A waterproof trolley travel system with obstacle avoidance function

Abstract

The present invention belongs to the technical field of tunnel trolleys, and specifically relates to a waterproof trolley walking system with an obstacle avoidance function. The technical solution is: a waterproof trolley walking system with an obstacle avoidance function, comprising a wheel frame for connecting a waterproof trolley, a walking drive mechanism installed on the wheel frame, the output end of the walking drive mechanism is transmission-connected to a driving wheel for rolling on a guide rail, and the driving wheel is rotatably connected to the wheel frame; both sides of the wheel frame are connected to a guide device for removing obstacles, and the outer side of a section of the guide device away from the wheel frame is concave, and the outer side of a section of the guide device close to the wheel frame is convex. The present invention provides a walking system that can guide obstacles out of the range of the trolley.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel trolleys, and in particular relates to a waterproof trolley walking system with an obstacle avoidance function. Background Art

[0002] The main structure of a highway tunnel includes initial support, waterproof layer and secondary lining. The waterproof layer generally uses EVA waterproof board, which is manually laid and hung on the surface of the initial support.

[0003] Generally speaking, the length of a highway tunnel is more than 1 km, and the waterproof board laying project is large and the construction period is long. Domestic highway tunnel waterproof boards are usually constructed using self-propelled waterproof board trolleys, but the waterproof board trolleys are expensive, have a long production and processing cycle, and a long assembly time, and need to be customized according to the cross-sectional form and size of each tunnel. After the tunnel is completed, the trolleys are difficult to reuse, resulting in waste of materials and resources and increasing construction costs.

[0004] The waterproof board stand used in the extra-large cross-section tunnel is made of I-beams according to the cross-section form and size of the tunnel. It also has the functions of automatic walking and automatic lifting of waterproof boards, which can meet the construction requirements of waterproof board laying and hanging. After the waterproof board laying and hanging construction of the entire tunnel is completed, the shape and cross-section size of the waterproof board stand can be processed and modified for use in other tunnels; if the stand does not need to be reused, the waterproof board stand can be disassembled, and the I-beams produced by the disassembly can also be used in other construction sites, effectively saving construction costs.

[0005] The bottom of the trolley is equipped with a running mechanism, which can travel on the track. However, there may be obstacles such as gravel, welding machines, fire extinguishers and oxygen acetylene cylinders beside the track in the tunnel, and the trolley is at risk of hitting the obstacles. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention aims to provide a walking system which can guide obstacles out of the range of the trolley.

[0007] The technical solution adopted by the present invention is:

[0008] A waterproof trolley walking system with an obstacle avoidance function comprises a wheel frame for connecting the waterproof trolley, a walking drive mechanism is installed on the wheel frame, the output end of the walking drive mechanism is transmission-connected to a driving wheel for rolling on a guide rail, and the driving wheel is rotatably connected to the wheel frame; both sides of the wheel frame are connected to guide devices for removing obstacles, a section of the guide device away from the wheel frame is concave on the outside, and a section of the guide device close to the wheel frame is convex on the outside.

[0009] When the travel drive mechanism drives the driving wheel to rotate, the driving wheel rolls on the guide rail, thereby driving the trolley to move as a whole. When encountering an obstacle, the concave section of the guide device guides the obstacle to move away from the track. The outer side of the front section of the guide device is concave, and the obstacle can move along the outer wall of the guide device, which can prevent the obstacle from being pushed forward by the guide device. The convexity of the guide device can squeeze the obstacle away, so that the obstacle can be completely separated from the guide device, avoiding the situation where the rear section of the guide device pushes the obstacle forward. After the obstacle is guided away by the guide device, the trolley can move accurately to avoid collision between the trolley and the obstacle.

[0010] As a preferred solution of the present invention, the guide device includes a base, the base is connected to the wheel frame, a vibration reduction mechanism is connected to the base, the other end of the vibration reduction mechanism is connected to a guide plate, the outer side of the guide plate away from the wheel frame is concave, and the outer side of the guide plate close to the wheel frame is convex. When the guide plate contacts an obstacle, the vibration reduction mechanism can play a vibration reduction role to reduce the impact of the obstacle on the guide plate.

[0011] As a preferred embodiment of the present invention, the vibration reduction mechanism includes a sleeve, one end of which is fixed to the base, a telescopic rod is sleeved in the sleeve, a horizontal plate is fixed to the guide plate, the other end of the telescopic rod is fixed to the horizontal plate, a spring is connected between the horizontal plate and the sleeve, and the spring is sleeved on the telescopic rod. When an obstacle contacts the guide plate, the spring is compressed and the front end of the telescopic rod extends into the sleeve. The spring can buffer the horizontal plate to prevent the obstacle from causing excessive impact on the guide plate. The telescopic rod can guide the spring to prevent the guide plate from deflecting.

[0012] As a preferred solution of the present invention, a limit rod is fixed on the guide plate, a limit block is fixed on the limit rod, a limit slot is provided on the base, and the limit block is sleeved in the limit slot. When the guide plate moves in contact with an obstacle, the limit block on the limit rod slides in the limit slot, and the guide plate is further guided, thereby improving the stability of the guide plate.

