Vertical crawling device suitable for UHPC transformer substation prefabricated column

Abstract

The invention discloses a vertical crawling device suitable for a UHPC transformer substation prefabricated column. The vertical crawling device comprises a U-shaped main support. A pair of front wheel mechanisms and a pair of rear wheel mechanisms are further included. The front wheel mechanisms are arranged at the two ends of an opening of the main support respectively. The rear wheel mechanism is arranged on the side, away from the opening, of the main support. The front wheel mechanism comprises a front wheel assembly and a driving arm assembly; the driving arm assembly is used for driving the front wheel assemblies to be away from or close to the vertical side wall, away from the main support, of the prefabricated column so as to adjust the distance between the two front wheel assemblies. The rear wheel mechanism comprises a pair of rear wheel assemblies; the rear wheel assemblies are located on the sides, away from the front wheel assemblies, of the prefabricated columns. The front wheel assembly and the rear wheel assembly are used for driving the whole vertical crawling device to vertically crawl along the prefabricated column. According to the invention, equipment with large occupied space, such as a crane, is not needed, the applicability is wider, meanwhile, manual participation is reduced, and the personal safety and body health of constructors are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and particularly to a vertical crawling device suitable for precast columns of UHPC substations. Background Art

[0002] In the substation building project, the ultra-high performance concrete (UHPC) hybrid frame structure has become the first choice for high-rise buildings and complex structures due to its excellent mechanical properties and durability.

[0003] During the building construction process of the substation, after the foundation is built, the construction of the precast columns is carried out first, and then the construction of the superstructure is carried out on the precast columns. The materials required for the construction of the superstructure are lifted by a crane or manually with the help of traction tools. If a crane is used, the equipment cost will increase, and at the same time, a certain operating space is required. If manual labor is used, the labor intensity of the construction workers will increase, and the work efficiency is not high. In addition, the wet workload during the construction process is relatively large, which will also pose a threat to the physical health and safety of the construction workers. Summary of the Invention

[0004] In order to overcome the deficiencies in the prior art, the present invention provides a vertical crawling device suitable for precast columns of UHPC substations, which has the advantages of crawling up and down by means of precast columns, requiring no large operating space, and reducing manual participation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A vertical crawling device suitable for precast columns of UHPC substations includes a "U"-shaped main bracket; it also includes a pair of front-wheel mechanisms and rear-wheel mechanisms; the pair of front-wheel mechanisms are respectively arranged at both ends of the opening of the main bracket; the rear-wheel mechanism is arranged on the side of the main bracket away from its opening; the front-wheel mechanism includes a front-wheel assembly and a driving arm assembly; the driving arm assembly is used to drive the front-wheel assembly to move away from or close to the vertical side wall of the precast column away from the main bracket, so as to adjust the distance between the two front-wheel assemblies; the rear-wheel mechanism includes a pair of rear-wheel assemblies; the pair of rear-wheel assemblies are located on the side of the precast column away from the pair of front-wheel assemblies; the front-wheel assembly and the rear-wheel assembly are used to drive the entire vertical crawling device to crawl vertically along the precast column.

[0007] By adopting the above technical solution, first the prefabricated column enters the opening of the main bracket, and then a pair of driving arm assemblies respectively drive a pair of front wheel assemblies to approach the prefabricated column, until the pair of front wheel assemblies and the pair of rear wheel assemblies respectively abut against a pair of opposite vertical side walls of the prefabricated column, and then the pair of front wheel assemblies and the pair of rear wheel assemblies work together to drive the entire vertical crawling device to crawl vertically along the prefabricated column. In this way, there is no need to rely on equipment such as cranes that occupy a relatively large space, and it has a wider applicability. At the same time, it reduces manual participation, which is beneficial to the personal safety and health of construction workers.

[0008] Optionally, the driving arm assembly is used to drive the front wheel assembly to move along an arc trajectory and the driving shaft of the front wheel assembly always remains parallel to the driving shaft of the rear wheel assembly.

