Subway electrical equipment transportation auxiliary walking type hydraulic lifting robot

Abstract

The application provides a subway electrical equipment transportation auxiliary walking type hydraulic lifting robot, and belongs to the technical field of electrical equipment installation of a subway substation. The subway electrical equipment transportation auxiliary walking type hydraulic lifting robot comprises a walking frame, a lifting support vertically arranged on the top of the walking frame, a longitudinal oil cylinder arranged in the lifting support, a lifting unit arranged on one side of the lifting support, a pair of supporting arms arranged on one side of the lifting support, liftable supporting legs arranged on the outer side of the supporting arms, a supporting plate arranged on the bottom of the supporting arms in a width direction and capable of being displaced, the supporting plate being used for extending from the bottom of the supporting plate and being supported on the bottom of the electrical equipment, and a receiving groove arranged on the bottom of the supporting arms and used for accommodating the supporting plate. The application has the advantages of safe, efficient and convenient installation of electrical equipment in the construction of the subway substation.

Description

A walking hydraulic lifting robot for transporting subway electrical equipment Technical Field

[0001] This invention relates to the field of electrical equipment installation technology in subway substations, and specifically to a walking hydraulic lifting robot for transporting subway electrical equipment. Background Technology

[0002] The installation of equipment in subway substations is a common practice in the electrical construction of various urban rail transit systems. During construction, electrical equipment is typically installed manually, using jacks, or with lifting poles.

[0003] With the rise of urban rail transit construction in major and medium-sized cities, the installation of electrical equipment in subway substations has been fully launched. How to install electrical equipment safely and quickly has become a problem in the construction process. How to install electrical equipment safely and reliably without damaging the original structure and foundation embedded parts has become a key process that needs to be controlled during construction. Summary of the Invention

[0004] This invention aims to solve the problem of how to safely and quickly install electrical equipment during the construction of subway substations, and provides a walking hydraulic lifting robot to assist in the transportation of subway electrical equipment.

[0005] The technical solution of this invention is implemented as follows:

[0006] A mobile hydraulic lifting robot for transporting subway electrical equipment includes:

[0007] Walking frame;

[0008] The lifting support is vertically installed on the top of the traveling frame, and a longitudinal hydraulic cylinder is installed inside it.

[0009] A lifting unit, disposed on one side of the lifting bracket, is used to support and lower the electrical equipment, wherein the lifting unit includes:

[0010] A pair of support arms are provided on one side of the lifting bracket, and the pair of support arms are configured to move relative to each other or in opposite directions on the lifting bracket.

[0011] The lifting outrigger is mounted on the outer side of the support arm and can be raised and lowered. When the lifting outrigger is suspended, the height of its bottom is less than the height of the bottom of the support arm.

[0012] A tray, which is displaceable in the width direction, is disposed at the bottom of a support arm for extending from the bottom of the tray and supporting the bottom of the electrical equipment. The bottom of the support arm is provided with a storage groove for accommodating the tray.

[0013] The pallet control structure is installed inside the support arm, and the transmission is located between the lifting leg and the pallet. The pallet control structure is configured such that when the lifting leg moves upward or downward on the support arm, it drives the pallet to be stored in the storage slot or move to the inside of the support arm.

[0014] Furthermore, the pallet control structure includes a longitudinal rack, a gear set, and a transverse rack. The longitudinal rack is slidably disposed inside the support arm in the height direction and is fixedly connected to the lifting outrigger. The transverse rack is slidably disposed inside the support arm in the width direction. The pallet is fixedly connected to the inner end of the transverse rack. The gear set is installed inside the support arm and is driven between the longitudinal rack and the transverse rack.

[0015] Furthermore, the lifting outrigger includes a leg body, a plate sleeve, and a plate body. The leg body is fixedly installed on the outer end of the plate sleeve. The outer end of the plate body is laterally telescopically inserted into the plate sleeve. The inner end of the plate body is slidably installed on the support arm in the height direction. The longitudinal rack is fixedly installed on the inner end of the plate body. A compression spring is provided on the top of the plate body.

[0016] Furthermore, when the tray is located in the storage slot, its bottom is flush with the bottom of the support arm, and an elastic telescopic rod is fixedly connected to the top of the tray. The elastic telescopic rod includes a square tube-shaped sleeve portion, a rod body portion whose top end is inserted into the sleeve portion, and an upward pull spring disposed in the sleeve portion and connected to the top end of the rod body portion. The support arm is provided with a channel for the elastic telescopic rod to follow the lateral displacement of the tray, and the sleeve portion is slidably disposed in the channel. The inner end of the transverse rack is slidably connected to the outer side of the tray in the height direction.

[0017] Furthermore, two grooves are formed on the inner side of the tray, and the inner wall surfaces of the outer sides of the two grooves are inclined to form an outwardly expanding structure. The tray is slidable relative to the support arm in the length direction. The outer wall surfaces of the two grooves are aligned with the position of the electrical equipment by abutting against two buried bolts located on the outer side in the length direction.

