CN115432078A - Angle-adjustable crawler-type traveling mechanism adaptable to bottom surfaces of different tunnels - Google Patents
Angle-adjustable crawler-type traveling mechanism adaptable to bottom surfaces of different tunnels Download PDFInfo
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- CN115432078A CN115432078A CN202210985421.9A CN202210985421A CN115432078A CN 115432078 A CN115432078 A CN 115432078A CN 202210985421 A CN202210985421 A CN 202210985421A CN 115432078 A CN115432078 A CN 115432078A
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- crawler
- frame
- angle
- hydraulic cylinder
- adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention belongs to the field of nuclear power overhaul, and particularly relates to an angle-adjustable crawler-type traveling mechanism suitable for bottom surfaces of different tunnels. The crawler type walking mechanism comprises a crawler supporting hydraulic cylinder, a crawler supporting frame and a frame, wherein one end of the crawler supporting frame is hinged to the crawler supporting hydraulic cylinder, the other end of the crawler supporting frame is hinged to the crawler frame, and the crawler type walking mechanism with the adjustable angle is formed by the crawler supporting hydraulic cylinder, the crawler supporting frame and the frame. The invention has the beneficial effects that: compared with a common tunnel cleaning equipment travelling mechanism, the tunnel cleaning equipment can be better suitable for tunnels with various angles, and has good centering property. And the ground grabbing force is stronger, the work is more stable, and the cleaning strength is higher. Compared with a common crawler chassis, the equipment can be rapidly transported out of the tunnel after the equipment fails, and a special transportation tool is not required to be matched. The equipment is simple in overall structure, good in reliability, fast and convenient to install, stable and reliable in installation, capable of being used for all crawler base plates and wide in application prospect.
Description
Technical Field
The invention belongs to the field of nuclear power overhaul, and particularly relates to an angle-adjustable crawler-type traveling mechanism suitable for bottom surfaces of different tunnels.
Background
The blocking of nuclear power plant's sea water intaking culvert pipe marine life can reduce the speed of diversion, can arouse the circulating pump tripping operation when serious, and the unit heat sink loses, shuts down or even stops piling, consequently must regularly clear up the adnexed marine life of water intaking culvert pipe inner wall (barnacle, shell), guarantees that nuclear power plant's sea water intaking culvert pipe is unobstructed. The large tunnel cleaning machine must be capable of having reliability and centering, the equipment must be capable of adapting to tunnels at various angles, and when the equipment is used for cutting and cleaning, the equipment can be cut and damage the inner wall of the tunnel if angle adjustment is lacked. Therefore, the large cleaning equipment has good centering performance and adaptability to the tunnel.
The running gear to the clean-up equipment of water intaking culvert pipe inner wall has the following problem at present:
1) The environment is severe and the walking is unstable;
2) The structure is simple;
3) The centering property is poor, and the deflection angle is easy to produce;
4) Problems with industrial safety;
5) The problem of low working efficiency.
To sum up, the clearance of nuclear power station water intaking culvert pipe inner wall, the urgent need introduces automatic cleaning equipment to reduce personnel's personal safety and working quality risk, and need be applicable to the high-efficient technology of decontaminating of water intaking tunnel environmental characteristic and have better centering nature and stability simultaneously. However, the conventional crawler chassis is difficult to be quickly pulled out of the tunnel for maintenance after equipment failure, delays time and efficiency, and needs to be equipped with a special transport tool.
Disclosure of Invention
The invention aims to provide an angle-adjustable crawler-type travelling mechanism suitable for the bottom surfaces of different tunnels, which can solve the problem that a machine can adapt to different angle changes on the bottom surface of a tunnel and can better advance and retreat; and can be through the crawler-type chassis transportation rack of quick response with equipment pull out the tunnel fast and maintain when breaking down.
The technical scheme of the invention is as follows: the utility model provides an angularly adjustable crawler-type running gear of adaptable different tunnel bottom surfaces, includes track support pneumatic cylinder, track support frame, the one end and the track support pneumatic cylinder of track support frame articulated, the other end and the track frame of track support frame articulate, transportation platform frame pneumatic cylinder, track support frame, frame have constituted angularly adjustable crawler-type running gear.
The track support hydraulic cylinder provides power for the track base to change the angle and drives the connecting rod to move.
