Walking type pushing robot and method for pushing bridge through walking type pushing robot

Abstract

The invention relates to the technical field of intelligent robots, in particular to a walking type pushing robot and a bridge pushing method thereof.The walking type pushing robot comprises a vehicle body, a mounting plate is arranged on the top face of the vehicle body, the vehicle body and the mounting plate are in sliding fit in the vertical direction, and a driving assembly used for controlling the vehicle body to slide up and down is further arranged on the bottom face of the mounting plate; the device further comprises two walking rails, the two walking rails are fixedly arranged on the front side wall and the rear side wall of the mounting plate correspondingly, and the two walking rails are parallel to each other. The vehicle body is arranged between the two walking rails, the device is automatically moved through the vehicle body, manual carrying is not needed, the labor intensity of workers is greatly relieved, and meanwhile the construction efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent robots, and in particular to a walking-type pushing robot and a method for using the robot to push a bridge. Background Art

[0002] Bridge jacking construction technology refers to a construction method in which jacking equipment is used to push the beam longitudinally after the beam is cast or assembled in sections at the bridge head, so that the beam is put into place through the temporary sliding bearing surfaces on the top of each pier. Therefore, jacking equipment becomes one of the indispensable tools in the process of bridge construction.

[0003] In traditional technology, jacking equipment usually includes components such as jacks, high-pressure oil pumps, tie rods, jacking anchors (such as automatic tool anchors and anchor pullers). Among them, the jack is the main equipment that provides jacking force. It can be a horizontal jack or an automatic continuous jack, and is equipped with an ordinary high-pressure oil pump or a dedicated hydraulic station as a power source. The tie rod system is used to transmit the pulling force during the jacking process to ensure the stable advancement of the beam. However, in actual applications, jacking equipment is not only used for the construction of straight sections of bridges, but also for the construction needs of curved sections.

[0004] Therefore, in the prior art, the walking jacking equipment can realize three-dimensional and six-directional dynamic adjustment and real-time data acquisition and processing capabilities by integrating advanced control technologies, such as PLC control technology, so as to cope with complex terrain and structural requirements. However, the walking jacking equipment still has certain shortcomings. For example, due to the high integration of the walking jacking equipment and its large size and weight, it is inconvenient to carry. For example, when the walking jacking equipment lifts the beam, the horizontal cylinder can only push the beam to move a short distance, and then the longitudinal cylinder needs to put the beam down, followed by the horizontal cylinder pulling the longitudinal cylinder to reset, and then repeat the previous action, that is, each time the beam moves a certain distance, it needs to put the beam down and continue to repeat the jacking step, so that the movement efficiency of the beam is relatively low. To this end, we propose a walking jacking robot and a method for bridge jacking to solve the above-mentioned drawbacks. Summary of the invention

[0005] The object of the present invention is to provide a walking pushing robot and a method for using the same for bridge pushing, so as to solve the problems raised in the above-mentioned background technology.

[0006] The present invention is realized by the following technical scheme: a walking push robot, comprising:

[0007] A vehicle body, wherein a mounting plate is provided on the top surface of the vehicle body, the vehicle body and the mounting plate are slidably matched in a vertical direction, and a driving assembly for controlling the upward and downward sliding movement of the vehicle body is also provided on the bottom surface of the mounting plate;

[0008] There are two running rails, which are respectively fixed on the front and rear side walls of the mounting plate, and are parallel to each other.

[0009] A longitudinal slide rail, wherein the longitudinal slide rail is perpendicular to the travel rail, and the two ends of the longitudinal slide rail are respectively slidably matched with the two travel rails along the length direction of the travel rail, and a transverse moving part is provided on the longitudinal slide rail for sliding along its own length direction, and two lifting cylinders are provided on the top surface of the transverse moving part, and the movable ends of the two lifting cylinders are jointly provided with a supporting part;

[0010] The pushing mechanism includes an extension frame and a propulsion cylinder. The extension frame is fixedly connected to the longitudinal slide rail, and the extension frame can be extended and retracted along the length direction of the walking rail. The cylinder body of the propulsion cylinder is fixedly connected to the extension frame, and the movable end of the propulsion cylinder is connected to the longitudinal slide rail. A positioning mechanism is also provided on the extension frame, and the positioning mechanism can be connected to or separated from the walking rail.