[0018] Furthermore, the bottom surface of the tray is flat, and the tray includes a first plate portion and a second plate portion arranged in an inner and outer manner. The first plate portion includes a first inclined portion and a first flat portion with the top surface being an inclined surface and a flat surface, respectively, from the inside to the outside. The top surface of the first inclined portion is an inclined surface with the outer end sloping upward. The first inclined portion has a wedge-shaped structure, and when the tray is in the innermost position, the outer side of the first flat portion and the inner side of the support arm are located on the same vertical plane. The inner side of the second plate portion is provided with a sliding groove, and the outer side of the first plate portion is equipped with a sliding body that is slidably disposed in the sliding groove. Both ends of the sliding body are respectively provided with a return spring between them and the inner walls of both ends of the sliding groove.

[0019] Furthermore, the first plate portion also includes a second inclined portion with a sloping top surface. The inner end of the top surface of the second inclined portion is connected to the outer end of the top surface of the first flat portion. The inclination angle of the top surface of the second inclined portion is set to be the same as the inclination angle of the top surface of the first inclined portion. The sliding body is fixedly installed on the outer surface of the second inclined portion. The second plate portion includes a third inclined portion with its top surface extending upward along the top surface of the second inclined portion and a second flat portion with its top surface extending horizontally outward from the outer end of the top of the third inclined portion.

[0020] Furthermore, the groove is formed on the first inclined portion, and the first inclined portion and the first flat portion are integrally formed. The first flat portion and the second inclined portion are separately formed, and the length of the first inclined portion and the first flat portion is less than the length of the second inclined portion. An adjustment groove is formed on the inner side of the second inclined portion, and an adjustment screw is rotatably installed in the adjustment groove. An adjustment sleeve is fixedly installed on the outer side of the first flat portion and slidably disposed in the adjustment groove, and the adjustment sleeve is threaded onto the outside of the adjustment screw.

[0021] Furthermore, a stop block with a side shape adapted to the first inclined part and the first flat part is rotatably installed at the end of the first flat part. A torsion spring for keeping the stop block in a vertical state is provided between the stop block and the first flat part. When the tray moves into the receiving groove, the stop block is rotated by the action of the bottom end of the inner side of the support arm and is received into the whole of the first flat part and the first inclined part.

[0022] Furthermore, the lifting unit is provided in two sets, and the two sets of lifting units are arranged one in front of the other in the length direction. The tops of the opposite ends of the two support arms located on the same side in the width direction are connected by a hinge, and the end of the support arm near the lifting bracket facing the lifting bracket is connected to the lifting bracket by a horizontal hydraulic cylinder.

[0023] The present invention has the following beneficial effects:

[0024] By setting the support arm to be movable in both the vertical and lateral directions, it is not only easier to move the electrical equipment to be installed, but also more convenient, faster, and safer than using jacks or lifting poles to install electrical equipment in existing technologies, which greatly improves the efficiency and safety of construction operations. Attached Figure Description

[0025] Figure 1 is a schematic diagram of the walking hydraulic lifting robot for transporting subway electrical equipment according to the present invention when carrying electrical equipment.

[0026] Figure 2 is an enlarged view of point A in Figure 1 of the present invention, which is a walking hydraulic lifting robot for transporting subway electrical equipment.

[0027] Figure 3 is an enlarged view of section B in Figure 1 of the present invention, which is a walking hydraulic lifting robot for transporting subway electrical equipment.

[0028] Figure 4 is an overall schematic diagram of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention;

[0029] Figure 5 is a partial schematic diagram of Figure 4 of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention;

[0030] Figure 6 is a top view of the support arm of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention;

[0031] Figure 7 is a side view of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention as shown in Figure 6;

[0032] Figure 8 is a bottom view of the support arm of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention;

[0033] Figure 9 is a partial cross-sectional view of the support arm of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention.

[0034] Figure 10 is an enlarged view of point C in Figure 9 of the present invention, which is a walking hydraulic lifting robot for transporting subway electrical equipment.

[0035] Figure 11 is a split schematic diagram of the pallet control structure of the subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention;

[0036] Figure 12 is another perspective view of the walking hydraulic lifting robot for transporting subway electrical equipment of the present invention, as shown in Figure 11. Detailed Implementation

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please refer to Figures 1 to 12. The subway electrical equipment transportation auxiliary walking hydraulic lifting robot provided by the present invention includes a walking frame 1, a lifting support 2, and a lifting unit. The walking frame 1 includes a frame body, walking wheels, and a walking motor. By starting the walking motor, the walking wheels are driven to roll on the ground, which allows the walking frame 1 to move on the ground.

