, an anchor recess Kong Zaomao robot, an anchor recess hole steel strand cutting robot and the like. In the prior art, the position of the transport trolley bearing the construction robot needs to be adjusted repeatedly before positioning, so that the construction robot on the transport trolley can be ensured to be over against the end face of the box girder, and further the subsequent construction effect is ensured. However, this method is time consuming, the positioning effect is not accurate, when the construction robot needs to move in the width direction of the box girder, the transportation trolley needs to be moved, and the transportation trolley needs to be positioned again after moving, so that the operation is complicated, only coarse positioning is realized, and the using effect is not good.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a mobile base vehicle for a box girder end construction robot aiming at the defects in the prior art, which has simple structure, reasonable design and strong practicability, realizes the fine adjustment of the position of a vehicle truss after parking by arranging a supporting and traversing mechanism, and ensures that a longitudinal moving mechanism on the vehicle truss can be arranged in parallel with the end surface of the box girder, thereby ensuring the subsequent construction effect; and the longitudinal moving mechanism is combined to enlarge the longitudinal moving range of the construction robot on the car truss, so that the car truss is prevented from being moved and positioned for many times during the construction of one box girder end face, thereby reducing the construction operation steps and greatly improving the construction efficiency.
In order to solve the technical problem, the utility model adopts the technical scheme that: the utility model provides a case roof beam tip construction robot is with removing base car which characterized in that: the device comprises a vehicle truss, a driving wheel group arranged at the bottom of the vehicle truss, a robot longitudinal moving mechanism arranged on the vehicle truss, four telescopic support columns respectively arranged at four corners of the bottom of the vehicle truss, a support transverse moving mechanism arranged at the rear end of the bottom of the vehicle truss and a laser ranging mechanism arranged on the side wall of the vehicle truss, wherein the laser ranging mechanism is used for measuring the distance between two ends of one side, close to a box girder, of the vehicle truss and the box girder;
the support sideslip mechanism includes the flexible end support of interim, sets up at the mounting bracket at flexible end support top of interim, with mounting bracket sliding fit's slide rail and wear to establish in the mounting bracket and be the double-rod piston hydraulic stretching hydro-cylinder that the level was laid, double-rod piston hydraulic stretching hydro-cylinder with the longitudinal movement mechanism of robot is and lays perpendicularly, and the slide rail is installed on the car truss, and the cylinder body and the mounting bracket of double-rod piston hydraulic stretching hydro-cylinder are connected, and the end that stretches out of two piston rods of double-rod piston hydraulic stretching hydro-cylinder all is connected with the car truss.
Foretell box girder end construction robot is with removing base car, its characterized in that: laser rangefinder mechanism is including setting up first laser range finder and the second laser rangefinder that is close to case roof beam one side at the car truss, and first laser rangefinder is located car truss front end, and the second laser rangefinder is located car truss rear end, and first laser rangefinder and second laser rangefinder all are connected with the display, the display includes the microcontroller of being connected with first laser rangefinder and second laser rangefinder electricity and the display screen of being connected with microcontroller.
Foretell box girder end construction robot is with removing base car, its characterized in that: the top of the car truss is provided with a top cover, the longitudinal movement mechanism of the robot comprises a longitudinal movement track arranged on the upper surface of the top cover, a sliding seat sliding along the longitudinal movement track and a sliding control mechanism used for controlling the sliding seat to slide along the longitudinal movement track, a bottom plate used for installing the construction robot is arranged on the sliding seat, the sliding control mechanism comprises a rack arranged in parallel with the longitudinal movement track and a driving motor arranged on the bottom plate and connected with the rack in a transmission manner, and a fluted disc meshed with the rack is arranged on a rotating shaft of the driving motor.
Foretell box girder end construction robot is with removing base car, its characterized in that: and the two ends of the longitudinal moving track are provided with plugs.