[0009] By adopting the above technical solution, the moving trajectory of the front wheel assembly is arc-shaped. The front wheel assembly can face the opening of the main bracket and thus rest against the prefabricated column. The front wheel assembly can also be located on the outside of the main bracket so that the opening of the main bracket can be fully opened, making it convenient for the prefabricated column to enter the opening of the main bracket.

[0010] Optionally, the driving arm assembly includes a driving arm push rod and at least one pair of driving arm connecting rods; one end of the driving arm connecting rod is hinged to the main bracket, and the other end is hinged to the front wheel assembly; the projections of the hinge points of all the driving arm connecting rods on the plane perpendicular to the prefabricated column are located at the four corners of the same parallelogram; one end of the driving arm push rod is hinged to the main bracket, and the other end is hinged to the front wheel assembly.

[0011] By adopting the above technical solution, the extension and retraction of the driving arm push rod drives the front wheel assembly to move. During the movement, the parallelogram formed by the four hinge points of at least one pair of driving arm connecting rods controls the movement of the front wheel assembly along an arc trajectory. At the same time, the driving shaft of the front wheel assembly always remains parallel to the driving shaft of the rear wheel assembly, which is conducive to the subsequent resistance to the prefabricated column.

[0012] Optionally, the number of the driving arm connecting rods is four; the four driving arm connecting rods are divided into two groups and are respectively located on the upper and lower sides of the driving arm push rod.

[0013] By adopting the above technical solution, a pair of driving arm connecting rods are provided on the upper and lower sides of the driving arm push rod. Such an arrangement greatly improves the overall strength of the driving arm assembly and is beneficial to the stability of subsequent vertical crawling.

[0014] Optionally, a reinforcing rod is connected between a pair of upper and lower driving arm connecting rods.

[0015] By adopting the above technical solution, the reinforcing rod is connected between the upper and lower opposite driving arm connecting rods, thereby further improving the overall strength.

[0016] Optionally, a side pulley is provided on a side of the driving arm assembly close to the prefabricated column; the rear wheel assembly, the front wheel assembly and a pair of side pulleys respectively abut against four vertical side walls of the prefabricated column.

[0017] By adopting the above technical solution, as the side pulleys crawl up and down as the driving arm assembly approaches or moves away from the prefabricated part, the rear wheel assembly, the front wheel assembly and a pair of side pulleys respectively abut against the four vertical side walls of the prefabricated column, thereby providing guiding accuracy for the vertical sliding and preventing the vertical crawling device from accidentally detaching from the prefabricated column.

[0018] Optionally, the rear wheel mechanism further includes a translation assembly; the translation assembly is used to drive a pair of rear wheel assemblies to move closer to or away from the prefabricated column.

[0019] By adopting the above technical solution, the translation assembly drives the rear wheel assembly to approach or move away from the prefabricated column, which is beneficial to ensure that the rear wheel assembly and the front wheel assembly are against the vertical side walls of the prefabricated column, providing a guarantee for subsequent smooth and safe up and down climbing.

[0020] Optionally, the front wheel assembly includes a front wheel worm reducer, a front wheel servo motor, a front wheel shaft and a front crawler wheel; the vertical shaft of the front wheel servo motor is coaxially fixedly connected to the input shaft of the front wheel worm reducer; the front wheel shaft is coaxially fixedly connected to the output shaft of the front wheel worm reducer; the front crawler wheel is coaxially fixed to one end of the front wheel shaft close to the main bracket;

[0021] The rear wheel assembly includes a rear wheel worm reducer, a rear wheel servo motor, a rear wheel axle and a rear crawler wheel; the vertical axis of the rear wheel servo motor is coaxially fixedly connected to the input shaft of the rear wheel worm reducer; the rear wheel axle is coaxially fixedly connected to the output shaft of the rear wheel worm reducer; the rear crawler wheel is coaxially fixed to one end of the rear wheel axle located in the main bracket.

[0022] By adopting the above technical solution, the front wheel servo motor drives the front wheel axle and the front crawler wheel to rotate through the front wheel worm reducer, and the rear wheel servo motor drives the rear wheel axle and the rear crawler wheel to rotate through the rear wheel worm reducer. In this way, the rotating pair of front crawler wheels and the pair of rear crawler wheels drive the vertical crawling device to crawl up and down as a whole. Due to the self-locking function of the rear wheel worm reducer and the front wheel worm reducer themselves, the vertical crawling device crawls more stably and accurately.