[0039] Referring to Figures 1 and 4, the lifting support 2 is vertically mounted on top of the traveling frame 1, and a longitudinal hydraulic cylinder 2-1 is installed inside it. Specifically, the lifting support 2 includes a base frame 2-2 and a slide 2-3. The base frame 2-2 is fixedly mounted on the top of the frame, and the slide 2-3 is slidably mounted on the base frame 2-2 in the height direction. The longitudinal hydraulic cylinder 2-1 is positioned with its movable end facing downwards, and the fixed end of the longitudinal hydraulic cylinder 2-1 is fixedly connected to the inside of the slide 2-3, while the movable end of the longitudinal hydraulic cylinder 2-1 is fixedly connected to the base frame 2-2. More specifically, the cylinder barrel of the longitudinal hydraulic cylinder 2-1 is entirely fixedly mounted inside the slide 2-3, and the base frame 2-2 has a cavity for accommodating the slide 2-3. At this time, when the longitudinal hydraulic cylinder 2-1 is in its shortest position, the slide 2-3 is located at its lowest position within the base frame 2-2, which is more suitable for discharging electrical equipment.

[0040] The lifting unit is located on one side of the lifting bracket 2 and is used to support and lower electrical equipment. By adjusting the height of the lifting unit through the lifting bracket 2, the electrical equipment can be directly lifted off the ground or lowered onto the ground.

[0041] Referring to Figures 1 and 4, the lifting unit includes a support arm 3, lifting legs 4, a support plate 5, and a support plate control structure 6. Referring to Figure 4, a pair of support arms 3 are arranged on one side of the lifting bracket 2. The pair of support arms 3 are configured to move relative to or away from each other on the lifting bracket 2. When the pair of support arms 3 move relative to each other, they are used to clamp electrical equipment. When the pair of support arms 3 move away from each other, they are used to disengage from the electrical equipment or to provide space for clamping the electrical equipment. Specifically, the support arm 3 has an overall rectangular parallelepiped structure.

[0042] Referring to Figures 2, 4, 6, 7, 9, and 10, the lifting outrigger 4 is vertically and flexibly mounted on the outer side of the support arm 3. When suspended, the bottom height of the lifting outrigger 4 is less than the bottom height of the support arm 3, and the height difference is greater than the distance the buried bolt extends from the ground. During the shortening process of the lifting bracket 2, the support arm 3 descends. As the support arm 3 descends, the bottom of the lifting outrigger 4 contacts the ground before the bottom of the support arm 3. Between the bottom of the lifting outrigger 4 and the bottom of the support arm 3, the support arm 3 descends, and the lifting outrigger 4 moves upward relative to the outside of the support arm 3. Similarly, as the support arm 3 rises from its bottom contact with the ground, the bottom of the support arm 3 leaves the ground first, and before the bottom of the lifting outrigger 4 leaves the ground, it moves downward relative to the support arm 3.

[0043] Referring to Figures 2, 3, 5 to 10, the pallet 5 is displaceable in the width direction at the bottom of the support arm 3, extending from the bottom of the pallet 5 and supporting the bottom of the electrical equipment. The bottom of the support arm 3 is provided with a storage groove 7 for accommodating the pallet 5. Specifically, when the support arm 3 is transporting the electrical equipment, the pallet 5 is located at the bottom of the electrical equipment, supporting the electrical equipment from the bottom to improve the stability of the electrical equipment and prevent the electrical equipment from detaching from the support arm 3.

[0044] Please refer to Figures 7 to 12. The pallet control structure 6 is installed inside the support arm 3, and the pallet control structure 6 is driven between the lifting leg 4 and the pallet 5. The pallet control structure 6 is configured to drive the pallet 5 to be stored in the storage slot 7 or move to the inside of the support arm 3 when the lifting leg 4 moves upward or downward on the support arm 3.

[0045] During use, first adjust the position of the two support arms 3 in the width direction so that the distance between the two support arms 3 is greater than the width of the electrical equipment. Then, lower the support arms 3 to the bottom and contact the ground using the lifting bracket 2. At this time, the tray 5 is stored in the storage slot 7. Next, adjust the position of the two support arms 3 in the width direction so that the two support arms 3 move relative to each other and clamp the two sides of the electrical equipment. Then, raise the support arms 3 using the lifting bracket 2. At this time, the two support arms 3 lift the electrical equipment synchronously and lift it off the ground. During the lifting of the support arms 3, when the bottom of the telescopic leg leaves the ground, the telescopic leg moves downward relative to the support arm 3 and, in conjunction with the tray control structure 6, causes the tray 5 in the storage slot 7 to move inward and extend to the inside of the support arm 3. At this time, the tray 5 moves to the bottom of the electrical equipment and supports the electrical equipment from the bottom. Similarly, during the lowering of the electrical equipment, the lifting leg 4 contacts the ground before the bottom of the support arm 3. During the process from when the lifting outrigger 4 contacts the ground to when the bottom of the support arm 3 contacts the ground, the lifting outrigger 4 moves upward relative to the support arm 3 and drives the support plate 5 to be pulled out from the bottom of the electrical equipment and stored in the storage slot 7 through the support plate control structure 6. Afterwards, by adjusting the two support arms 3 to move in opposite directions in the width direction, the support arms 3 can be released from the electrical equipment and detached from it.

