WO2012019325A1

WO2012019325A1 - Intelligent tunnel repair machine for crushing and loading

Info

Publication number: WO2012019325A1
Application number: PCT/CN2010/001350
Authority: WO
Inventors: 许世东
Original assignee: Xu Shidong
Priority date: 2010-08-11
Filing date: 2010-09-06
Publication date: 2012-02-16
Also published as: CN102312455A; CN102312455B

Abstract

An intelligent tunnel repair machine for crushing and loading includes a vehicle body part and an actuating mechanism. The drive device of the repair machine is a hydraulic drive device, and the hydraulic drive device is mounted on a table. The hydraulic drive device includes an anti-explosion diesel engine (42) and an oil pump (13). The output end of the anti-explosion diesel engine (42) is connected with the plunger of the oil pump (13) by a coupler. The output port of the oil pump (13) is communicated with the input port of an oil-way control valve through an input pipe (43). The oil-way control valve is an electromagnetic multi-way valve (9) mounted on the bracket (22) of the table. A wireless control device is connected with the electromagnetic multi-way valve (9). A voice alarm device (38) is mounted on the bracket (22) of the table. The input end of the voice alarm device (38) is connected with the actuating mechanism and the output end thereof is connected with a loudspeaker.

Description

Intelligent broken loading roadway repairing machine

Technical field

The invention is an intelligent broken loading roadway repairing machine.

Background technique

The current oil control valve of the crushing load roadway repairing machine generally adopts manual control, and the manual control valve generally adopts manual operation, so that it is difficult to maintain the consistency of movement when the undercover machine is walking, and the operation is complicated. The accuracy is not high.

Summary of the invention

The invention is an intelligent broken loading roadway repairing machine, which not only has convenient operation, but also has the control effect, can maintain the consistency of movement during walking, and can ensure safety and stability during driving.

The invention adopts the following technical solutions: an intelligent broken loading roadway repairing machine, which comprises a vehicle body part and an actuator, the vehicle body part comprises a worktable, a driving device, a traveling device and a fuel tank, and the driving device and the traveling device are driven The working platform is connected to the walking device through a chassis provided on the upper part of the traveling device, and the front portion of the working table is connected with the actuator. The executing mechanism mainly comprises an excavating arm and an operating head, and a rotating device is arranged between the excavating arm and the working table. The excavating arm comprises a boom, an arm and a boom, one end of the arm is connected to the operating head, the other end is connected with the boom, and a boom cylinder is arranged above the arm, and the telescopic end of the boom cylinder and the operating head For the rotary connection, the connecting end and the moving arm are rotationally connected, and the boom cylinder communicates with the oil inlet pipe and the oil return pipe through the connecting pipe I and the oil passage control valve of the actuator respectively, and the boom is respectively connected with the boom and the rotating device. The boom cylinder I and the boom cylinder II are arranged above the boom, and the telescopic end and the connecting end of the boom cylinder I are respectively connected with the boom and the boom Connected, the telescopic end of the boom cylinder II is rotatably connected with the boom, and a support is arranged at the tail of the excavating arm. The connecting end of the boom cylinder I and the support are rotationally connected, and the boom cylinder I passes through the connecting pipe II, large Arm cylinder II and oil control of the operating device The valve is connected with the oil inlet pipe and the oil return pipe, wherein the driving device is a hydraulic driving device, the hydraulic driving device is arranged on the working table, the hydraulic driving device comprises an explosion-proof diesel engine and an oil pump, and the output end of the explosion-proof diesel engine passes through the coupling The plunger of the oil pump is connected to the transmission, and the output port of the oil pump is connected to the input port of the oil passage control valve through the input pipe, the oil passage control valve is an electromagnetic multi-way valve, and the electromagnetic multi-way valve is disposed on the bracket of the worktable, in the electromagnetic A wireless control device is connected to the multi-way valve, the wireless control device includes a remote controller, a wireless receiving device, a wireless remote control transmitting device and a sensor, and the wireless remote control transmitting device is provided with a display screen, and the signal collecting end of the sensor is connected with the electromagnetic multi-way valve. The output end of the sensor is bidirectionally connected to the controller, and the controller and the wireless receiving device are bidirectionally connected. The wireless remote control transmitting device and the wireless receiving device are wirelessly connected, the remote controller is connected with the electromagnetic multi-way valve, and the wireless remote control transmitting device controls the operation. The signal is transmitted to the wireless receiving device, and the wireless receiving device packs the processed signal Transmitted to the bus, the controller receives the data transmitted by the wireless receiving device according to the address of the data, and collects the electromagnetic multi-channel wide signal sent by the sensor in real time, and outputs the driving signal after the processing to control the execution action of the electromagnetic multi-way valve. The bracket set on the workbench is provided with a voice alarm device, the input end of the voice alarm device is connected with the actuator, and the output end is connected with the speaker.