[0023] Optionally, a front running wheel is coaxially fixed to one end of the front wheel axle away from the main bracket; and a rear running wheel is coaxially fixed to one end of the rear wheel axle away from the main bracket.

[0024] By adopting the above technical solution, the front running wheels are installed on the front wheel axle, and the rear running wheels are installed on the rear wheel axle. In this way, the vertical crawling device can not only crawl vertically along the prefabricated column, but also move on the ground, thereby improving the mobility of the vertical crawling device and facilitating the prefabricated column to enter the opening of the main bracket.

[0025] Optionally, the front crawler wheel and the rear crawler wheel are both rubber-coated wheels.

[0026] By adopting the above technical solution, the front crawling wheels and the rear crawling wheels with rubber wheels reduce the possibility of slipping during the vertical crawling process, making the vertical crawling device crawl more stable.

[0027] In summary, the beneficial effects of the present invention are: it does not require the use of equipment such as cranes that occupy a relatively large space, has a wider applicability, and reduces manual participation, which is beneficial to the personal safety and health of construction workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the structure of the present invention on a prefabricated column.

[0029] Figure 2 The present invention Figure 1 A is a schematic diagram of the partially enlarged structure of FIG.

[0030] Figure 3 It is a structural schematic diagram of the present invention in a clamped state.

[0031] Figure 4 It is a structural schematic diagram of the present invention in an open state.

[0032] Description of reference numerals:

[0033] 10. Main bracket; 11. Front wheel bracket;

[0034] 20. Driving arm assembly; 21. Driving arm push rod; 22. Driving arm connecting rod; 23. Reinforcement rod; 24. Side pulley;

[0035] 30. Front wheel assembly; 31. Front wheel support; 32. Front wheel worm reducer; 33. Front wheel servo motor; 34. Front wheel shaft; 35. Front crawler wheel; 36. Front walking wheel;

[0036] 40. Rear wheel assembly; 41. Rear wheel worm reducer; 42. Rear wheel servo motor; 43. Rear wheel axle; 44. Rear crawling wheel; 45. Rear walking wheel;

[0037] 50. Translation frame;

[0038] 60. Limit switch;

[0039] 70. Translation drive push rod. Specific Embodiments

[0040] The following will further elaborate on the present invention in conjunction with the attached Figure 1-4 drawings.

[0041] Embodiment 1: Disclosed is a vertical crawling device applicable to precast columns of UHPC substations. Referring to Figure 1 、 Figure 3 and Figure 4 , it includes a "U"-shaped main bracket 10, a pair of front wheel mechanisms, and a rear wheel mechanism; the main bracket 10 includes a pair of transverse parts and a longitudinal part, and the pair of transverse parts are perpendicularly arranged at both ends of the longitudinal part; the opening of the main bracket 10 is located between one ends of the pair of transverse parts away from the longitudinal part; the pair of front wheel mechanisms are respectively arranged at one ends of the pair of transverse parts of the main bracket 10 away from the longitudinal part; the rear wheel mechanism is arranged at the longitudinal part of the main bracket 10.

[0042] Referring to Figure 1 、 Figure 3 and Figure 4 , the front wheel mechanism includes a front wheel assembly 30 and a driving arm assembly 20; the driving arm assembly 20 is used to drive the front wheel assembly 30 to move away from or close to the vertical side wall of the precast column away from the main bracket 10; the rear wheel mechanism includes a pair of rear wheel assemblies 40; the pair of rear wheel assemblies 40 are located on one side of the precast column away from the pair of front wheel assemblies 30; the front wheel assembly 30 and the rear wheel assembly 40 are used to drive the entire vertical crawling device to crawl vertically along the precast column.