[0046] Referring to Figures 9 to 12, the pallet control structure 6 includes a longitudinal rack 6-1, a gear set 6-2, and a transverse rack 6-3. The longitudinal rack 6-1 is slidably disposed inside the support arm 3 in the height direction and is fixedly connected to the lifting leg 4. The transverse rack 6-3 is slidably disposed inside the support arm 3 in the width direction. The pallet 5 is fixedly connected to the inner end of the transverse rack 6-3. The gear set 6-2 is installed inside the support arm 3 and is drively connected between the longitudinal rack 6-1 and the transverse rack 6-3. Specifically, the gear set 6-2 includes three gears that mesh sequentially and are rotatably mounted inside the support arm 3. One gear meshes with the longitudinal rack 6-1, and the other gear meshes with the transverse rack 6-3. Please refer to Figures 9 and 10. The support arm 3 has a longitudinal groove 3-1 for slidingly mounting the longitudinal rack 6-1, and a transverse groove 3-2 for slidingly mounting the transverse rack 6-3. The support arm 3 also has a gear mounting groove 3-3 for accommodating the gear set 6-2.

[0047] Referring to Figures 2, 7, and 9 to 12, the lifting outrigger 4 includes a leg body 4-1, a sleeve 4-2, a plate body 4-3, and a transverse spring 4-4. The leg body 4-1 is fixedly mounted on the outer end of the sleeve 4-2. The outer end of the plate body 4-3 is laterally telescopically inserted into the sleeve 4-2. The inner end of the plate body 4-3 is slidably mounted on the support arm 3 in the height direction, and a longitudinal rack 6-1 is fixedly mounted on the inner end of the plate body 4-3. A compression spring 8 is provided at the top of the plate body 4-3. During the process of the support arm 3 rising from the state of contact with the ground, the compression spring 8, in conjunction with the gravity of the telescopic outrigger, provides a force for the telescopic outrigger to move downward relative to the support arm 3, and this force is used to drive the action of the support plate control structure 6. A transverse spring 4-4 ​​is disposed between the outer end of the plate body part 4-3 and the outer inner wall of the plate sleeve part 4-2. The transverse spring 4-4 ​​is used to keep the outer end of the plate body part 4-3 inserted in the middle position inside the plate sleeve part 4-2. The plate sleeve part 4-2 can be displaced inward or outward on the plate body part 4-3.

[0048] Please refer to Figures 2, 9 and 10. The outer side of the support arm 3 is provided with a lifting slide 3-4 for the lifting movement of the inner end of the plate part 4-3. The inner end of the plate part 4-3 is slidably disposed in the lifting slide 3-4 in the height direction. The pressure spring 8 is located in the lifting slide 3-4, and the top end of the pressure spring 8 is connected to the inner top wall of the lifting slide 3-4, while the bottom end of the pressure spring 8 is connected to the inner end of the top of the plate part 4-3.

[0049] Please refer to Figures 1, 3, 5, 8, 11, and 12. The bottom surface of the tray 5 is flat. When the tray 5 is located in the storage groove 7, its bottom is flush with the bottom of the support arm 3. An elastic telescopic rod 9 is fixedly connected to the top of the tray 5. The elastic telescopic rod 9 includes a square tube-shaped sleeve part 9-1, a rod body part 9-2 whose top end is inserted into the sleeve part 9-1, and an upward pull spring 9-3 set in the sleeve part 9-1 and connected to the top end of the rod body part 9-2. The support arm 3 is provided with a channel 3-5 for the elastic telescopic rod 9 to follow the lateral displacement of the tray 5, and the sleeve part 9-1 is slidably set in the channel 3-5. The inner end of the transverse rack 6-3 is slidably connected to the outer side of the tray 5 in the height direction.

[0050] Specifically, the bottom end of the rod body 9-2 is also set as a square tube structure. The two sides of the rod sleeve 9-1 and the rod body 9-2 in the length direction of the support arm 3 respectively contact the two sides of the channel 3-5. The two sides of the channel 3-5 are provided with strip grooves 3-6. The two sides of the rod sleeve 9-1 are provided with strip sliders 9-4, and the strip sliders 9-4 are slidably set in the strip grooves 3-6.

[0051] The inner side of the support plate 5 has two grooves 10. The inner wall surface of the outer side of the two grooves 10 is inclined to form an outward expansion structure. The support plate 5 can slide relative to the support arm 3 in the length direction. The outer side of the two grooves 10 avoids the need to correct the position of the electrical equipment by abutting against two buried bolts located on the outer side in the length direction.

[0052] Specifically, during the lowering of the electrical equipment, the position of the support arm 3 can be adjusted so that the support arm 3 is detached from the electrical equipment, and the electrical equipment rests completely on top of the support plate 5 and is supported by the support plate 5. At this time, the height difference between the bottom of the lifting leg 4 and the bottom of the support arm 3 is equal to the thickness of the support plate 5. And when the bottom of the support leg contacts the ground, the top of the buried bolt is located in the groove 10. Then, by adjusting the relative movement of the two support arms 3, the inclined inner wall of the groove 10 abuts against the side of the buried bolt. At this time, under the combined action of the inclined inner wall of the two grooves 10 and the buried bolt, the support plate 5 moves along the length of the support arm 3, and together with the electrical equipment, the bolt hole on the electrical equipment is aligned with the buried bolt, so that the buried bolt can be accurately inserted into the bolt hole on the electrical equipment during the subsequent lowering of the electrical equipment.