[0013] As a preferred embodiment of the present invention, the guide device is rotatably connected to the wheel frame, and a pushing mechanism for driving the guide device to tilt is installed on the wheel frame; a touch-pressure switch is installed on the convex section of the guide device, and the touch-pressure switch is electrically connected to the pushing mechanism. If the obstacle is large in size or heavy in weight, the obstacle cannot be bounced away in time after contacting the concave section of the guide device, but slides toward the convex section of the guide plate device. At this time, the obstacle triggers the touch-pressure switch, and the pushing mechanism is turned on, so that the pushing mechanism can drive the guide device to rotate a certain angle, so that the obstacle is accurately removed, further reducing the impact force of the obstacle on the trolley.

[0014] As a preferred solution of the present invention, the touch-pressure switch is tilted toward the wheel frame. When the touch-pressure switch is tilted, the touch-pressure switch will not be blocked by obstacles, and obstacles can accurately trigger the touch-pressure switch.

[0015] As a preferred embodiment of the present invention, the pushing mechanism includes a cylinder, which is mounted on a wheel frame, and a solenoid valve is mounted on the cylinder, which is electrically connected to a touch-pressure switch, and a push rod is connected to the piston rod of the cylinder, and a push connecting rod is hinged on the guide device, and the other end of the push connecting rod is hinged to the push rod. When the touch-pressure switch is triggered, the solenoid valve on the cylinder is turned on, and the piston rod of the cylinder pushes the push rod out. Under the action of the push rod, the push connecting rod moves accordingly, and the push connecting rod can push the guide device to tilt outward. In the process of the guide device tilting outward, the obstacle is completely pushed away to avoid the situation where a large or heavy obstacle blocks the guide device.

[0016] As a preferred solution of the present invention, a guide groove is provided on the wheel frame, and the push rod is sleeved in the guide groove. The push rod always moves in the guide groove during the movement, so that the push rod moves more smoothly and the push connecting rod can rotate accurately. By controlling the extension length of the piston rod of the cylinder, the rotation angle of the guide device can be accurately controlled.

[0017] As a preferred embodiment of the present invention, the travel drive mechanism includes a travel motor, the output shaft of the travel motor is connected to a travel reducer, the travel motor and the travel reducer are both installed on a wheel frame, the output shaft of the travel reducer is connected to a driving sprocket, a driven sprocket is fixed on the driving wheel, and the driving sprocket and the driven sprocket are connected by a chain transmission.

[0018] As a preferred solution of the present invention, the wheel frame is also rotatably connected to a secondary driving wheel, a secondary driven sprocket is fixed to the secondary driving wheel, and the driven sprocket is connected to the secondary driven sprocket through a chain transmission. The driven sprocket drives the secondary driven sprocket to rotate through the chain, so that the secondary driving wheel rotates accordingly. The driving wheel and the secondary driving wheel roll on the guide rail at the same time, thereby improving the stability of the trolley when moving.

[0019] The beneficial effects of the present invention are:

[0020] 1. When the travel drive mechanism of the present invention drives the driving wheel to rotate, the driving wheel rolls on the guide rail, thereby driving the trolley to move as a whole. When encountering an obstacle, the concave section of the guide device guides the obstacle to move away from the track. The outer side of the front section of the guide device is concave, and the obstacle can move along the outer wall of the guide device, which can prevent the obstacle from being pushed forward by the guide device. The convexity of the guide device can squeeze the obstacle away, so that the obstacle can be completely separated from the guide device, avoiding the situation where the rear section of the guide device pushes the obstacle forward. After the obstacle is guided away by the guide device, the trolley can move accurately to avoid the collision between the trolley and the obstacle.

[0021] 2. If the obstacle is large or heavy, it will not be able to bounce away in time after contacting the concave section of the guide device, but will slide to the convex section of the guide plate device. At this time, the obstacle triggers the touch switch, and the push mechanism is turned on, so that the push mechanism can drive the guide device to rotate a certain angle, so that the obstacle is accurately removed, further reducing the impact of the obstacle on the trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the trolley;

[0023] Figure 2 It is a schematic diagram of the structural surface of the rod insertion mechanism;

[0024] Figure 3 It is a structural schematic diagram of the tightening mechanism;

[0025] Figure 4 yes Figure 2 A partial enlarged view of the middle A;

[0026] Figure 5 It is a structural diagram of the platform, support platform and ladder;

[0027] Figure 6 yes Figure 5 A partial enlarged view of point B in the middle;

[0028] Figure 7 yes Figure 5 A partial enlarged view of point C in the middle;

[0029] Figure 8 It is a structural diagram of the ventilation pipe of the trolley;

[0030] Fig. 9 yes Figure 8 Partial structure diagram in ;

[0031] Fig.10 It is a structural diagram of the walking system;

[0032] Fig.11 It is a left view of the walking system part structure;

[0033] Fig.12 It is a top view of part of the walking system structure.