[0011] Optionally, the driving assembly includes two electric push rods, one end of the electric push rod is hinged to the bottom surface of the mounting plate, and the movable end of the electric push rod is hinged to the vehicle body.

[0012] Optionally, the top surface of the walking rail is provided with a sliding block distributed along its own length direction, and the longitudinal slide rail is slidingly engaged with the sliding block; two rolling wheels are provided at the front and rear ends of the longitudinal slide rail, and the rolling wheels are rotationally engaged with the longitudinal slide rail; the top surface of the walking rail is provided with a sliding groove distributed along its own length direction, and the rolling wheels are rollingly engaged with the sliding groove.

[0013] Optionally, an embedded groove is provided on the top surface of the longitudinal slide rail, and a roller is rotatably provided on the bottom surface of the transverse movement part, and the roller rolls with the inner bottom surface of the longitudinal slide rail; a transverse movement cylinder distributed along the length direction of the transverse movement part is provided in the embedded groove, and the movable end of the transverse movement cylinder is fixedly connected to the transverse movement part.

[0014] Optionally, the extension frame includes a main frame body in the shape of a U-shaped body, and extension plates are slidably provided on both sides of the exterior of the main frame body, and the two extension plates are fixedly connected to the longitudinal slide rails; the cylinder body of the propulsion cylinder is fixedly connected to the main frame body.

[0015] Optionally, the positioning mechanism includes a vertically distributed positioning cylinder, the cylinder body of the positioning cylinder is fixedly connected to the main frame, the movable end of the positioning cylinder is provided with a connecting plate, the length direction of the connecting plate is perpendicular to the walking rail, both ends of the connecting plate are fixedly provided with vertically distributed positioning columns, the upper surface of the walking rail is provided with a plurality of spaced positioning slots that are compatible with the positioning columns; the main frame and both sides of the positioning cylinder are provided with vertically distributed limiting slide rails, and the two limiting slide rails are vertically slidably matched with the connecting plate.

[0016] Optionally, the top surface of the walking rail is provided with a retaining frame distributed along its length direction, two of the retaining frames are respectively located on both sides of the longitudinal slide rail, a plurality of through holes are penetrated through the retaining frame, elastic columns are movably inserted into the plurality of through holes, the outer ends of the plurality of elastic columns located on the same side are commonly connected to a driving plate, the inner ends of the plurality of elastic columns located on the same side are commonly connected to an extrusion plate, the driving plate is L-shaped, and the top surface of the driving plate is provided with a first rack distributed along the axial direction of the elastic column;

[0017] A driving tooth column is rotatably provided on the outer surface of the retaining frame, the axial direction of the driving tooth column is consistent with the length direction of the traveling rail, and the driving tooth column is meshed with the first rack. A driving member is fixedly connected to the top of the positioning column, and the driving member is L-shaped. A second rack distributed vertically is provided on the surface of the driving member, and the second rack is meshed with the driving tooth column; when the positioning column moves downward, the extrusion plate moves toward the side away from the longitudinal slide rail.

[0018] Optionally, the elastic column includes an outer sleeve, an inner sleeve and an extrusion spring, the outer sleeve is fixedly connected to the driving plate, one end of the inner sleeve is inserted into the outer sleeve, and the other end is fixedly connected to the extrusion plate, and the two ends of the extrusion spring are respectively fixedly connected to the outer sleeve and the inner sleeve.

[0019] Optionally, the extrusion plate has a rectangular frame structure, a wedge block is provided on the inner wall of the extrusion plate and on the side away from the longitudinal slide rail, the top surface of the longitudinal slide rail is connected to the extrusion frame through an elastic member, and push plates are provided on the bottom surfaces of both ends of the extrusion frame, and the bottom ends of the two push plates respectively extend into the inner sides of the two extrusion plates; when the push plate moves downward and abuts against the wedge block, the extrusion plate can move toward the side away from the longitudinal slide rail.