Foretell box girder end construction robot is with removing base car, its characterized in that: the number of the longitudinal moving tracks is two, and one longitudinal moving track is provided with two sliding seats.
Foretell box girder end construction robot is with removing base car, its characterized in that: the car truss comprises two main longitudinal beams which are arranged in parallel and an auxiliary truss which is connected to the periphery of the two main longitudinal beams, and the double-rod piston type hydraulic telescopic oil cylinder and the sliding rail are arranged between the two main longitudinal beams and are vertically arranged with the main longitudinal beams.
Compared with the prior art, the utility model beneficial effect do: the utility model has simple structure, realizes the fine adjustment of the position of the car truss after parking by arranging the supporting and traversing mechanism, and ensures that the longitudinal moving mechanism on the car truss can be arranged in parallel with the end surface of the box girder, thereby ensuring the subsequent construction effect; and the longitudinal moving range of the construction robot on the car truss is enlarged by combining a longitudinal moving mechanism, and the car truss is prevented from being moved and positioned for many times during the construction of one box girder end face, so that the construction operation steps are reduced, and the construction efficiency is greatly improved.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic view of the three-dimensional structure of the present invention.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a schematic structural diagram of the longitudinal moving mechanism of the robot of the present invention.
Fig. 4 is a schematic structural view of the support traversing mechanism of the present invention.
Description of reference numerals:
1, turning a truss; 2-a driving wheel set; 3-a telescopic supporting column;
4, temporarily stretching the bottom support; 5-mounting a frame; 6-a slide rail;
7-double-rod piston type hydraulic telescopic oil cylinder; 8-a first laser rangefinder;
9-a second laser rangefinder; 10-a display;
11-a top cover; 12-a longitudinal movement track;
13-a slide; 14-a base plate; 15-a rack;
16-a drive motor; 17-a fluted disc; 18-plug;
19-main stringer; 20-auxiliary truss; 23-support leg.
Detailed Description
As shown in fig. 1 to 4, the utility model comprises a vehicle truss 1, a driving wheel set 2 installed at the bottom of the vehicle truss 1, a robot longitudinal moving mechanism arranged on the vehicle truss 1, four telescopic supporting columns 3 respectively arranged at four corners of the bottom of the vehicle truss 1, a supporting and traversing mechanism arranged at the rear end of the bottom of the vehicle truss 1 and a laser ranging mechanism arranged on the side wall of the vehicle truss 1, wherein the laser ranging mechanism is used for measuring the distance between the two ends of one side of the vehicle truss 1 close to a box girder and the box girder;
support sideslip mechanism including the flexible end opening 4 temporarily, set up at the mounting bracket 5 at the flexible end opening 4 top temporarily, with mounting bracket 5 sliding fit's of mounting bracket slide rail 6 and wear to establish in mounting bracket 5 and be the double-rod piston hydraulic stretching hydro-cylinder 7 that the level was laid, double-rod piston hydraulic stretching hydro-cylinder 7 with the longitudinal movement mechanism of robot is and lays perpendicularly, and slide rail 6 is installed on car truss 1, and the cylinder body and the mounting bracket 5 of double-rod piston hydraulic stretching hydro-cylinder 7 are connected, and the end that stretches out of two piston rods of double-rod piston hydraulic stretching hydro-cylinder 7 all is connected with car truss 1.
In this embodiment, the length of the car truss 1 is not less than the length of the end face of the box girder.
The construction robot comprises a mechanical arm and a working head arranged at the front end of the mechanical arm, when the working head is a paint sprayer, the construction robot is a box girder end face spraying robot, when the working head is a roughening cutter head, the construction robot is an anchor hole Kong Zaomao robot, and when the working head is a steel strand cutting head, the construction robot is an anchor hole steel strand cutting robot; the working heads of the construction robot all need to move in the whole range of the end face of the box girder, so that the longitudinal moving mechanism of the robot is arranged, the longitudinal moving range of the construction robot is enlarged under the condition that the position of the car truss 1 is fixed, the position of the car truss 1 is prevented from being frequently corrected, and the construction speed is improved.