[0034] In the figure, 1-trolley body; 2-platform; 3-support platform; 4-ladder; 5-ventilation pipe; a2-rotating rod; a3-sleeve; a4-telescopic support rod; a5-insertion rod; a6-locking sleeve; a7-leak-proof rubber sealing ring; a8-tightening mechanism; a51-tightening guide groove; a71-pressing guide block; a81-tightening polygonal tube; a82-tightening nut; a83-tightening screw; a84-tightening hand wheel; a85-tightening rod; a86-tightening limit ring; b4-transverse driving mechanism; b5-transverse Shifting screw; b6-transverse support; b7-transverse nut; b8-diagonal support; b21-transverse guide groove; b22-end limit baffle; b23-rubber pad; b35-fence; b36-stop column; b41-transverse bidirectional motor; b42-transverse reducer; b51-transverse limit ring; b71-transverse guide block; b31-fixed frame; b32-transverse slide groove; b33-transverse slider; b34-transverse connecting rod; b35-locking screw; b52-pedal; b53-support rod; b54-support hand; c3-clamping polygonal tube; c4-clamping screw nut mechanism; c5-handwheel transmission mechanism; c6-pressing block; c11-bottom slide; c31-bottom slide block; c41-clamping screw; c42-clamping nut; c43-moving rod; c51-clamping handwheel; c52-rotating shaft; c53-active bevel gear; c54-driven bevel gear; c44-clamping limit ring; c61-rubber block; d1-wheel frame; d2-travel drive mechanism; d3-guide device; d4-propelling mechanism; d 11-guide groove; d21-travel motor; d22-travel reducer; d23-driving sprocket; d24-driven sprocket; d25-secondary driven sprocket; d31-base; d32-vibration reduction mechanism; d33-guide plate; d34-touch-pressure switch; d41-cylinder; d42-push rod; d43-push connecting rod; d311-limiting slide groove; d321-sleeve; d322-telescopic rod; d323-spring; d331-cross plate; d332-limiting rod; d333-limiting block. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] The trolley of this embodiment includes a trolley body 1, on which a plurality of rotating rods a2 are hingedly connected. The other end of the rotating rod a2 is threadedly connected to a sleeve a3, and the other end of the sleeve a3 is threadedly connected to a telescopic support rod a4. The rotation directions of the threads of the rotating rod a2 and the telescopic support rod a4 are opposite; the other end of the telescopic support rod a4 is hingedly connected to an insertion rod a5 for reserving a cave.

[0037] The rotating rod a2 is hinged to the trolley body 1, so the rotating rod a2 can rotate relative to the trolley body 1. Before the secondary pouring of the tunnel, the rotating rod a2 is first rotated to a certain angle so that the insertion rod a5 can be aligned with the position where the cavern needs to be reserved. By screwing the sleeve a3, the rotating rod a2 and the telescopic support rod a4 both move spirally relative to the sleeve a3, and the overall length of the present invention can be adjusted. After adjusting the length, the insertion rod a5 is just inserted into the position where the cavern needs to be reserved. During pouring, a cavern is reserved at the insertion rod a5 to facilitate the installation of necessary devices.

[0038] In order to lock the rotating rod a2 and the telescopic support rod a4 relative to the sleeve a3, the rotating rod a2 and the telescopic support rod a4 are both threadedly connected with a locking sleeve a6, and both ends of the sleeve a3 are provided with external threads, and the other end of the locking sleeve a6 is threadedly connected with the external threads of the sleeve a3. When the locking sleeve a6 is screwed, the locking sleeve a6 moves spirally on the rotating rod a2 or the telescopic support rod a4. When the locking sleeve a6 contacts the sleeve a3, one end of the locking sleeve a6 is screwed tightly with the thread of the sleeve a3. Thus, the locking sleeve a6 can connect the rotating rod a2 or the telescopic support rod a4 with the sleeve a3 to prevent the sleeve a3, the rotating rod a2 and the telescopic support rod a4 from rotating relative to each other. After the sleeve a3, the rotating rod a2 and the telescopic support rod a4 are locked, the insertion rod a5 can be stably inserted into the inner wall of the tunnel to prevent the insertion rod a5 from coming out.

[0039] In order to prevent concrete leakage, the plug rod a5 is connected with a leakproof rubber sealing ring a7 for sealing the gap between the plug rod a5 and the edge of the cavern. The leakproof rubber sealing ring a7 can seal the gap between the plug rod a5 and the edge of the cavern to prevent concrete leakage from the gap during pouring, while ensuring the certainty of the shape of the cavern.

[0040] Furthermore, the leakproof rubber sealing ring a7 is provided with a plurality of pressing guide blocks 71, the plug rod a5 is provided with a plurality of tightening guide grooves a51, the pressing guide blocks 71 are sleeved in the tightening guide grooves a51, the plug rod a5 is provided with a plurality of tightening mechanisms a8 for tightening the leakproof rubber sealing ring a7 against the inner wall of the tunnel, and the output end of the tightening mechanism a8 is connected to the leakproof rubber sealing ring a7. When the plug rod a5 is installed in place, the tightening mechanism a8 presses each section of the leakproof rubber sealing ring a7 against the inner wall of the tunnel, so that each section of the leakproof rubber sealing ring a7 can be reliably blocked to prevent concrete leakage. The guide blocks move in the tightening guide grooves a51, so that the position of the leakproof rubber sealing ring a7 is stable, and the situation that the leakproof rubber sealing ring a7 cannot be reliably sealed due to deformation is avoided.

[0041] The number of the tightening guide grooves a51 and the tightening mechanism a8 are both four, and the four tightening guide grooves a51 and the four tightening mechanisms a8 are evenly distributed on the circumference of the insertion rod a5, and the four tightening guide grooves a51 and the four tightening mechanisms a8 are arranged at intervals. The four tightening mechanisms a8 are evenly distributed on the insertion rod a5, so that each section of the leakproof rubber sealing ring a7 can be reliably tightened to prevent the poured concrete from squeezing out of the leakproof rubber sealing ring a7. The four guide blocks are evenly distributed on the leakproof rubber sealing ring a7, so that the leakproof rubber sealing ring a7 moves more smoothly.