The wireless control device is a Hetronic industrial wireless remote control device based on the CANOpen communication protocol. The remote controller is an EPEC2023 remote controller. The operating head is a bucket, a breaker or a hook. The electromagnetic multi-way valve is respectively provided with a throttle valve between the connecting pipe I and the connecting pipe II. The slewing device comprises a horizontal torque transmission box, a rotating seat is arranged at a lower part of the horizontal torque transmission box, a vertical torque transmission box and a slewing bearing are connected to one side of the rotating seat, and the slewing bearing is connected with the support of the excavating arm, the vertical torque The transmission case drives the excavating arm to rotate by the slewing bearing, and the other side of the rotating base is connected to the bracket through the transmission shaft.

The walking device is provided with a prefabricated steel crawler belt, and a guide wheel, a tensioning cylinder, a supporting roller and a traveling motor are arranged in the assembled steel track from the front to the rear, and the guiding wheel is supported by the tensioning cylinder, One end of the tight cylinder is connected to the guide wheel, and the other end is provided with an oil-filled check valve, and a bulldozer is provided at the front of the traveling device. The shovel device, the dozer blade device includes a connecting rod and a shovel body, one end of the connecting rod is rotatably connected with the shovel body, the shovel body is the same width as the excavator, and the other end is provided with a shovel support on the bottom plate. A bulldozing cylinder is arranged above the connecting rod, and the telescopic end of the bulldozing cylinder is connected with the shovel body, and the connecting end is connected to the cylinder bracket provided on the chassis. The top of the fuel tank is provided with an air cleaner, a return filter cartridge and a tread plate. The voice alarm device comprises a control circuit, a voice chip, a power amplifying circuit and a speaker. The input end of the control circuit is connected to the actuator, the output end is connected to the voice chip, and the voice chip is connected to the speaker through the power amplifying circuit.

The invention has the following beneficial effects: The electromagnetic control multi-way valve is arranged on the operating device of the invention, and the electromagnetic multi-way valve is remotely controlled by the wireless control device, which not only ensures the consistency of the simultaneous operation of the two traveling motors, but also ensures that the multi-cylinders work simultaneously. When the cylinders are very independent, a throttle valve is arranged between the electromagnetic multi-way valve and the connecting pipe II and the connecting pipe I, so that the amount of oil can be adjusted as needed, and the display is provided on the wireless remote control launching device. This allows you to observe the context before and after, safe and reliable. The electromagnetic multi-way valve of the present invention is respectively provided with a throttle valve between the oil inlet pipe and the oil return pipe, so that the oil amount can be adjusted as needed. The excavating arm can realize a wide range of rotation. The maximum range of the boom rotation can reach 180 degrees, the maximum range of the arm rotation can reach 180 degrees, and the operating range of the operating head can reach 180 degrees, which can not only meet the labor of a small space. And it is safe and convenient to move and carry small equipment when working underground. The operating head of the invention can be replaced with a broken hammer and a fork claw, and the broken hammer can crush and repair the hard bottom plate, and the tunnel can be supported after the fork claw is replaced, so that the application range is wide and the adaptability is strong. The slewing device of the present invention is provided with a horizontal torque transmission box and a vertical torque transmission box, so that not only the vertical excavation operation but also the bottom of the device can be cleaned in a horizontal state, and the transmission torque is large. The underside of the undercover crawler of the present invention is provided with a dozer blade device, which can clean the ground or repair irregular roadways, and the dozer blade device is provided with a bulldozer cylinder, so that the shovel body can be raised or fallen. To adapt to different job needs. The line of the invention The walking device is provided with a assembled steel crawler belt, and a guiding wheel, a tensioning cylinder, a supporting roller and a traveling motor are arranged in the crawler from front to back. The guiding wheel is supported by the tensioning cylinder, and one end of the clamping cylinder and the guiding wheel are arranged. Connected, the other end is provided with oil-filled check valve, the assembled steel track has good wear resistance and work reliability, and the roller is in contact with the ground, which ensures the safety and stability during driving, the guide wheel Supported by a tensioning cylinder, this allows the travel unit to maintain a constant pre-tensioning force to accommodate different road surfaces. The top of the fuel tank of the invention is provided with an air filter and a return filter cartridge, so as to ensure the cleanliness of the system oil. The invention adopts the Hetronic industrial wireless remote control device based on the CANOpen communication protocol, which can work normally and reliably in a long-term harsh environment (such as high vibration, large temperature difference and humid environment), and has high reliability and safety. The invention adopts a hydraulic driving device, and the explosion-proof diesel engine of the hydraulic driving device drives the plunger to provide a hydraulic source for the whole hydraulic system, so that the whole machine has convenient walking, less failure, high power and hydraulic stability. The invention has a voice alarm device. It can use language alarm operation when starting to walk and lifting load, which improves safety and reliability.