[0043] Referring to Figure 1 、 Figure 3 and Figure 4 , the front wheel assembly 30 includes a front wheel support 31, a front wheel worm reducer 32, a front wheel servo motor 33, a front wheel shaft 34, and a front crawling wheel 35; the front wheel worm reducer 32 is fixed on the front wheel support 31; the front wheel servo motor 33 is fixed on the housing of the front wheel worm reducer 32 and its output shaft is connected to the input shaft of the front wheel worm reducer 32 through a coupling; the front wheel shaft 34 is coaxially and fixedly connected to the output shaft of the front wheel worm reducer 32; the front crawling wheel 35 is coaxially fixed at one end of the front wheel shaft 34 close to the main bracket 10. Among them, the front crawling wheel 35 is a rubber-coated wheel.

[0044] Referring to Figure 1-Figure 4A front wheel bracket 11 is fixed to one end of a pair of transverse parts of the main bracket 10 away from the longitudinal part; the driving arm assembly 20 includes a driving arm push rod 21 and four driving arm connecting rods 22; the driving arm push rod 21 is an electric cylinder or a pneumatic cylinder; the four driving arm connecting rods 22 are evenly divided into two upper and lower groups; one end of the driving arm connecting rod 22 is hinged to the front wheel support 31, and the other end is hinged to the front wheel bracket 11; the projections of the hinge points of all the driving arm connecting rods 22 on the plane perpendicular to the prefabricated column are located at the four corners of the same parallelogram; the driving arm push rod 21 is located between the upper and lower groups of driving arm connecting rods 22; one end of the driving arm push rod 21 is hinged to one end of the front wheel support 31, and the other end is hinged to the front wheel bracket 11; for the convenience of installation, one end of the front wheel bracket 11 extends out of one end of the main bracket 10, and in addition, one end of the driving arm push rod 21 is hinged to the end of the front wheel bracket 11 extending out of the main bracket 10, and the other end is hinged to the end of the front wheel support 31 close to the main bracket 10, and at the same time, the telescopic direction of the driving arm push rod 21 is always intersecting with the length direction of the driving arm connecting rod 22. In addition, the number of the driving arm links 22 can also be two or three. When the number of the driving arm links 22 is two, the two driving arm links 22 are distributed up and down and staggered; when the number of the driving arm links 22 is three, two driving arm links 22 are on the top and one driving arm link 22 is on the bottom or two driving arm links 22 are on the bottom and one driving arm link 22 is on the top; of course, four driving arm links 22 are the best, which can make the driving arm assembly 20 stronger. In short, all the driving arm links 22, the front wheel bracket 11 and the front wheel support 31 form a parallelogram mechanism.

[0045] refer to Figure 2 In order to increase the overall strength of the driving arm assembly 20, a reinforcing rod 23 is fixed between the upper and lower driving arm connecting rods 22 that are opposite to each other.

[0046] refer to Figure 1 , Figure 3 and Figure 4 The rear wheel assembly 40 includes a rear wheel worm reducer 41, a rear wheel servo motor 42, a rear wheel shaft 43 and a rear crawling wheel 44; the rear wheel worm reducer 41 is connected to the main bracket 10; the rear wheel servo motor 42 is fixed to the housing of the rear wheel worm reducer 41 and its output shaft is connected to the input shaft of the rear wheel worm reducer 41 through a coupling; the rear wheel shaft 43 is coaxially fixedly connected to the output shaft of the rear wheel worm reducer 41; the rear crawling wheel 44 is coaxially fixed to one end of the rear wheel shaft 43 close to the main bracket 10. The rear crawling wheel 44 is a rubber-coated wheel. In order to increase friction, a rear wheel assembly 40 can have multiple rear crawling wheels 44.

[0047] Working principle of embodiment 1: the entire vertical crawling device moves so that the prefabricated column enters the opening of the main bracket 10, and then a pair of driving arm push rods 21 are started. Due to the parallelogram connecting rod structure formed by the driving arm connecting rod 22, the front wheel support 31, and the front wheel bracket 11, a pair of front wheel assemblies 30 move along their respective arc trajectories. During this process, the front wheel axle 34 is always parallel to the rear wheel axle 43 until the rear crawling wheel 44 and the front crawling wheel 35 respectively abut against a pair of opposite vertical side walls of the prefabricated column, and then the rear wheel servo motor 42 and the front wheel servo motor 33 are synchronously linked, and after being decelerated by their respective worm reducers, the rear crawling wheel 44 and the front crawling wheel 35 are driven to rotate, thereby driving the entire vertical crawling device to crawl up and down along the prefabricated column.