[0020] The present invention also provides a method for using a walking-type pushing robot to push a bridge, which is applicable to the above-mentioned walking-type pushing robot and comprises the following steps:

[0021] Through the movement of the vehicle body, the device is carried to the corresponding position where it needs to be pushed, and then the driving component controls the vehicle body to rise so that the walking rail fits with the ground;

[0022] In the initial state, the longitudinal slide rail is located on one side of the walking rail, and then the support part is controlled to rise by the lifting cylinder, so that the support part lifts the object to be supported upward;

[0023] The positioning mechanism is connected to the running rail, and then the propulsion cylinder pushes the longitudinal slide rail forward. When the propulsion cylinder is extended to the maximum stroke, the longitudinal slide rail stops moving forward. At this time, the positioning mechanism is separated from the running rail, and then the propulsion cylinder retracts again;

[0024] After the thrust cylinder is retracted, the positioning mechanism is connected to the travel rail again, and then the thrust cylinder continues to extend to push the longitudinal slide rail, and so on and so forth, until the longitudinal slide rail moves from one end of the travel rail to the other end, and the lifting cylinder retracts again to lower the support.

[0025] Compared with the prior art, the present invention provides a walking-type jacking robot and a method for jacking a bridge, which has the following beneficial effects:

[0026] 1. The present invention arranges a vehicle body between two running rails, and the vehicle body automatically moves the device, thereby eliminating the need for manual handling, greatly reducing the labor intensity of workers and improving construction efficiency;

[0027] 2. The longitudinal slide rail in the present invention can slide along the travel rail, and the pushing mechanism can repeatedly push the longitudinal slide rail to move. Therefore, in practical application, the beam body does not need to be lowered when the propulsion cylinder reaches the maximum stroke, thereby greatly improving the propulsion efficiency of the beam body;

[0028] 3. The top surface of the running rail in the present invention is provided with a retainer, and an extrusion plate is movably provided inside the retainer. When the positioning mechanism controls the positioning column to move downward, the extrusion plate does not contact the longitudinal slide rail. When the positioning mechanism controls the positioning column to rise, the extrusion plate is closely fitted to the outer surface of the longitudinal slide rail to fix the position of the longitudinal slide rail, thereby facilitating accurate positioning and controlling the advancement distance of the beam body.

[0029] 4. The present invention also has an extrusion frame and a push plate. When the support part moves downward, the push plate can move downward to indirectly control the extrusion plate to move backward. Therefore, during the backward resetting process, the longitudinal slide rail in the present invention does not need to be intermittently moved by pushing the oil cylinder, but can be quickly reset by controlling the rotation of the rolling wheel through the motor, which helps to improve the construction efficiency of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of the present invention from another angle;

[0032] Figure 3 It is a transverse cross-sectional view of the present invention;

[0033] Figure 4 It is a longitudinal cross-sectional view of the present invention;

[0034] Figure 5 It is a schematic diagram of the structure of the stretching frame of the present invention;

[0035] Figure 6 It is a schematic diagram of the structure of the transverse shifting part of the present invention;

[0036] Figure 7 for Figure 1 The corresponding figure at A is enlarged;

[0037] Figure 8 for Figure 3 The corresponding figure at point B is enlarged.

[0038] In the figure: 100, vehicle body; 101, mounting plate; 102, driving assembly; 200, walking rail; 201, slider; 202, slide groove; 203, positioning slot; 204, retaining frame; 205, elastic column; 2051, outer sleeve; 2052, inner sleeve column; 2053, extrusion spring; 206, driving plate; 207, extrusion plate; 208, first rack; 209, driving gear column; 210, wedge block; 300, longitudinal slide rail; 301, rolling wheel; 302, motor; 303, elastic member; 304, extrusion frame; 305, pushing plate; 400, pushing mechanism; 401, extension frame; 4011, main frame; 4012, extension plate; 402, thrust cylinder; 500, transverse shifting part; 501, lifting cylinder; 502, supporting part; 503, roller; 504, transverse shifting cylinder; 600, positioning mechanism; 601, positioning cylinder; 602, connecting plate; 603, positioning column; 604, limiting slide rail; 605, driving member; 606, second rack. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Example 1: Please refer to Figure 1 - Figure 8A walking push robot includes a vehicle body 100, a walking rail 200, a longitudinal slide rail 300 and a pushing mechanism 400, wherein a mounting plate 101 is provided on the top surface of the vehicle body 100, the vehicle body 100 and the mounting plate 101 are slidably matched along the vertical direction, and a driving component 102 for controlling the upward and downward sliding movement of the vehicle body 100 is also provided on the bottom surface of the mounting plate 101; in addition, there are two walking rails 200, which are respectively fixedly arranged on the front and rear side walls of the mounting plate 101, and the two walking rails 200 are parallel to each other; specifically, the bottom of the vehicle body 100 is provided with walking wheels, and the interior of the vehicle body 100 is provided with an electric drive system, and the electric drive system is used to control the movement of the vehicle body 100.