[0053] Please refer to Figures 2, 3, 5 to 7, and 10 to 12. The pallet 5 includes a first plate part and a second plate part arranged inside and outside. The first plate part includes a first inclined part 5-1 and a first flat part 5-2 with the top surface being an inclined surface and a flat surface, respectively, from the inside to the outside. The top surface of the first inclined part 5-1 is an inclined surface with the outer end sloping upward. The first inclined part 5-1 has a wedge-shaped structure. When the pallet 5 is in the innermost position, the outer side surface of the first flat part 5-2 and the inner side surface of the support arm 3 are on the same vertical plane.

[0054] Referring to Figure 11, a sliding groove 11 is provided on the inner side of the second plate portion, and a sliding body 12 is installed on the outer side of the first plate portion, which is slidably disposed within the sliding groove 11. Return springs 13 are respectively provided between the two ends of the sliding body 12 and the inner walls of the two ends of the sliding groove 11. At this time, when the support plate 5 is supported at the bottom of the electrical equipment, the first plate portion is supported at the bottom of the electrical equipment, and the first plate portion moves relative to the second plate portion in the length direction of the support arm 3, thereby displacing the support plate 5 relative to the support arm 3 in the length direction. The return springs 13 keep the first plate portion in its initial position in the length direction.

[0055] The first inclined portion 5-1 causes the electrical equipment to slide down along the first inclined portion 5-1 and fall to the ground when the tray 5 is pulled out from the bottom of the electrical equipment and moved into the storage slot 7, while the first flat portion 5-2 prevents the electrical equipment from falling and hitting the ground.

[0056] The first flat portion 5-2 provides sufficient support surface for the electrical equipment when the first plate supports the electrical equipment. At the same time, during the process of the two support arms 3 moving in opposite directions to remove the lateral clamping force on the electrical equipment and allowing the electrical equipment to fall completely on the support plate 5, the first flat portion 5-2 can ensure that the electrical equipment is always stably supported, while keeping the electrical equipment in a constant position in the height direction relative to the support arms 3. This ensures that when the top of the buried bolt is inserted into the groove 10, it will not hit the bottom of the electrical equipment. In this way, it provides correction space for correcting the position of the bolt hole and the buried bolt on the electrical equipment using the buried bolt and the groove 10.

[0057] When the bottom of the support arm 3 contacts the ground, the bottom of the inner side of the support arm 3 also contacts the ground. At this time, during the process of the support arm 3 clamping the electrical equipment from the ground, the bottom of the inner side of the support arm 3 and the bottom of the electrical equipment are on the same plane. During the process of the tray 5 extending from the storage groove 7 into the inner side of the support arm 3, the tray 5 not only moves inward but also downward, and when the tray 5 is supported on the bottom of the electrical equipment, the top surface of the first flat part 5-2 contacts the bottom surface of the support arm 3. At this time, the maximum extension distance of the elastic telescopic rod 9 is adapted to the thickness of the first flat part 5-2. During the process of the tray 5 extending from the storage groove 7 into the inner side of the support arm 3, the elastic telescopic rod 9 extends and the rod spring is pulled by the rope. During the process of the tray 5 being stored in the storage groove 7, the elastic telescopic rod 9 provides a force for the tray 5 to enter the storage groove 7 in the height direction.

[0058] Referring to Figures 11 and 12, the first plate portion also includes a second inclined portion 5-3 with a sloping top surface. The inner end of the top surface of the second inclined portion 5-3 is connected to the outer end of the top surface of the first flat portion 5-2. The inclination angle of the top surface of the second inclined portion 5-3 is set to be the same as the inclination angle of the top surface of the first inclined portion 5-1. The sliding body 12 is fixedly installed on the outer surface of the second inclined portion 5-3. The second plate portion includes a third inclined portion 5-4 with its top surface extending upward along the top surface of the second inclined portion 5-3 and a second flat portion 5-5 with its top surface extending horizontally outward from the outer end of the third inclined portion 5-4.

[0059] Referring to Figures 11 and 12, the groove 10 is formed on the first inclined portion 5-1, which is integrally formed with the first flat portion 5-2. The first flat portion 5-2 and the second inclined portion 5-3 are separate, while the third inclined portion 5-4 and the second flat portion 5-5 are integrally formed. The lengths of the first inclined portion 5-1 and the second flat portion 5-5 are less than the length of the second inclined portion 5-3. An adjustment groove 14 is formed on the inner side of the second inclined portion 5-3, and an adjustment screw 15 is rotatably installed in the adjustment groove 14. An adjustment sleeve 16 is fixedly installed on the outer side of the first flat portion 5-2 and slidably disposed in the adjustment groove 14, with the adjustment sleeve 16 threaded onto the adjustment screw 15. At this time, by manually adjusting the adjustment screw 15, the position of the support plate 5 in the length direction of the support arm 3 can be adjusted. Thus, according to the position of the electrical equipment, the position of the groove 10 can be adjusted before the support arm 3 clamps the electrical equipment, so that the two inclined inner wall surfaces of the groove 10 correspond to the positions of the bolt holes of the clamped electrical equipment.