The front and back positions of the frame are provided with a transportation rack.
The front and back positions of the frame are symmetrically provided with a transportation rack.
Guide wheels are respectively installed at two ends of the transportation rack.
And a hydraulic cylinder of the transportation rack is arranged on the transportation rack.
And a hydraulic cylinder of the transportation rack is arranged in the middle of the transportation rack.
The invention has the beneficial effects that: compared with a common tunnel cleaning equipment travelling mechanism, the tunnel cleaning equipment can be better suitable for tunnels with various angles, and has good centering property. And the ground gripping force is stronger, the work is more stable, and the cleaning strength is stronger. Compared with a common crawler chassis, the equipment can be rapidly transported out of the tunnel after equipment failure, and a special transportation tool is not required to be matched. The device is simple in overall structure, good in reliability, fast and convenient to install, stable and reliable in installation, capable of being used for all crawler base plates and wide in application prospect.
Drawings
FIG. 1 is a front view of an angularly adjustable crawler travel mechanism adaptable to different tunnel floors according to the present invention;
FIG. 2 is a side view of the angle-adjustable crawler type traveling mechanism adaptable to different tunnel bottom surfaces, provided by the invention;
FIG. 3 is a side view of a transport gantry;
FIG. 4 is a top view of the transport gantry;
fig. 5 is an isometric view of the chassis integration mechanism.
In the figure: the device comprises a track supporting hydraulic cylinder 1, a track supporting frame 2, a frame 3, a transportation rack 4, a transportation rack hydraulic cylinder 5 and a guide wheel 6.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The angle-adjustable crawler type travelling mechanism suitable for the bottom surfaces of different tunnels can determine the angle between a target and the circular wall of the tunnel according to the target travelling track, generate an instruction, control the angle-adjustable crawler type travelling mechanism of a vehicle through the instruction, and adjust the angle to adapt to the bottom surfaces of the tunnels with different angles. The main driving track surface is always vertical to the normal direction of the road surface. Compared with the common track which can not adjust the angle, the crawler type travelling mechanism with the adjustable angle can better adapt to tunnels with various angles, and has good centering performance. And the ground grabbing force is stronger, the work is more stable, and the cleaning strength is higher. Has good economic value and practical value.
As shown in fig. 1-5, the angle-adjustable crawler type traveling mechanism suitable for different tunnel bottom surfaces provided by the invention comprises a crawler supporting hydraulic cylinder 1, a crawler supporting frame 2, a frame 3, a transportation rack 4, a transportation rack hydraulic cylinder 5 and a guide wheel 6, wherein one end of the crawler supporting frame 2 is hinged with the crawler supporting hydraulic cylinder 1, and the other end of the crawler supporting frame 2 is hinged with the crawler frame 3. The crawler supporting hydraulic cylinder 1, the crawler supporting frame 2 and the frame 3 form a crawler type walking mechanism with adjustable angle. The crawler belt supporting hydraulic cylinder 1 provides power for changing angles for a crawler belt base to drive the connecting rod to move; transportation rack 4 installs in track frame 3 front and back symmetrical position, and when equipment normally worked, the transportation rack was in the state of raising upward, does not influence other actions of equipment, when equipment broke down and need the maintenance, the transportation rack was in the state of falling down, lifts up the chassis, hauls equipment out the tunnel through the trailer. Guide wheels 6 are respectively installed at two ends of the transportation rack 4.
As shown in fig. 1 and 2, in the drawings, 1 is a track supporting hydraulic cylinder, 2 is a track supporting frame, and 3 is a frame. The lower end of the track support frame 2 is hinged with the frame 3, and the upper end is hinged with the lower end of the track support hydraulic cylinder 1; the upper end of the track supporting hydraulic cylinder 1 is hinged with the frame 3. When the track supporting hydraulic cylinder 1 does not act, the track supporting frame 2 and the frame are kept in a parallel state, the track is grounded in parallel, and the vehicle can normally run on a horizontal ground. When the track supporting hydraulic cylinder 1 contracts, the track supporting frame 2 is driven to rotate, so that a certain angle is formed between the track supporting frame and the frame 3, and the track supporting frame is adjusted according to the radius of the tunnel where the vehicle is located, so that the track can still be grounded in parallel, and the track can be better adapted to tunnels with various angles.