[0048] Embodiment 2: The difference between Embodiment 2 and Embodiment 1 is: Figure 1-Figure 4 A side pulley 24 is fixed on the driving arm connecting rod 22 of the driving arm assembly 20 close to the precast column; when crawling vertically, the rear crawling wheel 44, the front crawling wheel 35 and a pair of side pulleys 24 respectively rest on the four vertical side walls of the precast column, and the pair of side pulleys 24 play a role of vertical guidance.

[0049] Embodiment 3: The difference between Embodiment 3 and Embodiment 1 is that Figure 3 and Figure 4 The rear wheel mechanism also includes a translation assembly; the translation assembly includes a pair of translation drive push rods 70 and a translation frame 50; the translation drive push rod 70 is an electric cylinder or a pneumatic cylinder; the translation frame 50 is horizontally slidably arranged in the main bracket 10 and the moving direction of the translation frame 50 is perpendicular to the length direction of the longitudinal part of the main bracket 10; one end of the translation drive push rod 70 is fixed on the main bracket 10 and the other end is fixed on the translation frame 50; a pair of translation drive push rods 70 telescopically drive the translation frame 50 away from or close to the prefabricated column; a pair of rear wheel worm reducers 41 are fixed on the translation frame 50.

[0050] In order to reduce sliding friction, a plurality of sliding bearings are respectively installed at one end of the translation frame 50 close to the prefabricated column and the other end away from the prefabricated column; of course, rollers can also be used instead of sliding bearings.

[0051] In order to control the moving distance of the translation frame 50 , a limit switch 60 is connected to the translation frame 50 ; the limit switch 60 is used to control a pair of translation driving push rods 70 .

[0052] The working principle of the third embodiment: the entire vertical crawling device moves so that the prefabricated column enters the opening of the main bracket 10, and a pair of front wheel assemblies 30, under the action of their respective driving arm assemblies 20, make a pair of front crawling wheels 35 located on the front side of the prefabricated column. At this time, a pair of side pulleys 24 abut against the lateral vertical side walls of the prefabricated column, and then a pair of translation driving push rods 70 drive the translation frame 50 to move toward the prefabricated column, so that the front crawling wheels 35 and the rear crawling wheels 44 both abut against the prefabricated column. Due to the joint action of the pair of translation driving push rods 70 and the pair of driving arm push rods 21, the front crawling wheels 35 and the rear crawling wheels 44 clamp the prefabricated column, and then the rear crawling wheels 44 and the front crawling wheels 35 rotate, thereby driving the entire vertical crawling device to crawl up and down along the prefabricated column.

[0053] Embodiment 4: The difference between Embodiment 4 and Embodiment 1 is that, Figure 1-Figure 4 A front running wheel 36 is coaxially fixed to the end of the front wheel axle 34 away from the main bracket 10; a rear running wheel 45 is coaxially fixed to the end of the rear wheel axle 43 away from the main bracket 10; the front running wheel 36 and the rear running wheel 36 can be rubber-coated wheels. When the entire vertical crawling device moves horizontally, the front running wheel 36 and the rear running wheel 45 touch the ground, and the rotating front running wheel 36 and the rear running wheel 45 drive the entire vertical crawling device to move horizontally. In order to avoid wear caused by the front crawling wheel 35 and the rear crawling wheel 44 contacting the ground during horizontal movement, the outer diameters of the front crawling wheel 35 and the rear crawling wheel 44 are smaller than the outer diameters of the front running wheel 36 and the rear running wheel 45.