In this embodiment, the driving wheel set 2 may be a front driving wheel set in the prior art, and the front wheel of the driving wheel set 2 is a steering wheel.
In this embodiment, T type spout has on the slide rail 6, it establishes to have the card on the mounting bracket 5 lug in the T type spout guarantees the smooth and easy slip of mounting bracket 5 when avoiding mounting bracket 5 and slide rail 6 to drop.
In this embodiment, the telescopic supporting column 3 and the temporary telescopic bottom support 4 are both hydraulic cylinders, and the bottom of the telescopic end of the telescopic supporting column 3 and the bottom of the temporary telescopic bottom support 4 are both provided with support legs 23 for preventing skidding.
In this embodiment, the diameters of the two piston rods of the double-rod piston type hydraulic telescopic cylinder 7 are the same.
In this embodiment, under the driving of the driving wheel set 2, the advancing direction of the car truss 1, that is, the direction of the car head is taken as the front end, the retreating direction of the car truss 1 is taken as the rear end, the width direction of the car truss 1 is taken as the transverse direction, and the length direction of the car truss 1 is taken as the longitudinal direction. Because the parking position of the rear end of the vehicle is not ideal in the parking process, the supporting and traversing mechanism is arranged at the rear end of the bottom of the vehicle truss 1 and used for adjusting the distance between the rear end of the vehicle truss 1 and the box girder, so that the construction robot on the mobile base vehicle can correctly face the end face of the box girder, and the construction precision is ensured.
It should be noted that the fine adjustment of the position of the car truss 1 after parking is realized by arranging the supporting and traversing mechanism, and the longitudinal moving mechanism on the car truss 1 can be arranged in parallel with the end face of the box girder, so that the subsequent construction effect is ensured;
the longitudinal moving range of the construction robot on the car truss 1 is enlarged by arranging the longitudinal moving mechanism, and the car truss 1 is prevented from being moved and positioned for many times during construction of one box girder end face, so that the construction operation steps are reduced, and the construction efficiency is greatly improved.
In this embodiment, laser rangefinder constructs including setting up first laser rangefinder 8 and the second laser rangefinder 9 that is close to case roof beam one side at car truss 1, first laser rangefinder 8 is located 1 front end of car truss, and second laser rangefinder 9 is located 1 rear end of car truss, and first laser rangefinder 8 and second laser rangefinder 9 all are connected with display 10, display 10 includes the microcontroller of being connected with first laser rangefinder 8 and second laser rangefinder 9 electricity and the display screen of being connected with microcontroller.
It should be noted that, as shown in fig. 1, the whole vehicle truss 1 is a cubic frame, so one side of the vehicle truss 1 is flat, and a connection line between the measuring end of the first laser distance meter 8 and the measuring end of the second laser distance meter 9 located on the same side of the vehicle truss 1 is arranged in parallel with the longitudinal moving rail 12.
In this embodiment, will be located first laser range finder 8 and second laser range finder 9 of car truss 1 homonymy and record as a range finding group, the range finding group all can be installed to the both sides of car truss 1, makes car truss 1 be close to the box girder parking back, no matter the locomotive is forward or the locomotive is backward, has a set of range finding group can measure the both ends of one side that car truss 1 is close to the box girder and the interval between the box girder.
In this embodiment, a top cover 11 is arranged at the top of the car truss 1, the robot longitudinal movement mechanism includes a longitudinal movement rail 12 arranged on the upper surface of the top cover 11, a sliding seat 13 sliding along the longitudinal movement rail 12, and a sliding control mechanism for controlling the sliding seat 13 to slide along the longitudinal movement rail 12, a bottom plate 14 for installing the construction robot is arranged on the sliding seat 13, the sliding control mechanism includes a rack 15 arranged in parallel with the longitudinal movement rail 12 and a driving motor 16 arranged on the bottom plate 14 and in transmission connection with the rack 15, and a fluted disc 17 meshed with the rack 15 is arranged on the rotating shaft of the driving motor 16.