[0042] The tightening mechanism a8 includes a tightening polygonal tube a81, which is fixed on the insertion rod a5. A tightening nut a82 is sleeved inside the tightening polygonal tube a81. The tightening nut a82 is threadedly connected with a tightening screw a83. The tightening screw a83 is connected to the tightening polygonal tube a81 through a bearing. One end of the tightening screw a83 is connected to a tightening handwheel a84. A tightening rod a85 is fixed on the tightening nut a82. The other end of the tightening rod a85 is connected to the leak-proof rubber sealing ring a7.

[0043] When the tightening hand wheel a84 is turned, the tightening hand wheel a84 drives the tightening screw a83 to rotate. Since the tightening nut a82 is restricted from rotating by the tightening polygonal tube a81, the tightening nut a82 can move linearly under the drive of the tightening screw a83. During the movement of the tightening nut a82, the tightening rod a85 moves with the tightening nut a82, and the tightening rod a85 can drive the section of the leakproof rubber sealing ring a7 to move. When each section of the leakproof rubber sealing ring a7 is tightened against the inner wall of the tunnel by the tightening rod a85, the leakproof rubber sealing ring a7 can play a reliable sealing role.

[0044] Furthermore, a tightening limiting ring a86 for limiting the tightening nut a82 is fixed to one end of the tightening screw a83 away from the tightening hand wheel a84. The tightening limiting ring a86 can limit the tightening nut a82 to prevent the tightening nut a82 from coming off the tightening screw a83.

[0045] When the insertion rod a5 needs to be installed, the sleeve a3 is screwed, and the rotating rod a2 and the telescopic support rod a4 are both spirally moved relative to the sleeve a3, so that the total length of the insertion rod mechanism can be adjusted. When the insertion rod a5 is inserted into the reserved position, the locking sleeve a6 is screwed, and the locking sleeve a6 locks the rotating rod a2 and the sleeve a3, and locks the telescopic support rod a4 and the sleeve a3. Turn the tightening handwheel a84, and the tightening handwheel a84 drives the tightening screw a83 to rotate. Since the tightening nut a82 is restricted from rotating by the tightening polygonal tube a81, the tightening nut a82 can drive the locking rod to move linearly. The four locking rods all tighten the leak-proof rubber sealing ring a7 against the inner wall of the tunnel to ensure that the leak-proof rubber sealing ring a7 can play a reliable sealing role and prevent concrete from leaking from the gap between the insertion rod a5 and the cavern.

[0046] A number of platforms 2 are also installed on the trolley body 1, and a support platform 3 is overlapped on the platform 2. A transverse driving mechanism b4 is installed on the platform 2. The output end of the transverse driving mechanism b4 is connected to a transverse screw b5, and the other end of the transverse screw b5 is connected to a transverse support b6 through a bearing. The transverse support b6 is fixed on the platform 2, and the transverse screw b5 is threadedly connected to a transverse nut b7, which is fixed to the support platform 3.

[0047] Tracks are installed in the tunnel, and rollers are installed at the bottom of the trolley body 1, and the rollers are set on the tracks. When the driving device drives the rollers to move, the rollers roll on the tracks, and the trolley body 1 can be moved into place. The trolley body 1 is connected to a number of insertion rod a5 mechanisms for reserving caverns. When the tunnel is poured for the second time, by inserting the insertion rod a5 mechanism to a certain position, a cavern can be reserved at that position, which is convenient for installing necessary devices in the cavern. The trolley body 1 is connected to a number of ventilation pipes 5. The ventilation pipes 5 can play a role in ventilation, and the trolley body 1 stably supports the ventilation pipes 5 to ensure the stability of the position of the ventilation pipes 5.

[0048] After the trolley body 1 is installed, the distance between the edge of the trolley body 1 and the inner wall of the tunnel is fixed. In order to facilitate the construction of the staff, it is necessary to adjust the position of the support table 3 on the platform 2. Start the transverse drive mechanism b4, and the transverse drive mechanism b4 drives the transverse screw b5 to rotate. Since the transverse nut b7 is fixed to the support table 3, the support table 3 can limit the rotation of the transverse nut b7. Driven by the transverse screw b5, the support table 3 can move in a straight line. By controlling the action time of the transverse drive mechanism b4, the extension distance of the support table 3 on the platform 2 can be accurately controlled, which is convenient for the staff to approach the inner wall of the tunnel and perform construction operations.

[0049] Specifically, the transverse driving mechanism b4 includes a transverse bidirectional motor b41, the output end of which is connected to a transverse reducer b42, the transverse bidirectional motor b41 and the transverse reducer b42 are both installed on the platform 2, and one end of the transverse screw b5 is fixed to the output end of the transverse reducer b42. After the transverse bidirectional motor b41 is started, the transverse bidirectional motor b41 drives the transverse reducer b42 to move, and the transverse reducer b42 drives the transverse screw b5 to rotate. There is a certain transmission ratio between the transverse screw b5 and the transverse nut b7, so the position of the transverse nut b7 can be accurately adjusted, and accordingly, the position of the support platform 3 can also be accurately adjusted.