[0041] In addition, the driving assembly 102 includes two electric push rods, one end of which is hinged to the bottom surface of the mounting plate 101, and the movable end of the electric push rod is hinged to the vehicle body 100. The two electric push rods are respectively located on opposite sides of the vehicle body 100 to control the lifting and lowering of the vehicle body 100. It should be noted that when the top surface of the vehicle body 100 is in contact with the bottom surface of the mounting plate 101, the bottom surface of the running wheel of the vehicle body 100 is higher than the bottom wall of the running rail 200.

[0042] Furthermore, the longitudinal slide rail 300 is perpendicular to the traveling rail 200, and the two ends of the longitudinal slide rail 300 are respectively slidably matched with the two traveling rails 200 along the length direction of the traveling rail 200, and a transverse movement portion 500 is slidably arranged on the longitudinal slide rail 300 along its own length direction, and two lifting cylinders 501 are arranged on the top surface of the transverse movement portion 500, and the movable ends of the two lifting cylinders 501 are jointly provided with a support portion 502; specifically, the top surface of the traveling rail 200 is provided with a slider 201 distributed along its own length direction, and the longitudinal slide rail 300 is slidably matched with the slider 201; the lifting cylinder 501 is connected to an external hydraulic control system (not shown in the figure) for directly controlling the lifting and lowering of the support portion 502.

[0043] It is worth mentioning that two rolling wheels 301 are provided at both the front and rear ends of the longitudinal slide rail 300, and the rolling wheels 301 are in rotational cooperation with the longitudinal slide rail 300. The top surface of the walking rail 200 is provided with a slide groove 202 distributed along its length direction, and the rolling wheels 301 are in rolling cooperation with the slide groove 202. There are four rolling wheels 301, two on each side, and the function of the rolling wheels 301 is to reduce the resistance of the longitudinal slide rail 300 during movement; in addition, a hidden cavity is provided on one side of one of the rolling wheels 301, and a motor 302 is provided in the hidden cavity, and the output shaft of the motor 302 is coaxially connected with the rotating shaft of the rolling wheel 301, that is, the motor 302 can drive the longitudinal slide rail 300 to slide along the length direction of the walking rail 200.

[0044] Furthermore, an embedded groove is provided on the top surface of the longitudinal slide rail 300, and a roller 503 is rotatably provided on the bottom surface of the transverse moving part 500, and the roller 503 rolls with the inner bottom surface of the longitudinal slide rail 300; a transverse moving oil cylinder 504 distributed along the length direction of the transverse moving part 500 is provided in the embedded groove, and the movable end of the transverse moving oil cylinder 504 is fixedly connected to the transverse moving part 500. There are a number of rollers 503, and the function of the rollers 503 is to reduce the resistance when the transverse moving part 500 moves, and the transverse moving oil cylinder 504 is connected to an external hydraulic control system, and is used to control the transverse sliding of the transverse moving part 500 in the embedded groove.