[0060] Referring to Figures 11 and 12, a stop 17 is rotatably mounted at the end of the first flat portion 5-2, the side shape of which is adapted to the first inclined portion 5-1 and the first flat portion 5-2. A torsion spring is provided between the stop 17 and the first flat portion 5-2 to keep the stop 17 in a vertical state. When the support plate 5 moves into the receiving groove 7, the stop 17 is rotated by the action of the bottom end of the inner side of the support arm 3 and is stored in the whole of the first flat portion 5-2 and the first inclined portion 5-1. During the process of the support plate 5 supporting the electrical equipment, the first inclined portion 5-1 and the first flat portion 5-2 are moved as a whole by rotating the adjusting screw 15. The stop 17 is used to clamp the surface of the electrical equipment, directly realizing the alignment of the inclined inner wall of the groove 10 with the position of the bolt holes on the electrical equipment, making the operation more convenient.

[0061] Please refer to Figures 1 and 2. Two sets of lifting units are arranged one behind the other along the length direction. The tops of the opposite ends of two support arms 3 located on the same side in the width direction are connected by a hinge. The end of the support arm 3 closest to the lifting bracket 2 is connected to the lifting bracket 2 via a horizontal hydraulic cylinder 18. Specifically, the fixed end of the horizontal hydraulic cylinder 18 is fixedly mounted on the slide 2-3, and the movable end of the horizontal hydraulic cylinder 18 is fixedly connected to the support arm 3. The horizontal hydraulic cylinder 18 controls the distance between the two support arms 3 by extending and retracting.

[0062] The subway electrical equipment transportation auxiliary walking hydraulic lifting robot of the present invention can achieve auxiliary lifting of electrical equipment according to the following operation steps, specifically:

[0063] Step 1: By controlling the horizontal hydraulic cylinder 18, the two support arms 3 inside the lifting unit move in opposite directions, so that the distance between the two support arms 3 is greater than the width of the electrical equipment. Then, the travel motor is started to displace the travel frame 1, causing the two support arms 3 to move to both sides of the electrical equipment.

[0064] Step 2: By controlling the longitudinal hydraulic cylinder 2-1, the slide 2-3 in the lifting bracket 2 is moved downwards until the support arm 3 contacts the ground. At this time, the lifting outrigger 4 is at its highest position on the support arm 3, and the pallet 5 is stored in the storage slot 7. Then, the transverse hydraulic cylinder 18 is controlled to clamp and fix the electrical equipment from both sides of the two support arms 3, and then the longitudinal hydraulic cylinder 2-1 is activated to move the slide 2-3 in the lifting bracket 2 upwards, lifting the electrical equipment.

[0065] During the lifting of the electrical equipment, the bottom of the support arm 3 is on the same horizontal plane as the bottom of the electrical equipment. As the support arm 3 leaves the ground, the lifting leg 4, under the action of the downward spring 8, moves downward relative to the support arm 3. The downward force of the downward spring 8 on the lifting leg 4 drives the longitudinal rack 6-1 to move downward relative to the gear set 6-2. At this time, the longitudinal rack 6-1 drives the gear set 6-2 to rotate, and the gear set 6-2 drives the transverse rack 6-3 to move inward toward the support arm 3. The transverse rack 6-3 pushes the support plate 5 inward toward the support arm 3. During the inward movement of the support plate 5, the elastic telescopic rod 9 is stretched along with the inward movement of the support plate 5. The support plate 5 moves downward and disengages from the storage slot 7 simultaneously with its inward movement. Afterward, after the lifting leg 4 leaves the ground, the inner end of the support plate 5 moves to the inner side of the support arm 3 and supports the bottom of the electrical equipment.

[0066] Step 3: By controlling the walking motor, the subway electrical equipment transport auxiliary walking hydraulic lifting robot transfers the electrical equipment to above the anchor bolts of the installation foundation. Then, by controlling the horizontal cylinder 18, the two support arms 3 are displaced outward to release the electrical equipment. This not only allows the electrical equipment to fall completely onto the support plate 5, but also causes the groove 10 on the support plate 5 to displace outward as it follows the support arms 3. This ensures that when the support arms 3 descend, the groove 10 in the length direction of the support plate 5 has sufficient space for the anchor bolts to enter the groove 10.