[0050] In order to limit the position of the transverse nut b7, transverse limiting rings b51 for limiting the position of the transverse nut b7 are fixed to both ends of the transverse screw b5. The transverse limiting rings b51 can limit the position of the transverse nut b7 to prevent the transverse nut b7 from touching the transverse support b6 or the transverse reducer b42. At the same time, after the moving range of the transverse nut b7 is limited, the moving range of the support platform 3 is also limited, to avoid the situation where the platform 2 is difficult to stably support the support frame when the moving distance of the support platform 3 is too large.

[0051] In order to make the transverse nut b7 move more stably, a transverse guide groove b21 is provided on the platform 2, and a transverse guide block 71 is fixed on the transverse nut b7, and the transverse guide block 71 is sleeved in the transverse guide groove b21. When the transverse screw b5 drives the transverse nut b7 to move, the guide block on the transverse nut b7 always slides in the transverse guide groove b21, so that the transverse nut b7 moves more stably and avoids motion interference.

[0052] In order to limit the support platform 3, an end limit baffle b22 for limiting the support platform 3 is fixed to the end of the platform 2 away from the trolley body 1, and a rubber pad b23 is provided on the end of the end limit baffle b22 facing the support platform 3. The end limit baffle b22 can limit the end of the support platform 3 to prevent the support platform 3 from slipping off the platform 2 due to the extended distance, thereby ensuring the safety of the staff.

[0053] In order to improve the stability of the platform 2, a diagonal brace b8 is fixed between the bottom of the platform 2 and the trolley body 1. The diagonal brace b8 supports the platform 2, further improving the stability of the platform 2. After the support platform 3 moves on the platform 2, the platform 2 can still reliably support the support platform 3.

[0054] Furthermore, fences b35 and blocking posts b36 are fixed on both sides of the support platform 3. The fences b35 can play a protective role to ensure the safety of the staff. The blocking posts b36 can block the fences b35 to prevent the fences b35 from tipping over.

[0055] A ladder 4 is hingedly connected below the upper platform 2, and a locking screw b35 is threadedly connected to the lower end of the ladder 4. A fixing frame b31 is fixed on the lower support platform 3, and a vertical slot is provided on the fixing frame b31, and the locking screw b35 passes through the vertical slot. A plurality of ventilation pipes 5 are connected to the trolley body 1. The ventilation pipes 5 can play a role in ventilation, and the trolley body 1 stably supports the ventilation pipes 5 to ensure the stability of the position of the ventilation pipes 5.

[0056] The lateral drive mechanism b4 can drive the support platform 3 to move on the platform 2. The support platform 3 can be moved to a certain position as needed to facilitate the construction of the staff. When the support platform 3 moves, the locking screw b35 on the ladder 4 slides in the vertical groove to prevent the ladder 4 from interfering with the vertical groove. After the support platform 3 moves into place, the locking screw b35 is tightened on the fixing frame b31, and the ladder 4 is fixed relative to the support platform 3. After the ladder 4 is fixed, its stability is improved to prevent the staff from slipping from the ladder 4 when using it.

[0057] In order to keep the pedal b52 always level, the present invention makes the following improvements:

[0058] A plurality of pedals b52 are hinged on one side of the ladder 4, and a support rod b53 is hinged between adjacent pedals b52. Two adjacent pedals b52, the support rod b53 and one side of the ladder 4 connecting the pedals b52 form a parallelogram. According to the parallelogram principle, the plurality of pedals b52 are always kept parallel, so that the staff can climb up at a straight angle when using it, which correspondingly improves the safety of the ladder 4.

[0059] The support platform 3 is provided with a transverse sliding groove b32, and a transverse sliding block b33 is sleeved in the transverse sliding groove b32. Two transverse connecting rods b34 are hinged on the transverse sliding block b33. The other end of the transverse connecting rod b34 is hinged to the pedal b52 at the bottom layer of the ladder 4. The pedal b52, the two transverse connecting rods b34 and the transverse sliding block b33 form a parallelogram. When the support platform 3 moves, the fixing frame b31 on the support platform 3 drives the locking screw b35 to move, and the inclination angle of the ladder 4 changes. The position of the transverse sliding block b33 in the transverse sliding groove b32 changes. Since the pedal b52, the two transverse connecting rods b34 and the transverse sliding block b33 form a parallelogram, the pedal b52 at the bottom can always remain horizontal. The two adjacent pedals b52, the support rod b53 and the side of the ladder 4 connecting the pedals b52 form a parallelogram, so all the pedals b52 are always kept horizontal, thereby improving the safety of the staff when using the ladder 4.

[0060] Furthermore, a handrail b54 is installed on the ladder 4. The handrail b54 can protect the staff.

[0061] Furthermore, a fence b35 and a blocking column b36 are respectively installed on the support platform 3. The fence b35 can surround the support platform 3, thereby protecting the staff on the support platform 3 and preventing the staff from falling from the support platform 3. The blocking column b36 can block the fence b35 and prevent the fence b35 from tipping over.

[0062] Furthermore, a diagonal brace b8 is connected between the bottom of the platform 2 and the trolley body 1. After the position of the support platform 3 on the platform 2 is adjusted, the stress of the platform 2 changes, and the diagonal brace b8 supports the platform 2, which can improve the stability of the platform 2.