[0045] In some embodiments of the present application, the pushing mechanism 400 includes an extension frame 401 and a propulsion cylinder 402. The extension frame 401 is fixedly connected to the longitudinal slide rail 300. The extension frame 401 can be extended and retracted along the length direction of the running rail 200. The cylinder body of the propulsion cylinder 402 is fixedly connected to the extension frame 401. The movable end of the propulsion cylinder 402 is connected to the longitudinal slide rail 300. A positioning mechanism 600 is also provided on the extension frame 401. The positioning mechanism 600 can be connected to or separated from the running rail 200. When the positioning mechanism 600 is connected to the running rail 200, the propulsion cylinder 402 can directly control the longitudinal slide rail 300 to move forward and backward. In addition, the length direction of the propulsion cylinder 402 is consistent with the length direction of the running rail 200, and the propulsion cylinder 402 is connected to an external hydraulic control system.

[0046] Furthermore, the extension frame 401 includes a main frame body 4011 in a U-shaped shape, and extension plates 4012 are slidably provided on both sides of the outside of the main frame body 4011, and the two extension plates 4012 are fixedly connected to the longitudinal slide rail 300; the cylinder body of the propulsion oil cylinder 402 is fixedly connected to the main frame body 4011. When the propulsion oil cylinder 402 is extended or retracted, the extension frame 401 will also be synchronously extended or retracted accordingly to adapt to the change in the length of the propulsion oil cylinder 402.

[0047] The structure of the positioning mechanism 600 is described in detail below:

[0048] The positioning mechanism 600 includes a positioning cylinder 601 distributed vertically, the cylinder body of the positioning cylinder 601 is fixedly connected to the main frame 4011, a connecting plate 602 is provided at the movable end of the positioning cylinder 601, the length direction of the connecting plate 602 is perpendicular to the running rail 200, and both ends of the connecting plate 602 are fixedly provided with positioning columns 603 distributed vertically, and the upper surface of the running rail 200 is provided with a plurality of positioning slots 203 distributed at intervals and adapted to the positioning columns 603; the main frame 4011 and both sides of the positioning cylinder 601 are provided with limiting slide rails 604 distributed vertically, and the two limiting slide rails 604 are vertically slidably matched with the connecting plate 602. The positioning cylinder 601 is connected to an external hydraulic control system, and the positioning cylinder 601 can directly control the lifting and lowering of the two positioning columns 603. When the positioning columns 603 are inserted into the positioning slots 203, the position of the main frame 4011 can be temporarily fixed.

[0049] The top surface of the walking rail 200 is provided with a retaining frame 204 distributed along its own length direction, and the two retaining frames 204 are respectively located on both sides of the longitudinal slide rail 300. A number of through holes are penetrated through the retaining frame 204, and elastic columns 205 are movably inserted into the through holes. The outer ends of the several elastic columns 205 located on the same side are commonly connected to a driving plate 206, and the inner ends of the several elastic columns 205 located on the same side are commonly connected to an extrusion plate 207. The driving plate 206 is L-shaped, and the top surface of the driving plate 206 is provided with a first rack 208 distributed along the axial direction of the elastic column 205; since the elastic column 205 is inserted into the through hole, the driving plate 206 can slide back and forth along the axial direction of the elastic column 205.

[0050] A driving gear column 209 is rotatably provided on the outer surface of the retaining frame 204, and the axial direction of the driving gear column 209 is consistent with the length direction of the traveling rail 200, and the driving gear column 209 is meshed with the first rack 208. A driving member 605 is fixedly connected to the top of the positioning column 603, and the driving member 605 is L-shaped. The surface of the driving member 605 is provided with a second rack 606 distributed vertically, and the second rack 606 is meshed with the driving gear column 209; when the positioning column 603 moves downward, the extrusion plate 207 moves toward the side away from the longitudinal slide rail 300; when the positioning column 603 moves upward, the extrusion plate 207 will move toward the side close to the longitudinal slide rail 300, thereby clamping and fixing the longitudinal slide rail 300.

[0051] Specifically, the elastic column 205 includes an outer sleeve 2051, an inner sleeve 2052 and a squeeze spring 2053. The outer sleeve 2051 is fixedly connected to the driving plate 206. One end of the inner sleeve 2052 is inserted into the outer sleeve 2051, and the other end is fixedly connected to the squeeze plate 207. The two ends of the squeeze spring 2053 are respectively fixedly connected to the outer sleeve 2051 and the inner sleeve 2052. When the positioning column 603 moves downward and is inserted into the positioning slot 203, the squeeze plate 207 does not contact the longitudinal slide rail 300; when the positioning column 603 is pulled up and removed from the positioning slot 203, the squeeze plate 207 will be closely attached to the surface of the longitudinal slide rail 300, so that the position of the longitudinal slide rail 300 is temporarily fixed.