Figure 1 is a schematic view of the structure of the present invention

2 is a schematic structural view of an actuator of the present invention

3 is a schematic structural view of a swing device of the present invention

Figure 4 is a schematic view showing the structure of the operating device of the present invention

Figure 5 is a schematic diagram of the wireless remote control of the present invention

6 is a schematic structural diagram of a voice alarm device of the present invention

detailed description

1, 2, 3, 4, 5 and 6, the present invention is a wirelessly controlled intelligent crushing load roadway repairing machine comprising a body portion and an actuator, the body portion including a work table, a driving device 13, a traveling device and a fuel tank 12, and an air cleaner 33 and a return oil filter cylinder 35 are provided at the top of the oil tank And the tread plate 36, the driving device is set as a hydraulic driving device, and the hydraulic driving device comprises an explosion-proof diesel engine 42 and an oil pump 13. The output end of the explosion-proof diesel engine 42 is connected to the plunger of the oil pump 13 through a coupling, and the output port of the oil pump 13 passes through The input pipe is in communication with the input port of the oil passage control valve 9, the explosion-proof diesel engine 42 is provided with a cable retracting device 41, and the traveling device is provided with a fabricated steel crawler belt 7 which is provided in the assembled steel crawler belt 7 from front to back. The guide wheel 23, the tension cylinder 24, the roller 25, the travel motor 26, the guide wheel 23 is supported by the tension cylinder 24, one end of the tension cylinder 24 is connected to the guide wheel, and the other end is provided with an oil check valve 27, which is driven. The device 13 is connected to the traveling device, and the working table is connected to the walking device through the chassis 1 provided on the upper part of the traveling device. The front part of the working table is connected with the actuator. The executing mechanism mainly comprises an excavating arm and an operating head, and the excavating arm and the working There is a turning device between the stages, the turning device comprises a horizontal torque transmission box 18, and a rotating seat 19 is arranged at a lower portion of the horizontal torque transmission box 18, and one side of the rotating seat 19 is connected with a hanging The straight torque transmission case 20 and the slewing bearing 21 are connected to the support 1 of the excavating arm. The vertical torque transmission case 20 drives the excavating arm to rotate by the slewing bearing 21, and the other side of the rotating seat 19 is connected to the bracket 22 through the transmission shaft. The excavating arm comprises a boom 3, an arm 4 and a boom 5, one end of the arm 4 is rotatably connected with the operating head, the other end is connected with the boom 5, and the boom cylinder 6 is arranged above the arm 4, The telescopic end of the arm cylinder 6 is rotatably connected with the operating head, the operating head is a bucket 17, a hammer or a hook, the connecting end is connected to the boom 5, and the boom cylinder 6 passes through the oil connecting the tube I 8 and the actuator. The road control valve is respectively connected with the oil inlet pipe 10 and the oil return pipe 11, and the boom 3 is respectively connected with the boom 5 and the rotating device, and the boom cylinder 1 14 and the boom cylinder II 15 are arranged above the boom 3. The telescopic end and the connecting end of the boom cylinder 1 14 are respectively rotatably connected with the boom 5 and the boom 3. The telescopic end of the boom cylinder II 15 is rotatably connected with the boom 3, and a support 2 is provided at the