As shown in fig. 3 and 4, the transport rack hydraulic cylinder 5 and the guide wheel 6 are respectively installed at the head and the tail of the vehicle in one group, when the vehicle normally runs, the transport rack hydraulic cylinder 5 is in a contraction state, the transport rack 4 and the guide wheel 6 are driven to be lifted, and the running of the vehicle is not influenced; when equipment breaks down and needs the maintenance, transportation rack hydraulic cylinder 5 extends, drives transportation rack 4 and guide pulley 6 and descends, lifts up the chassis until guide pulley 6 ground connection, can utilize the trailer to haul equipment out the tunnel this moment and maintain.
The hydraulic cylinder is the main part of the mechanism and is used for providing angle-changing power and changing proportion for the link mechanism. The piston rod is connected with the connecting rod through a bolt, and the connecting rod is connected with the crawler frame through welding. The angle of the traveling mechanism is changed by adjusting the length of the piston rod in the hydraulic cylinder, the stroke of the piston rod is L, the inner radius of the hydraulic cylinder is r, and the radius of the piston rod is i. The volume of the part needing oil filling in the process of going: pi × r × r × L, the return oil-filling part volume: π × r × r × L- π × i × i × L. The length of the piston rod is proportional to the angle of the crawler-type traveling mechanism, when the piston rod in the hydraulic cylinder travels by one unit, the angle of the mechanism is increased by 1 degree, and when the piston rod returns back by one unit, the angle of the mechanism is reduced by 1 degree. The angle change range is 0-7 degrees, and the crawler-type traveling mechanism can work in a tunnel with the diameter of 5-7.5 meters.
1. The gantry body is the basic component of the device, which enables the carrying of the rest of the installation. The following technical characteristics are prepared:
1) The structure strength is high, and the total equipment can be borne; the weight is light, and the total mass is reduced as much as possible.
2. The guide wheel plays a walking role. The method has the following technical characteristics:
1) The strength is sufficient to carry the total equipment.
2) The profile has a certain radian, can adapt to the arc bottom surfaces of different tunnel diameters, and can move on the flat ground.
3. The hydraulic cylinder is the power source. The method has the following technical characteristics:
1) The hydraulic cylinder can directly use the power of the crawler chassis, and the hydraulic power of the equipment is used for lifting under the condition that the equipment fails but the hydraulic pump is normal.
2) The hydraulic cylinder must be capable of being connected in parallel with an external hydraulic power source, and when a hydraulic pump of the device itself fails, the hydraulic cylinder can be lifted by the external power source.
It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (7)
1. The utility model provides an angle adjustable's crawler-type running gear of adaptable different tunnel bottom surfaces which characterized in that: the crawler type walking mechanism comprises a crawler supporting hydraulic cylinder, a crawler supporting frame and a frame, wherein one end of the crawler supporting frame is hinged with the crawler supporting hydraulic cylinder, the other end of the crawler supporting frame is hinged with the crawler frame, and the crawler type walking mechanism with the adjustable angle is formed by the crawler supporting hydraulic cylinder, the crawler supporting frame and the frame.
2. The angle-adjustable crawler-type traveling mechanism capable of adapting to the bottom surfaces of different tunnels according to claim 1, is characterized in that: the crawler support hydraulic cylinder provides power with angle change for the crawler base to drive the connecting rod to move.
3. The angle-adjustable crawler-type traveling mechanism capable of adapting to the bottom surfaces of different tunnels according to claim 1, is characterized in that: and the front and the rear of the frame are provided with transport racks.
4. The angle-adjustable crawler-type traveling mechanism capable of adapting to the bottom surfaces of different tunnels according to claim 3, wherein: the front and back positions of the frame are symmetrically provided with a transportation rack.
5. The angle-adjustable crawler-type traveling mechanism capable of adapting to different tunnel bottom surfaces as claimed in claim 3 or 4, wherein: guide wheels are respectively installed at two ends of the transportation rack.
6. The angle-adjustable crawler-type traveling mechanism capable of adapting to the bottom surfaces of different tunnels according to claim 1, is characterized in that: and the transportation rack is provided with a transportation rack hydraulic cylinder.