[0052] In another embodiment of the present application, the extrusion plate 207 is in a rectangular frame structure, and a wedge block 210 is provided on the inner wall of the extrusion plate 207 and on the side away from the longitudinal slide rail 300. The top surface of the longitudinal slide rail 300 is connected to the extrusion frame 304 through an elastic member 303. The lifting cylinder 501 is located on the inner side of the extrusion frame 304. The bottom surfaces of both ends of the extrusion frame 304 are provided with push plates 305, and the bottom ends of the two push plates 305 extend into the inner sides of the two extrusion plates 207 respectively. The elastic member 303 in this embodiment adopts a spring, and the two ends of the spring are respectively connected to the top surface of the longitudinal slide rail 300 and the extrusion frame 304. At the same time, a telescopic rod is also provided between the extrusion frame 304 and the longitudinal slide rail 300. The function of the telescopic rod is to ensure that the extrusion frame 304 can move in the vertical direction.

[0053] In addition, when the elastic member 303 is in a natural state, that is, the extrusion frame 304 is not subject to external force from the system, the bottom end of the push plate 305 does not contact the wedge block 210; when the lifting cylinder 501 controls the support part 502 to move downward and indirectly pushes the extrusion frame 304 to move downward, the push plate 305 will abut against the wedge block 210. It should be noted that when the push plate 305 moves downward and abuts against the wedge block 210, the extrusion plate 207 can move toward the side away from the longitudinal slide rail 300, thereby driving the extrusion plate 207 to separate from the longitudinal slide rail 300. At this time, the motor 302 can control the rolling wheel 301 to rotate, so that the longitudinal slide rail 300 can be quickly reset, which further helps to improve the propulsion efficiency of the beam body.

[0054] Embodiment 2: A method for using a walking jacking robot to push a bridge, which is applicable to the walking jacking robot in Embodiment 1, comprises the following steps:

[0055] Through the movement of the vehicle body 100, the device is carried to the corresponding position where it needs to be pushed, and then the driving component 102 controls the vehicle body 100 to rise so that the walking rail 200 is in contact with the ground;

[0056] In the initial state, the longitudinal slide rail 300 is located on one side of the walking rail 200, and then the lifting cylinder 501 controls the support part 502 to rise, so that the support part 502 lifts the object to be supported upward;

[0057] Then it is connected to the walking rail 200 through the positioning mechanism 600, that is, the positioning column 603 is inserted into the positioning slot 203, and then the longitudinal slide rail 300 is pushed forward by the thrust cylinder 402. When the thrust cylinder 402 is extended to the maximum stroke, the longitudinal slide rail 300 stops moving forward. At this time, the positioning mechanism 600 is separated from the walking rail 200, and then the thrust cylinder 402 is retracted again; that is, when the longitudinal slide rail 300 stops after moving a distance, the positioning column 603 is pulled out of the positioning slot 203 again, and then the thrust cylinder 402 is retracted and reset.

[0058] After the propulsion oil cylinder 402 is retracted, the positioning mechanism 600 is connected to the running rail 200 again, and then the propulsion oil cylinder 402 continues to extend and push the longitudinal slide rail 300, and so on, until the longitudinal slide rail 300 moves from one end of the running rail 200 to the other end, and the lifting oil cylinder 501 retracts again to put down the support. That is, the longitudinal slide rail 300 can carry the support for intermittent movement, and when the longitudinal slide rail 300 moves from one end of the running rail 200 to the other end, the support is put down.

[0059] When the lifting cylinder 501 controls the support part 502 to descend, the support part 502 can press down the extrusion frame 304, thereby indirectly causing the extrusion plate 207 to retreat. At this time, the extrusion plate 207 no longer holds the longitudinal slide rail 300 tightly, so the motor 302 can control the rolling wheel 301 to roll, so that the longitudinal slide rail 300 can be quickly reset for the next pushing step.