tail of the excavating arm. The connecting end of the boom cylinder I 14 is in rotational connection with the support 2, and the boom cylinder I 14 The oil passage control valve of the connecting pipe II 16 , the boom cylinder II 15 and the operating device communicates with the oil inlet pipe 10 and the oil return pipe 11 , the oil passage control valve is an electromagnetic multi-way valve 9 , and the electromagnetic multi-way valve is mounted on the work table. On the bracket 22 provided, the hydraulic source of the electromagnetic multi-way valve 9 is pumped by the oil pump The pipeline 40 is provided, and the oil returning through the pipeline 39 communicates with the oil return cylinder 35 on the oil tank 12 to enter the oil tank 12, the electromagnetic multi-way valve 9 is disposed on the bracket 22 of the worktable, and a language alarm control device is also installed on the upper portion of the bracket 22, A voice alarm is provided during walking and during overload hoisting, and a wireless control device is connected to the electromagnetic multi-channel 9 , and the wireless control device is a Hetronic industrial wireless remote control device based on the CANOpen communication protocol, and the wireless control device includes a remote controller and a wireless receiving device. The wireless remote control transmitting device and the sensor have a display screen on the wireless remote control transmitting device, and the remote controller is the EPEC2023 remote controller. The signal collecting end of the sensor is connected with the electromagnetic multi-way valve 9, and the output end of the sensor and the controller are bidirectionally connected, and the control is performed. The wireless receiving device is connected to the wireless receiving device 37 in two directions, the wireless remote transmitting device and the wireless receiving device 37 are wirelessly connected, the remote controller is connected to the electromagnetic multi-way valve 9, and the wireless remote transmitting device transmits the operation control signal to the wireless receiving device 37, and wirelessly receives The device 37 packages and transmits the processed signal to the bus, and the controller follows the data ground. The address receives the data transmitted by the wireless receiving device 37, and collects the electromagnetic multi-way valve 9 signal sent by the sensor in real time, and outputs a PWM driving signal after processing, and controls the electromagnetic multi-channel wide 9 execution action, and the electromagnetic multi-way valve and the connecting tube I respectively A throttle valve 34 is disposed between the connecting pipe and the connecting pipe II, and a bulldozer device is disposed at a front portion of the traveling device. The dozer blade device includes a connecting rod 28 and a shovel body 29, and one end of the connecting rod 28 and the shovel body 29 are Rotating connection, the shovel body 29 is the same width as the excavator, and the other end is provided with a blade support 30 on the chassis 1 for rotational connection. Above the connecting rod 28, a bulldozer cylinder 31 is provided, and the bulldozer cylinder 31 is extended and contracted. The end is connected to the shovel body 29, and the connecting end is pivotally connected with the cylinder holder 32 provided on the chassis 1. The bracket 22 is provided on the working table with a voice alarm device 38, and the input end of the voice alarm device 38 and the actuator The connection is connected to the speaker, and the voice alarm device 38 includes a control circuit, a voice chip, a power amplifier circuit and a speaker. The input end of the control circuit is connected to the actuator, and the output terminal is connected to the voice chip. The chip is connected to the speaker through a power amplifying circuit.