[0067] Step 4: By controlling the longitudinal hydraulic cylinder 2-1, the slide 2-3 on the lifting support 2 is moved downwards to begin lowering the electrical equipment. When the bottom of the lowering support leg 4 touches the ground, the anchor bolts have entered the groove 10 but have not yet contacted the bottom of the electrical equipment. At this time, the transverse hydraulic cylinder 18 is controlled to move the two support arms 3 relative to each other. The inclined inner wall of the groove 10 then abuts against the outer side of the anchor bolt, allowing the anchor bolt to be used to align the support plate 5, ensuring that the support plate 5 is centered with the anchor bolt. If the support plate 5 is initially misaligned with the anchor bolt, it will be guided by the anchor bolt and displaced. Since the electrical equipment is supported by the support plate 5, it will move synchronously with the support plate 5, thus aligning the support plate 5 with the anchor bolt. This ensures that the bolt holes on the electrical equipment are aligned with the anchor bolts.

[0068] Step 5: By controlling the longitudinal hydraulic cylinder 2-1, the support arm 3 is lowered, thus continuing the process of lowering the electrical equipment. During this process, the lifting outrigger 4, supported by the ground, will move upward relative to the support arm 3. The anchor bolts will then be inserted into the bolt holes on the electrical equipment. Simultaneously, the pallet control structure 6 causes the pallet 5 to retract into the storage groove 7. Therefore, when the bottom of the support arm 3 contacts the ground, the pallet 5 is stored in the storage groove 7, and the electrical equipment rests on the ground, thus completing the installation process of the electrical equipment.

[0069] Step 6: By controlling the horizontal hydraulic cylinder, the two support arms 3 are continuously extended away from the electrical equipment. Then, by controlling the vertical hydraulic cylinder 2-1, the support arms 3 are lifted and the lifting legs 4 are lifted off the ground, so that the subway electrical equipment transport auxiliary walking hydraulic lifting robot can be removed from the side of the electrical equipment.

[0070] In this configuration, when the bottom of the lifting leg 4 is in contact with the ground, the displacement of the plate body part 4-3 within the plate sleeve part 4-2 is matched with the lateral displacement of the support arm 3. This prevents the lateral displacement of the support arm 3 from causing the lifting leg 4 to rub against the ground during the lifting and lowering of electrical equipment, thus better protecting the lifting leg 4. At the same time, it makes the installation of electrical equipment easier.

[0071] After step two is completed, since the electrical equipment remains clamped by the support arm 3, the friction between the electrical equipment and the upper surface of the support plate 5 is relatively small. At this time, the adjusting bolts can be directly operated to adjust the overall position of the first inclined part 5-1 and the first flat part 5-2 in the length direction, so that the stop block 17 can contact the front and rear sides of the electrical equipment. In this way, the position of the groove 10 and the bolt holes on the electrical equipment can be pre-aligned, so that the two bolt holes corresponding to the groove 10 are symmetrically located within the groove 10.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A walking hydraulic lifting robot for transporting subway electrical equipment, characterized in that, include: Walking frame (1); lifting support (2), which is vertically set on the top of the walking frame (1), and has a longitudinal hydraulic cylinder (2-1) inside; A lifting unit, which is disposed on one side of the lifting bracket (2), is used to support and lower the electrical equipment. The lifting unit includes: a pair of lifting arms (3) disposed on one side of the lifting bracket (2), the pair of lifting arms (3) being configured to move relative to each other or in opposite directions on the lifting bracket (2); lifting legs (4) which are movably disposed on the outer side of the lifting arms (3), and the bottom height of the lifting legs (4) is less than the bottom height of the lifting arms (3) when suspended; and a support plate (5) which is movable in the width direction. At the bottom of the support arm (3), a storage groove (7) is provided for extending from the bottom of the tray (5) and supporting the bottom of the electrical equipment. The bottom of the support arm (3) is provided with a storage groove (7) for accommodating the tray (5). The tray control structure (6) is installed inside the support arm (3) and is driven between the lifting leg (4) and the tray (5). The tray control structure (6) is configured such that when the lifting leg (4) moves upward or downward on the support arm (3), it drives the tray (5) to be stored in the storage groove (7) or to move to the inside of the support arm (3).

2. The walking hydraulic lifting robot for transporting subway electrical equipment according to claim 1, characterized in that, The pallet control structure (6) includes a longitudinal rack (6-1), a gear set (6-2), and a transverse rack (6-3). The longitudinal rack (6-1) is slidably disposed inside the support arm (3) in the height direction and is fixedly connected to the lifting leg (4). The transverse rack (6-3) is slidably disposed inside the support arm (3) in the width direction. The pallet (5) is fixedly connected to the inner end of the transverse rack (6-3). The gear set (6-2) is installed inside the support arm (3) and is driven between the longitudinal rack (6-1) and the transverse rack (6-3).

3. The walking hydraulic lifting robot for transporting subway electrical equipment according to claim 2, characterized in that, The lifting outrigger (4) includes a leg body part (4-1), a plate sleeve part (4-2), and a plate body part (4-3). The leg body part (4-1) is fixedly installed on the outer end of the plate sleeve part (4-2). The outer end of the plate body part (4-3) is laterally telescopically inserted into the plate sleeve part (4-2). The inner end of the plate body part (4-3) is slidably installed on the support arm (3) in the height direction. The longitudinal rack (6-1) is fixedly installed on the inner end of the plate body part (4-3). A compression spring (8) is provided on the top of the plate body part (4-3).