[0063] A plurality of ventilation pipes 5 are arranged on the trolley body 1, and a plurality of clamping polygonal tubes c3 are connected to the trolley body 1. A clamping screw nut mechanism c4 is provided inside the clamping polygonal tube c3. A handwheel transmission mechanism c5 is connected to the input end of the clamping screw nut mechanism c4, and a clamping block c6 is connected to the output end of the clamping screw nut mechanism c4. The clamping block c6 is clamped on the ventilation pipe 5.

[0064] When the hand wheel transmission mechanism c5 is operated, the hand wheel transmission mechanism c5 drives the clamping screw nut mechanism c4 to operate. Since the clamping polygonal tube c3 can limit the rotation of the clamping nut c42 of the clamping screw nut mechanism c4, the output end of the clamping screw nut mechanism c4 can drive the clamping block c6 to move linearly. After the clamping block c6 moves, it can be pressed on the ventilation pipe 5, so that the ventilation pipe 5 is reliably fixed, avoiding the ventilation pipe 5 from vibrating greatly when the air volume in the ventilation pipe 5 is too large.

[0065] Furthermore, the shape of the clamping block c6 is an arc shape, so that the clamping block c6 can better fit with the ventilation pipe 5, increase the contact area with the ventilation pipe 5, and thus the ventilation pipe 5 can be clamped more stably.

[0066] The side of the pressing block c6 facing the ventilation pipe 5 is connected with a rubber block c61. The rubber block c61 can buffer the ventilation pipe 5 to prevent the pressing block c6 from damaging the surface of the ventilation pipe 5.

[0067] Furthermore, a bottom slider c31 is fixed to the clamping polygonal tube c3 on one side of the ventilation tube 5, a bottom slide groove c11 is provided on the trolley body 1, the bottom slider c31 is sleeved in the bottom slide groove c11, and the clamping polygonal tube c3 on the other side of the ventilation tube 5 is fixed to the trolley body 1. The bottom slider c31 is fixed to the clamping polygonal tube c3 on one side, so that when a large vibration occurs, the bottom slider c31 can slide in the bottom slide groove c11, thereby avoiding the situation where the clamping polygonal tube c3 is damaged due to excessive stress between the clamping polygonal tube c3 and the trolley body.

[0068] Specifically, the clamping screw nut mechanism c4 includes a clamping screw c41, which is sleeved in the clamping polygonal tube c3, one end of the clamping screw c41 is connected to the clamping polygonal tube c3 through a bearing, a clamping nut c42 is threadedly connected to the clamping screw c41, a moving rod c43 is fixed to the clamping nut c42, the other end of the moving rod c43 is fixed to the pressing block c6, and the handwheel transmission mechanism c5 is connected to the clamping screw c41. Since the clamping polygonal tube c3 can limit the rotation of the clamping nut c42, when the handwheel transmission mechanism c5 drives the clamping screw c41 to rotate, the clamping screw c41 drives the clamping nut c42 to move linearly. The clamping nut c42 drives the moving rod c43 to move, and the moving rod c43 drives the pressing block c6 to move, so that the pressing block c6 can reliably press the ventilation pipe 5.

[0069] Specifically, the hand wheel transmission mechanism c5 includes a clamping hand wheel c51, a rotating shaft c52 is connected to the clamping hand wheel c51, the rotating shaft c52 is connected to the side wall of the clamping polygonal tube c3 through a bearing, the other end of the rotating shaft c52 extends into the clamping polygonal tube c3, and one end of the rotating shaft c52 extending into the clamping polygonal tube c3 is connected to a driving bevel gear c53, the driving bevel gear c53 is meshed with a driven bevel gear c54, and the driven bevel gear c54 is connected to the input end of the clamping screw nut mechanism c4. When the ventilation pipe 5 is connected, the clamping hand wheel c51 is rotated, the clamping hand wheel c51 drives the rotating shaft c52 to rotate, and the rotating shaft c52 drives the driving bevel gear c53 to rotate. The driving bevel gear c53 drives the driven bevel gear c54 to rotate, so that the clamping screw nut mechanism c4 acts accordingly.

[0070] Furthermore, a clamping limiting ring c44 for limiting the position of the clamping nut c42 is fixed to one end of the clamping screw c41 close to the pressing block c6. The clamping limiting ring c44 can limit the position of the clamping nut c42 to prevent the clamping nut c42 from slipping out of the clamping screw c41.

[0071] A walking system is installed at the bottom of the trolley body 1, and the walking system includes a wheel frame d1 for connecting the waterproof trolley, and a walking drive mechanism d2 is installed on the wheel frame d1. The output end of the walking drive mechanism d2 is transmission-connected to a driving wheel for rolling on a guide rail, and the driving wheel is rotatably connected to the wheel frame d1; both sides of the wheel frame d1 are connected to guide devices d3 for removing obstacles, and the outer side of the guide device d3 away from the wheel frame d1 is concave, and the outer side of the guide device d3 close to the wheel frame d1 is convex.

[0072] The travel drive mechanism d2 includes a travel motor d21, the output shaft of the travel motor d21 is connected to a travel reducer d22, the travel motor d21 and the travel reducer d22 are both mounted on the wheel frame d1, the output shaft of the travel reducer d22 is connected to a driving sprocket d23, a driven sprocket d24 is fixed on the driving wheel, and the driving sprocket d23 and the driven sprocket d24 are connected by a chain transmission. The wheel frame d1 is also rotatably connected to a secondary driving wheel, a secondary driven sprocket d25 is fixed on the secondary driving wheel, and the driven sprocket d24 and the secondary driven sprocket d25 are connected by a chain transmission. The driven sprocket d24 drives the secondary driven sprocket d25 to rotate through the chain, so that the secondary driving wheel rotates accordingly. The driving wheel and the secondary driving wheel roll on the guide rail at the same time to improve the stability of the trolley when moving.