[0054] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vertical crawling device applicable to precast columns of UHPC substations, comprising a "U"-shaped main bracket (10); Characterized in that: It further includes a pair of front-wheel mechanisms and a rear-wheel mechanism; the pair of front-wheel mechanisms are respectively arranged at both ends of the opening of the main bracket (10); the rear-wheel mechanism is arranged on the side of the main bracket (10) away from its opening; the front-wheel mechanism includes a front-wheel assembly (30) and a driving arm assembly (20); the driving arm assembly (20) is used to drive the front-wheel assembly (30) to move away from or close to the vertical side wall of the precast column away from the main bracket (10), so as to adjust the distance between the two front-wheel assemblies (30); the rear-wheel mechanism includes a pair of rear-wheel assemblies (40); the pair of rear-wheel assemblies (40) are located on the side of the precast column away from the pair of front-wheel assemblies (30); the front-wheel assembly (30) and the rear-wheel assembly (40) are used to drive the entire vertical crawling device to crawl vertically along the precast column.

2. A vertical crawling device applicable to precast columns of UHPC substations according to claim 1, Characterized in that: The driving arm assembly (20) is used to drive the front-wheel assembly (30) to move along an arc trajectory and the driving rotating shaft of the front-wheel assembly (30) always remains parallel to the driving rotating shaft of the rear-wheel assembly (40).

3. A vertical crawling device applicable to precast columns of UHPC substations according to claim 2, Characterized in that: The driving arm assembly (20) includes a driving arm push rod (21) and at least a pair of driving arm connecting rods (22); one end of the driving arm connecting rod (22) is hinged to the main bracket (10), and the other end is hinged to the front-wheel assembly (30); the projections of the hinge points of all the driving arm connecting rods (22) on the plane perpendicular to the precast column are located at the four corners of the same parallelogram; one end of the driving arm push rod (21) is hinged to the main bracket (10), and the other end is hinged to the front-wheel assembly (30).

4. A vertical crawling device applicable to precast columns of UHPC substations according to claim 3, Characterized in that: The number of the driving arm connecting rods (22) is four; the four driving arm connecting rods (22) are evenly divided into two groups and are respectively located on the upper and lower sides of the driving arm push rod (21).

5. A vertical crawling device applicable to precast columns of UHPC substations according to claim 4, Characterized in that: A reinforcing rod (23) is connected between a pair of the driving arm connecting rods (22) opposite to each other up and down.

6. A vertical crawling device applicable to precast columns of UHPC substations according to claim 1, Characterized in that: A side pulley (24) is arranged on the side of the driving arm assembly (20) close to the precast column; the rear-wheel assembly (40), the front-wheel assembly (30) and the pair of side pulleys (24) respectively abut against the four vertical side walls of the precast column.

7. A vertical crawling device applicable to precast columns of UHPC substations according to claim 1 or 6, Characterized in that: The rear wheel mechanism also includes a translation assembly; the translation assembly is used to drive a pair of rear wheel assemblies (40) to move closer to or away from the prefabricated column.

8. A vertical crawling device suitable for prefabricated columns of UHPC substations according to claim 1, Features: The front wheel assembly (30) comprises a front wheel worm reducer (32), a front wheel servo motor (33), a front wheel shaft (34) and a front crawler wheel (35); the vertical shaft of the front wheel servo motor (33) is coaxially fixedly connected to the input shaft of the front wheel worm reducer (32); the front wheel shaft (34) is coaxially fixedly connected to the output shaft of the front wheel worm reducer (32); the front crawler wheel (35) is coaxially fixed to one end of the front wheel shaft (34) close to the main bracket (10); The rear wheel assembly (40) comprises a rear wheel worm reducer (41), a rear wheel servo motor (42), a rear wheel axle (43) and a rear crawler wheel (44); the vertical axis of the rear wheel servo motor (42) is coaxially fixedly connected to the input axis of the rear wheel worm reducer (41); the rear wheel axle (43) is coaxially fixedly connected to the output axis of the rear wheel worm reducer (41); the rear crawler wheel (44) is coaxially fixed to one end of the rear wheel axle (43) located inside the main bracket (10).

9. A vertical crawling device suitable for prefabricated columns of UHPC substations according to claim 8, Features: A front running wheel (36) is coaxially fixed to one end of the front wheel axle (34) away from the main bracket (10); and a rear running wheel (45) is coaxially fixed to one end of the rear wheel axle (43) away from the main bracket (10).

10. A vertical crawling device suitable for prefabricated columns of UHPC substations according to claim 8, Features: The front crawling wheel (35) and the rear crawling wheel (44) are both rubber-coated wheels.

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