In this embodiment, plugs 18 are disposed at two ends of the longitudinal moving rail 12.
It should be noted that the bottom plate 14 is prevented from being separated by arranging the stopper 18 to limit the movement of the sliding base 13, and the safety of the construction robot in the longitudinal movement process is ensured.
In this embodiment, the number of the longitudinal moving rails 12 is two, and one longitudinal moving rail 12 is provided with two sliders 13.
In this embodiment, the four sliders 13 on the two longitudinal moving rails 12 are used to support the bottom plate 14 for sliding, so as to ensure the moving stability of the construction robot with heavy self weight on the bottom plate 14.
In this embodiment, the car truss 1 includes two main longitudinal beams 19 arranged in parallel and an auxiliary truss 20 connected to the peripheral sides of the two main longitudinal beams 19, and the double-rod piston type hydraulic telescopic cylinder 7 and the slide rail 6 are both arranged between the two main longitudinal beams 19 and arranged perpendicular to the main longitudinal beams 19.
In the embodiment, two longitudinal moving rails 12 are respectively installed in the area of the top cover 11 on the top of the two main longitudinal beams 19, and the bearing capacity of the longitudinal moving rails 12 is ensured under the support of the main longitudinal beams 19.
In this embodiment, the main longitudinal beam 19 is made of square steel, and a piston rod of the double-rod piston type hydraulic telescopic cylinder 7 is detachably connected with the main longitudinal beam 19 through a bolt.
When the utility model is used in practice, firstly the driving wheel set 2 controls the whole moving base vehicle to move to a working area close to the box girder, after the vehicle is stopped, the temporary telescopic bottom support 4 extends to jack the rear end of the vehicle truss 1, and at the moment, the front steering wheel of the driving wheel set 2 and the temporary telescopic bottom support 4 are triangular supports; then, a first laser distance meter 8 and a second laser distance meter 9 on the side, close to the box girder, of the car truss 1 are started, a display 10 displays measurement data of the first laser distance meter 8 and the second laser distance meter 9, when the actual measurement distance of the first laser distance meter 8 at the front end of the car truss 1 is larger than the actual measurement distance of the second laser distance meter 9 at the rear end of the car truss 1, a piston rod on the right side of the double-rod piston type hydraulic telescopic cylinder 7 is controlled to extend, at the moment, the piston rod on the left side retracts synchronously to drive the rear end of the car truss 1 to move in the direction far away from the box girder until the display 10 displays that the actual measurement distances of the first laser distance meter 8 and the second laser distance meter 9 are the same, and at the moment, the operation of the double-rod piston type hydraulic telescopic cylinder 7 is stopped; the four telescopic supporting columns 3 are controlled to extend, the whole vehicle truss 1 is jacked up, the top of the vehicle truss 1 is made to be horizontal, then the temporary telescopic bottom supports 4 retract, and the positioning of the base vehicle is completely moved; when the measured distance of the first laser distance meter 8 is smaller than the measured distance of the second laser distance meter 9, the adjustment direction is opposite to the above adjustment direction.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.