4. The walking hydraulic lifting robot for transporting subway electrical equipment according to claim 2, characterized in that, When the tray (5) is located in the storage groove (7), its bottom is flush with the bottom of the support arm (3), and the top of the tray (5) is fixedly connected to an elastic telescopic rod (9). The elastic telescopic rod (9) includes a square tube-shaped rod sleeve part (9-1), a rod body part (9-2) whose top end is inserted into the rod sleeve part (9-1), and an upper pull spring (9-3) set in the rod sleeve part (9-1) and connected to the top end of the rod body part (9-2). The support arm (3) is provided with a channel (3-5) for the elastic telescopic rod (9) to follow the lateral displacement of the tray (5), and the rod sleeve part (9-1) is slidably set in the channel (3-5). The inner end of the transverse rack (6-3) is slidably connected to the outer side of the tray (5) in the height direction.

5. A walking hydraulic lifting robot for transporting subway electrical equipment according to claim 1, characterized in that, The inner side of the tray (5) has two grooves (10), and the inner wall surface of the outer side of the two grooves (10) is inclined to form an outward expansion structure. The tray (5) is slidable relative to the support arm (3) in the length direction. The outer wall surface of the two grooves (10) is aligned with the position of the electrical equipment by abutting against two buried bolts located on the outer side in the length direction.

6. A walking hydraulic lifting robot for transporting subway electrical equipment according to claim 5, characterized in that, The bottom surface of the tray (5) is a plane. The tray (5) includes a first plate part and a second plate part arranged in an inner and outer manner. The first plate part includes a first inclined part (5-1) and a first flat part (5-2) with the top surface being an inclined surface and a flat surface, respectively, from the inside to the outside. The top surface of the first inclined part (5-1) is an inclined surface with the outer end sloping upward. The first inclined part (5-1) has a wedge-shaped structure. When the tray (5) is in the innermost position, the outer side of the first flat part (5-2) and the inner side of the support arm (3) are located on the same vertical plane. The inner side of the second plate part is provided with a sliding groove (11). The outer side of the first plate part is equipped with a sliding body (12) that is slidably disposed in the sliding groove (11). Both ends of the sliding body (12) are respectively provided with a return spring (13) between the inner walls of the two ends of the sliding groove (11).

7. A walking hydraulic lifting robot for transporting subway electrical equipment according to claim 6, characterized in that, The first plate portion further includes a second inclined portion (5-3) with a sloping top surface. The inner end of the top surface of the second inclined portion (5-3) is connected to the outer end of the top surface of the first flat portion (5-2). The tilt angle of the top surface of the second inclined portion (5-3) is set to be the same as the tilt angle of the top surface of the first inclined portion (5-1). The sliding body (12) is fixedly installed on the outer surface of the second inclined portion (5-3). The second plate portion includes a third inclined portion (5-4) with its top surface extending upward along the top surface of the second inclined portion (5-3) and a second flat portion (5-5) with its top surface extending horizontally outward from the outer end of the top of the third inclined portion (5-4).

8. A walking hydraulic lifting robot for transporting subway electrical equipment according to claim 7, characterized in that, The groove (10) is formed on the first inclined part (5-1), and the first inclined part (5-1) and the first flat part (5-2) are integrally formed. The first flat part (5-2) and the second inclined part (5-3) are separately formed. The length of the first inclined part (5-1) and the first flat part (5-2) is less than the length of the second inclined part (5-3). An adjustment groove (14) is formed on the inner side of the second inclined part (5-3). An adjustment screw (15) is rotatably installed in the adjustment groove (14). An adjustment sleeve (16) is fixedly installed on the outer side of the first flat part (5-2) and is slidably disposed in the adjustment groove (14). The adjustment sleeve (16) is threaded onto the outside of the adjustment screw (15).

9. A walking hydraulic lifting robot for transporting subway electrical equipment according to claim 8, characterized in that, A stop (17) with a side shape adapted to the first inclined part (5-1) and the first flat part (5-2) is rotatably mounted at the end of the first flat part (5-2). A torsion spring for keeping the stop (17) vertical is provided between the stop (17) and the first flat part (5-2). When the support plate (5) moves into the storage groove (7), the stop (17) is rotated by the action of the bottom end of the inner side of the support arm (3) and stored in the whole of the first flat part (5-2) and the first inclined part (5-1).

10. A walking hydraulic lifting robot for transporting subway electrical equipment according to claim 9, characterized in that, The lifting unit is provided in two sets, and the two sets of lifting units are arranged one in front of the other in the length direction. The tops of the two support arms (3) located on the same side in the width direction are connected by a hinge, and the end of the support arm (3) near the lifting bracket (2) facing the lifting bracket (2) is connected to the lifting bracket (2) by a horizontal oil cylinder (18).

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