Claims

Rights request

1. An intelligent crushing load roadway repairing machine, comprising a body part and an actuator, the body part comprising a worktable, a driving device, a running device and a fuel tank (12), the driving device and the walking device are driving connection, work The platform is connected to the walking device through a chassis (1) provided on the upper part of the traveling device, and the front portion of the working platform is connected with the actuator. The actuator mainly comprises an excavating arm and an operating head, and a rotating device is arranged between the excavating arm and the working table. The excavating arm comprises a boom (3), an arm (4) and a boom (5), one end of the arm (4) is rotatably connected to the operating head, and the other end is connected to the boom (5), in the arm (4) Above is a boom cylinder (6). The telescopic end of the boom cylinder (6) is connected to the operating head. The connecting end and the boom (5) are connected in rotation, and the boom cylinder (6) is connected through the connecting tube I. (8) The oil control valve of the actuator and the oil passage control valve of the actuator are respectively connected with the oil inlet pipe (10) and the oil return pipe (11), and the boom (3) is respectively connected with the boom (5) and the rotary device, and is connected to the boom ( 3) Above the boom cylinder I ( 14) and the boom cylinder II ( 15), the telescopic end and the connecting end of the boom cylinder I (14) are respectively connected with the boom (5) and the boom (3), and the telescopic end of the boom cylinder II (15) and the boom (3) are rotated. Connected, a support (2) is provided at the tail of the excavating arm, the connecting end of the boom cylinder I (14) is connected to the support (2), and the boom cylinder I (14) is sequentially passed through the connecting pipe II (16) The boom cylinder II (15) and the oil passage control valve of the operating device are in communication with the oil inlet pipe (10) and the oil return pipe (11), wherein the driving device is a hydraulic driving device, and the hydraulic driving device is disposed at the working table. The hydraulic drive unit comprises an explosion-proof diesel engine (42) and an oil pump (13). The output end of the explosion-proof diesel engine (42) is connected to the plunger of the oil pump (13) through a coupling, and the output port of the oil pump (13) passes through the input. The tube (43) is connected to the input port of the oil passage control valve, the oil path control valve is an electromagnetic multi-way valve (9), and the electromagnetic multi-way valve (9) is disposed on the table bracket (22) of the electromagnetic multi-way valve. (9) A wireless control device is connected to the wireless control device, including a remote controller, a wireless receiving device, and a wireless device. The transmitting device and the sensor are provided with a display screen, and the signal collecting end of the sensor is connected with the electromagnetic multi-way valve (9), and the output end of the sensor and the controller are bidirectionally connected, and the controller and the wireless receiving device are ( 37) Two-way connection, wireless remote control transmitter and wireless receiver (37) are wirelessly connected, remote control is connected with electromagnetic multi-way valve (9), wireless remote control transmitter transmits operation control signal to wireless receiver (37), wireless The receiving device (37) packages and transmits the processed signal to the bus, and the controller receives the data transmitted by the wireless receiving device (37) according to the address of the data, and collects the electromagnetic multi-way valve (9) signal sent by the sensor in real time, and processes the signal. After outputting the beautiful driving signal, controlling the electromagnetic multi-channel The valve (9) performs an action, and a voice alarm device (38) is provided on the bracket (22) provided on the table. The input end of the voice alarm device (38) is connected to the actuator, and the output terminal is connected to the speaker.

The wirelessly controlled intelligent crushing load roadway repairing machine according to claim 1, wherein said wireless control device is a Hetronic industrial wireless remote control device based on the CA Open communication protocol.

The wirelessly controlled intelligent crushing load roadway repairing machine according to claim 1, wherein said remote controller is an EPEC 2023 remote controller.

A wirelessly controlled intelligent crushing load roadway repairing machine according to claim 1, wherein said operating head is a bucket (17), a crushing jaw or a hook.

5. The wirelessly controlled intelligent crushing load roadway repairing machine according to claim 1, wherein said electromagnetic multi-way valve (9) is connected to connecting pipe I (8) and connecting pipe II (16), respectively. Throttle valve

(34) o

6. The wirelessly controlled intelligent crushing load roadway repairing machine of claim 1 wherein said swinging means comprises a horizontal torque transmission box (18) disposed in a lower portion of the horizontal torque transmission box (18). A rotating seat (19), one side of the rotating base (19) is connected with a vertical torque transmission box (20) and a slewing bearing (21), and the slewing bearing (21) is connected with the support (2) of the excavating arm, the vertical torque transmission box (20) The excavating arm is rotated by the slewing bearing (21), and the other side of the rotating base (19) is connected to the bracket (22) through the transmission shaft.

7. The wirelessly controlled intelligent crushing load roadway repairing machine according to claim 1, wherein said traveling device is provided with a fabricated steel track (7) in a fabricated steel track (7). Guide wheel (23), tension cylinder (24), roller (25), travel motor (26), guide wheel are arranged from front to back.

(23) Supported by a tensioning cylinder (24), one end of the tensioning cylinder (24) is connected to the guide wheel, and the other end is provided with an oil-filled check valve (27), and a bulldozer device is arranged at the front of the traveling device. The blade device includes a connecting rod (28) and a shovel body (29), and one end of the connecting rod (28) is rotatably connected with the shovel body (29), the shovel body

(29) Same as the width of the excavator, the other end and the chassis (1) are provided with a blade support (30) for rotation connection, and a pusher cylinder (31) is arranged above the connecting rod (28), pushing The telescopic end of the earth cylinder (31) is connected to the shovel body (29), and the connection end is rotatably connected to the cylinder holder (32) provided on the chassis (1).

8. The intelligent crushing load roadway repairing machine according to claim 1, wherein the fuel tank top is provided with an air cleaner (33) and a return oil filter cartridge (35).

9. The intelligent broken load roadway repairing machine with voice alarm according to claim 1, wherein said voice alarm device (38) comprises a control circuit, a voice chip, a power amplifying circuit and a speaker, and a control circuit The input end is connected to the actuator, the output end is connected to the voice chip, and the voice chip is connected to the speaker through a power amplifying circuit.