Claims (6)
1. The utility model provides a case roof beam tip construction robot is with removing base car which characterized in that: the robot comprises a vehicle truss (1), a driving wheel set (2) installed at the bottom of the vehicle truss (1), a robot longitudinal moving mechanism arranged on the vehicle truss (1), four telescopic supporting columns (3) respectively arranged at four corners of the bottom of the vehicle truss (1), a supporting and traversing mechanism arranged at the rear end of the bottom of the vehicle truss (1) and a laser ranging mechanism arranged on the side wall of the vehicle truss (1), wherein the laser ranging mechanism is used for measuring the distance between the two ends of one side, close to a box girder, of the vehicle truss (1) and the box girder;
support sideslip mechanism including interim flexible base prop (4), set up at mounting bracket (5) at interim flexible base prop (4) top, with mounting bracket (5) sliding fit's slide rail (6) and wear to establish in mounting bracket (5) and be the flexible hydro-cylinder of double-rod piston (7) that the level was laid, double-rod piston hydraulic stretching hydro-cylinder (7) with the longitudinal movement mechanism of robot is and lays perpendicularly, and slide rail (6) are installed on car truss (1), and the cylinder body and mounting bracket (5) of double-rod piston hydraulic stretching hydro-cylinder (7) are connected, and the end that stretches out of two piston rods of double-rod piston hydraulic stretching hydro-cylinder (7) all is connected with car truss (1).
2. The mobile base car for a box girder end construction robot according to claim 1, wherein: laser rangefinder mechanism is including setting up first laser rangefinder (8) and second laser rangefinder (9) that are close to case roof beam one side in car truss (1), and first laser rangefinder (8) are located car truss (1) front end, and second laser rangefinder (9) are located car truss (1) rear end, and first laser rangefinder (8) and second laser rangefinder (9) all are connected with display (10), display (10) include with first laser rangefinder (8) and second laser rangefinder (9) the electricity be connected microcontroller and the display screen of being connected with microcontroller.
3. The mobile base car for a box girder end construction robot according to claim 1, wherein: the top of the car truss (1) is provided with a top cover (11), the longitudinal movement mechanism of the robot comprises a longitudinal movement track (12) arranged on the upper surface of the top cover (11), a sliding seat (13) sliding along the longitudinal movement track (12) and a sliding control mechanism used for controlling the sliding seat (13) to slide along the longitudinal movement track (12), a bottom plate (14) used for installing the construction robot is arranged on the sliding seat (13), the sliding control mechanism comprises a rack (15) arranged in parallel with the longitudinal movement track (12) and a driving motor (16) arranged on the bottom plate (14) and in transmission connection with the rack (15), and a fluted disc (17) meshed with the rack (15) is arranged on a rotating shaft of the driving motor (16).
4. The mobile base car for a box girder end construction robot according to claim 3, wherein: and plugs (18) are arranged at two ends of the longitudinal moving track (12).
5. The mobile base car for a box girder end construction robot according to claim 3, wherein: the number of the longitudinal moving rails (12) is two, and one longitudinal moving rail (12) is provided with two sliding seats (13).
6. The mobile base vehicle for the box girder end construction robot according to claim 1, wherein: the vehicle truss (1) comprises two main longitudinal beams (19) which are arranged in parallel and an auxiliary truss (20) connected to the peripheral sides of the two main longitudinal beams (19), and the double-rod piston type hydraulic telescopic oil cylinder (7) and the sliding rail (6) are arranged between the two main longitudinal beams (19) and are vertically arranged with the main longitudinal beams (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221991214.6U CN217711815U (en) | 2022-07-31 | 2022-07-31 | Movable base vehicle for box girder end construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221991214.6U CN217711815U (en) | 2022-07-31 | 2022-07-31 | Movable base vehicle for box girder end construction robot |
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| Publication Number | Publication Date |
|---|---|
| CN217711815U true CN217711815U (en) | 2022-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221991214.6U Active CN217711815U (en) | 2022-07-31 | 2022-07-31 | Movable base vehicle for box girder end construction robot |
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| CN (1) | CN217711815U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116005505A (en) * | 2023-01-10 | 2023-04-25 | 中铁四局集团第五工程有限公司 | Ballastless track rail bearing table detection device |
-
2022
- 2022-07-31 CN CN202221991214.6U patent/CN217711815U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116005505A (en) * | 2023-01-10 | 2023-04-25 | 中铁四局集团第五工程有限公司 | Ballastless track rail bearing table detection device |
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