[0060] It is worth mentioning that each time the thrust cylinder 402 is pushed a certain distance and then retracted to reset, the positioning column 603 needs to be pulled out of the positioning slot 203. At this time, the two extrusion plates 207 can hold the longitudinal slide rail 300 tightly to prevent the longitudinal slide rail 300 from sliding and displacing, thereby helping to improve the accuracy of the longitudinal slide rail 300 when moving.

[0061] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A walking push robot, characterized in that: include: A vehicle body (100), wherein a mounting plate (101) is provided on the top surface of the vehicle body (100), the vehicle body (100) and the mounting plate (101) are slidably matched in the vertical direction, and a driving component (102) for controlling the upward and downward sliding of the vehicle body (100) is also provided on the bottom surface of the mounting plate (101); A running rail (200), wherein there are two running rails (200), and the two running rails (200) are respectively fixedly arranged on the front and rear side walls of the mounting plate (101), and the two running rails (200) are parallel to each other; A longitudinal slide rail (300), wherein the longitudinal slide rail (300) is perpendicular to the travel rail (200), and the two ends of the longitudinal slide rail (300) are respectively slidably matched with the two travel rails (200) along the length direction of the travel rail (200), and a transverse moving part (500) is provided on the longitudinal slide rail (300) for sliding along its own length direction, and two lifting cylinders (501) are provided on the top surface of the transverse moving part (500), and the movable ends of the two lifting cylinders (501) are jointly provided with a supporting part (502); A pushing mechanism (400) comprises a stretching frame (401) and a propulsion cylinder (402); the stretching frame (401) is fixedly connected to the longitudinal slide rail (300); the stretching frame (401) can be extended and retracted along the length direction of the travel rail (200); a cylinder body of the propulsion cylinder (402) is fixedly connected to the stretching frame (401); a movable end of the propulsion cylinder (402) is connected to the longitudinal slide rail (300); and a positioning mechanism (600) is further provided on the stretching frame (401); the positioning mechanism (600) can be connected to or separated from the travel rail (200).

2. A walking push robot according to claim 1, characterized in that: The driving assembly (102) comprises two electric push rods, one end of each electric push rod is hingedly arranged on the bottom surface of the mounting plate (101), and the movable end of each electric push rod is hingedly arranged on the vehicle body (100).

3. The walking push robot according to claim 1, characterized in that: The top surface of the walking rail (200) is provided with a slider (201) distributed along its length direction, and the longitudinal slide rail (300) is in sliding cooperation with the slider (201); the front and rear ends of the longitudinal slide rail (300) are each provided with two rolling wheels (301), and the rolling wheels (301) are in rotational cooperation with the longitudinal slide rail (300); the top surface of the walking rail (200) is provided with a slide groove (202) distributed along its length direction, and the rolling wheels (301) are in rolling cooperation with the slide groove (202).

4. The walking push robot according to claim 1, characterized in that: An embedded groove is provided on the top surface of the longitudinal slide rail (300), and a roller (503) is rotatably provided on the bottom surface of the transverse moving part (500), and the roller (503) rolls with the inner bottom surface of the longitudinal slide rail (300); a transverse moving cylinder (504) distributed along the length direction of the transverse moving part (500) is provided in the embedded groove, and the movable end of the transverse moving cylinder (504) is fixedly connected to the transverse moving part (500).

5. The walking push robot according to claim 1, characterized in that: The stretching frame (401) includes a main frame body (4011) in a shape of "冂". On both outer sides of the main frame body (4011), stretching plates (4012) are slidably arranged, and both of the two stretching plates (4012) are fixedly connected to the longitudinal slide rail (300); the cylinder body of the propulsion oil cylinder (402) is fixedly connected to the main frame body (4011).