[0073] When the travel drive mechanism d2 drives the driving wheel to rotate, the driving wheel rolls on the guide rail, thereby driving the trolley to move as a whole. When encountering an obstacle, the concave section of the guide device d3 guides the obstacle and moves the obstacle away from the track. The outer side of the front section of the guide device d3 is concave, and the obstacle can move along the outer wall of the guide device d3, which can prevent the obstacle from being pushed forward by the guide device d3. The convexity of the guide device d3 can squeeze the obstacle away, so that the obstacle can be completely separated from the guide device d3, avoiding the situation where the rear section of the guide device d3 pushes the obstacle forward. After the obstacle is guided away by the guide device d3, the trolley can move accurately to avoid the collision between the trolley and the obstacle.

[0074] Specifically, the guide device d3 includes a base d31, which is connected to the wheel frame d1, and a vibration reduction mechanism d32 is connected to the base d31. The other end of the vibration reduction mechanism d32 is connected to a guide plate d33. The outer side of the guide plate d33 away from the wheel frame d1 is concave, and the outer side of the guide plate d33 close to the wheel frame d1 is convex. When the guide plate d33 contacts an obstacle, the vibration reduction mechanism d32 can play a vibration reduction role to reduce the impact of the obstacle on the guide plate d33.

[0075] The vibration reduction mechanism d32 includes a sleeve d321, one end of which is fixed to the base d31, a telescopic rod d322 is sleeved in the sleeve d321, a horizontal plate d331 is fixed to the guide plate d33, the other end of the telescopic rod d322 is fixed to the horizontal plate d331, a spring d323 is connected between the horizontal plate d331 and the sleeve d321, and the spring d323 is sleeved on the telescopic rod d322. When an obstacle contacts the guide plate d33, the spring d323 is compressed, and the front end of the telescopic rod d322 extends into the sleeve d321. The spring d323 can buffer the horizontal plate d331 to prevent the obstacle from causing excessive impact on the guide plate d33. The telescopic rod d322 can guide the spring d323 to prevent the guide plate d33 from deflecting.

[0076] Furthermore, a limiting rod d332 is fixed on the guide plate d33, a limiting block d333 is fixed on the limiting rod d332, a limiting groove d311 is provided on the base d31, and the limiting block d333 is sleeved in the limiting groove d311. When the guide plate d33 moves in contact with an obstacle, the limiting block d333 on the limiting rod d332 slides in the limiting groove d311, and the guide plate d33 is further guided, thereby improving the stability of the guide plate d33.

[0077] In order to accurately remove obstacles with large volume or heavy weight, the guide device d3 is rotatably connected to the wheel frame d1, and a pushing mechanism d4 for driving the guide device d3 to tilt is installed on the wheel frame d1; a touch-pressure switch d34 is installed on the convex section of the guide device d3, and the touch-pressure switch d34 is electrically connected to the pushing mechanism d4. If the obstacle is large in volume or heavy in weight, the obstacle cannot be bounced off in time after contacting the concave section of the guide device d3, but slides to the convex section of the guide plate d33 device. At this time, the obstacle triggers the touch-pressure switch d34, and the pushing mechanism d4 is turned on, so that the pushing mechanism d4 can drive the guide device d3 to rotate a certain angle, so that the obstacle is accurately removed, and the impact force caused by the obstacle on the trolley is further reduced. Among them, the touch-pressure switch d34 is tilted toward the wheel frame d1. If the touch-pressure switch d34 is tilted, the touch-pressure switch d34 will not block the obstacle, and the obstacle can accurately trigger the touch-pressure switch d34.

[0078] Specifically, the pushing mechanism d4 includes a cylinder d41, which is installed on the wheel frame d1. A solenoid valve is installed on the cylinder d41, which is electrically connected to the touch-pressure switch d34. A push rod d42 is connected to the piston rod of the cylinder d41, and a push link d43 is hinged on the guide device d3, and the other end of the push link d43 is hinged to the push rod d42. When the touch-pressure switch d34 is triggered, the solenoid valve on the cylinder d41 is turned on, and the piston rod of the cylinder pushes the push rod d42 out. Under the action of the push rod d42, the push link d43 moves accordingly, and the push link d43 can push the guide device d3 to tilt outward. In the process of the guide device d3 tilting outward, the obstacle is completely pushed away to avoid the situation where a large or heavy obstacle blocks the guide device d3.

[0079] Furthermore, the wheel frame d1 is provided with a guide groove d11, and the push rod d42 is sleeved in the guide groove d11. The push rod d42 always moves in the guide groove d11 during the movement, so that the push rod d42 moves more smoothly and the push connecting rod d43 can rotate accurately. By controlling the extension length of the piston rod of the cylinder d41, the rotation angle of the guide device d3 can be accurately controlled.