7. The angle-adjustable crawler-type traveling mechanism capable of adapting to the bottom surfaces of different tunnels according to claim 6, wherein: and a hydraulic cylinder of the transportation rack is arranged in the middle of the transportation rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210985421.9A CN115432078A (en) | 2022-08-17 | 2022-08-17 | Angle-adjustable crawler-type traveling mechanism adaptable to bottom surfaces of different tunnels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210985421.9A CN115432078A (en) | 2022-08-17 | 2022-08-17 | Angle-adjustable crawler-type traveling mechanism adaptable to bottom surfaces of different tunnels |
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| Publication Number | Publication Date |
|---|---|
| CN115432078A true CN115432078A (en) | 2022-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210985421.9A Pending CN115432078A (en) | 2022-08-17 | 2022-08-17 | Angle-adjustable crawler-type traveling mechanism adaptable to bottom surfaces of different tunnels |
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| CN (1) | CN115432078A (en) |
Citations (11)
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|---|---|---|---|---|
| JP2000211560A (en) * | 1999-01-20 | 2000-08-02 | Tcm Corp | Industrial vehicle |
| CN102490802A (en) * | 2011-11-18 | 2012-06-13 | 河南科技大学 | Wheel-tracked combined type walking platform |
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN102874329A (en) * | 2012-10-19 | 2013-01-16 | 山东犀牛工程机械有限公司 | Track-wheel type excavator and working method thereof |
| CN203246524U (en) * | 2013-04-28 | 2013-10-23 | ***司令部工程科研设计院 | Caterpillar band walking mechanism with adjustable inclination angle |
| JP2015214200A (en) * | 2014-05-08 | 2015-12-03 | 日本車輌製造株式会社 | Track/road vehicle |
| CN208842508U (en) * | 2018-07-31 | 2019-05-10 | 长沙智汛通环保科技有限公司 | Suitable for the flat adjustable walking mechanism switched between circular arc bottom and desilting equipment |
| CN209667248U (en) * | 2018-12-27 | 2019-11-22 | 北海职业学院 | A kind of telescopic wheel shoe switching running gear |
| CN210416784U (en) * | 2019-06-24 | 2020-04-28 | 北海职业学院 | Wheel-track composite chassis of lifting track frame |
| CN113086034A (en) * | 2021-05-25 | 2021-07-09 | 福建华南重工机械制造有限公司 | Running gear of railway sleeper-changing machine |
| CN113998018A (en) * | 2021-12-03 | 2022-02-01 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | Building construction machinery walking device and using method thereof |
-
2022
- 2022-08-17 CN CN202210985421.9A patent/CN115432078A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000211560A (en) * | 1999-01-20 | 2000-08-02 | Tcm Corp | Industrial vehicle |
| CN102490802A (en) * | 2011-11-18 | 2012-06-13 | 河南科技大学 | Wheel-tracked combined type walking platform |
| CN102862615A (en) * | 2012-09-05 | 2013-01-09 | 西北工业大学 | Wheel-crawler-variable chassis |
| CN102874329A (en) * | 2012-10-19 | 2013-01-16 | 山东犀牛工程机械有限公司 | Track-wheel type excavator and working method thereof |
| CN203246524U (en) * | 2013-04-28 | 2013-10-23 | ***司令部工程科研设计院 | Caterpillar band walking mechanism with adjustable inclination angle |
| JP2015214200A (en) * | 2014-05-08 | 2015-12-03 | 日本車輌製造株式会社 | Track/road vehicle |
| CN208842508U (en) * | 2018-07-31 | 2019-05-10 | 长沙智汛通环保科技有限公司 | Suitable for the flat adjustable walking mechanism switched between circular arc bottom and desilting equipment |
| CN209667248U (en) * | 2018-12-27 | 2019-11-22 | 北海职业学院 | A kind of telescopic wheel shoe switching running gear |
| CN210416784U (en) * | 2019-06-24 | 2020-04-28 | 北海职业学院 | Wheel-track composite chassis of lifting track frame |
| CN113086034A (en) * | 2021-05-25 | 2021-07-09 | 福建华南重工机械制造有限公司 | Running gear of railway sleeper-changing machine |
| CN113998018A (en) * | 2021-12-03 | 2022-02-01 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | Building construction machinery walking device and using method thereof |
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