6. The walking push robot according to claim 5, characterized in that: The positioning mechanism (600) includes a positioning oil cylinder (601) distributed vertically. The cylinder body of the positioning oil cylinder (601) is fixedly connected to the main frame body (4011). A connecting plate (602) is arranged at the movable end of the positioning oil cylinder (601). The length direction of the connecting plate (602) is perpendicular to the walking rail (200). Positioning columns (603) distributed vertically are fixedly arranged at both ends of the connecting plate (602). A plurality of positioning slot holes (203) which are spaced apart and adapted to the positioning columns (603) are formed in the upper surface of the walking rail (200); on the main frame body (4011) and on both sides of the positioning oil cylinder (601), limiting slide rails (604) distributed vertically are arranged, and both of the two limiting slide rails (604) are in vertical sliding fit with the connecting plate (602).

7. The walking push robot according to claim 6, characterized in that: On the top surface of the walking rail (200), a retaining frame (204) distributed along its own length direction is arranged. The two retaining frames (204) are respectively located on both sides of the longitudinal slide rail (300). A plurality of through holes are formed through the retaining frame (204). Elastic columns (205) are movably inserted into the plurality of through holes. The outer ends of the plurality of elastic columns (205) on the same side are commonly connected to a driving plate (206). The inner ends of the plurality of elastic columns (205) on the same side are commonly connected to a pressing plate (207). The driving plate (206) is in an L shape. A first rack (208) distributed along the axial direction of the elastic column (205) is arranged on the top surface of the driving plate (206); A driving tooth column (209) is rotatably arranged on the outer surface of the retaining frame (204). The axial direction of the driving tooth column (209) is consistent with the length direction of the walking rail (200), and the driving tooth column (209) is meshed with the first rack (208). A driving member (605) is fixedly connected to the top of the positioning column (603). The driving member (605) is in an L shape. A second rack (606) distributed vertically is arranged on the surface of the driving member (605). The second rack (606) is meshed with the driving tooth column (209); when the positioning column (603) moves downward, the pressing plate (207) moves toward the side away from the longitudinal slide rail (300).

8. The walking push robot according to claim 7, characterized in that: The elastic column (205) comprises an outer sleeve (2051), an inner sleeve column (2052) and a compression spring (2053); the outer sleeve (2051) is fixedly connected to the driving plate (206); one end of the inner sleeve column (2052) is inserted into the outer sleeve (2051), and the other end is fixedly connected to the compression plate (207); and the two ends of the compression spring (2053) are respectively fixedly connected to the outer sleeve (2051) and the inner sleeve column (2052).

9. The walking push robot according to claim 8, characterized in that: The extrusion plate (207) is in a rectangular frame structure. A wedge block (210) is provided on the inner wall of the extrusion plate (207) and on the side away from the longitudinal slide rail (300). The top surface of the longitudinal slide rail (300) is connected to an extrusion frame (304) through an elastic member (303). Push plates (305) are provided on the bottom surfaces of both ends of the extrusion frame (304). The bottom ends of the two push plates (305) extend into the inner sides of the two extrusion plates (207) respectively. When the push plate (305) moves downward and abuts against the wedge block (210), the extrusion plate (207) can move toward the side away from the longitudinal slide rail (300).

10. A method for using a walking jacking robot for bridge jacking, applicable to the walking jacking robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: The device is carried to a corresponding position where pushing is required by the movement of the vehicle body (100), and then the driving component (102) controls the vehicle body (100) to rise so that the running rail (200) is in contact with the ground; In the initial state, the longitudinal slide rail (300) is located on one side of the walking rail (200), and then the support part (502) is controlled to rise by the lifting cylinder (501), so that the support part (502) lifts the object to be supported upward; The positioning mechanism (600) is connected to the running rail (200), and then the propulsion cylinder (402) pushes the longitudinal slide rail (300) to move forward. When the propulsion cylinder (402) is extended to the maximum stroke, the longitudinal slide rail (300) stops moving forward. At this time, the positioning mechanism (600) is separated from the running rail (200), and then the propulsion cylinder (402) is retracted again. After the propulsion cylinder (402) has been retracted, the positioning mechanism (600) is connected to the travel rail (200) again, and then the propulsion cylinder (402) continues to extend to push the longitudinal slide rail (300), and so on and so forth, until the longitudinal slide rail (300) moves from one end of the travel rail (200) to the other end, and the lifting cylinder (501) retracts again to lower the support.

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