[0080] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A waterproof trolley travel system with obstacle avoidance function, characterized in that: The invention comprises a wheel frame (d1) for connecting a waterproof trolley, a travel drive mechanism (d2) being installed on the wheel frame (d1), an output end of the travel drive mechanism (d2) being transmission-connected to a drive wheel for rolling on a guide rail, and the drive wheel being rotationally connected to the wheel frame (d1); both sides of the wheel frame (d1) are connected to guide devices (d3) for removing obstacles, a section of the guide device (d3) away from the wheel frame (d1) is concave on the outside, and a section of the guide device (d3) close to the wheel frame (d1) is convex on the outside; The guide device (d3) is rotatably connected to the wheel frame (d1), and a driving mechanism (d4) for driving the guide device (d3) to tilt is installed on the wheel frame (d1); a touch-pressure switch (d34) is installed on the outer convex section of the guide device (d3), and the touch-pressure switch (d34) is electrically connected to the driving mechanism (d4); The pushing mechanism (d4) comprises a cylinder (d41), the cylinder (d41) is mounted on the wheel frame (d1), a solenoid valve is mounted on the cylinder (d41), the solenoid valve is electrically connected to the touch pressure switch (d34), a pushing rod (d42) is connected to the piston rod of the cylinder (d41), a pushing connecting rod (d43) is hinged on the guide device (d3), and the other end of the pushing connecting rod (d43) is hinged to the pushing rod (d42); It also includes a trolley body (1), a plurality of platforms (2) are installed on the trolley body (1), a support platform (3) is overlapped on the platform (2), a transverse driving mechanism (b4) is installed on the platform (2), the output end of the transverse driving mechanism (b4) is connected to a transverse screw (b5), the other end of the transverse screw (b5) is connected to a transverse support (b6) through a bearing, the transverse support (b6) is fixed on the platform (2), the transverse screw (b5) is threadedly connected to a transverse nut (b7), and the transverse nut (b7) is fixed to the support platform (3); A ladder (4) is hingedly connected below the upper platform (2), a locking screw (b35) is threadedly connected to the lower end of the ladder (4), a fixing frame (b31) is fixed on the lower support platform (3), a vertical slot is provided on the fixing frame (b31), and the locking screw (b35) passes through the vertical slot; A plurality of pedals (b52) are hingedly connected on one side of the ladder (4), a support rod (b53) is hingedly connected between adjacent pedals (b52), and two adjacent pedals (b52), the support rod (b53) and one side of the ladder (4) connecting the pedals (b52) form a parallelogram; The support platform (3) is provided with a transverse sliding groove (b32), a transverse sliding block (b33) is sleeved in the transverse sliding groove (b32), two transverse connecting rods (b34) are hinged on the transverse sliding block (b33), the other end of the transverse connecting rod (b34) is hinged to the pedal (b52) at the bottom layer of the ladder (4), and the pedal (b52) at the bottom layer of the ladder (4), the two transverse connecting rods (b34) and the transverse sliding block (b33) form a parallelogram.

2. A waterproof trolley travel system with obstacle avoidance function according to claim 1, characterized in that: The guide device (d3) comprises a base (d31), the base (d31) is connected to the wheel frame (d1), a vibration reduction mechanism (d32) is connected to the base (d31), the other end of the vibration reduction mechanism (d32) is connected to a guide plate (d33), a section of the outer side of the guide plate (d33) away from the wheel frame (d1) is concave, and a section of the outer side of the guide plate (d33) close to the wheel frame (d1) is convex.

3. A waterproof trolley travel system with obstacle avoidance function according to claim 2, characterized in that: The vibration reduction mechanism (d32) comprises a sleeve (d321), one end of the sleeve (d321) is fixed to the base (d31), a telescopic rod (d322) is sleeved in the sleeve (d321), a transverse plate (d331) is fixed on the guide plate (d33), the other end of the telescopic rod (d322) is fixed to the transverse plate (d331), a spring (d323) is connected between the transverse plate (d331) and the sleeve (d321), and the spring (d323) is sleeved on the telescopic rod (d322).

4. The waterproof trolley travel system with obstacle avoidance function according to claim 2, characterized in that: A limiting rod (d332) is fixed on the guide plate (d33), a limiting block (d333) is fixed on the limiting rod (d332), a limiting sliding groove (d311) is arranged on the base (d31), and the limiting block (d333) is sleeved in the limiting sliding groove (d311).

5. The waterproof trolley travel system with obstacle avoidance function according to claim 1, characterized in that: The touch-pressure switch (d34) is arranged to be inclined toward the wheel frame (d1).

6. The waterproof trolley travel system with obstacle avoidance function according to claim 1, characterized in that: The wheel frame (d1) is provided with a guide groove (d11), and the push rod (d42) is sleeved in the guide groove (d11).

7. A waterproof trolley travel system with obstacle avoidance function according to any one of claims 1 to 6, characterized in that: The travel drive mechanism (d2) comprises a travel motor (d21), the output shaft of the travel motor (d21) is connected to a travel reducer (d22), the travel motor (d21) and the travel reducer (d22) are both mounted on a wheel frame (d1), the output shaft of the travel reducer (d22) is connected to a driving sprocket (d23), a driven sprocket (d24) is fixed on the driving wheel, and the driving sprocket (d23) and the driven sprocket (d24) are connected via a chain transmission.

8. The waterproof trolley travel system with obstacle avoidance function according to claim 7, characterized in that: The wheel frame (d1) is also rotatably connected to a secondary driving wheel, a secondary driven sprocket (d25) is fixed to the secondary driving wheel, and the driven sprocket (d24) is connected to the secondary driven sprocket (d25) through a chain transmission.

Images