A walking jacking robot and a method for bridge jacking thereof

Abstract

The application relates to the technical field of intelligent robots, in particular to a walking type pushing robot and a method for bridge pushing of the same, which comprises a vehicle body, the top surface of the vehicle body is provided with a mounting plate, the vehicle body and the mounting plate are vertically slidingly matched, the bottom surface of the mounting plate is further provided with a driving assembly for controlling the up-down sliding of the vehicle body; the walking rails are shared by two, the two walking rails are respectively fixedly arranged on the front and rear sidewalls of the mounting plate, and the two walking rails are parallel to each other; the vehicle body is arranged between the two walking rails, the movement of the device is automatically realized through the vehicle body, manual carrying is not needed, the labor intensity of workers is greatly reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to a walking-type jacking robot and a method for jacking bridges. Background Technology

[0002] Bridge jacking construction technology refers to the construction method in which the beam is longitudinally jacked by jacking equipment after it is poured or assembled in sections at the bridgehead, so that the beam is placed in place through the temporary sliding bearing surface on the top of each pier. Therefore, jacking equipment has become one of the essential tools in the bridge construction process.

[0003] In traditional techniques, jacking equipment typically comprises jacks, high-pressure oil pumps, tie rods, and jacking anchors (such as automatic tool anchors and pull anchors). The jacks are the primary equipment providing the jacking force; they can be horizontal jacks or automatic continuous jacks, and are powered by either ordinary high-pressure oil pumps or dedicated hydraulic stations. The tie rod system transmits the tension during the jacking process, ensuring the stable advancement of the bridge beam. However, in practical applications, jacking equipment is not only used for the construction of straight sections of bridges but also meets the needs of construction operations on curved sections.

[0004] Therefore, in existing technologies, walking-type jacking devices, by integrating advanced control technologies such as PLC control, can achieve three-dimensional and six-directional dynamic adjustment as well as real-time data acquisition and processing capabilities, thus meeting the requirements of complex terrain and structures. However, walking-type jacking devices still have certain shortcomings. For example, due to their high integration and large size and weight, they are inconvenient to transport. Also, after the walking-type jacking device lifts the beam, the horizontal cylinder can only push the beam a short distance, and then the longitudinal cylinder needs to lower the beam. Then the horizontal cylinder pulls the longitudinal cylinder back to its original position, and the process repeats. That is, after each translation, the beam needs to be lowered and the jacking process repeated, resulting in low beam movement efficiency. To address these shortcomings, we propose a walking-type jacking robot and its application in bridge jacking. Summary of the Invention

[0005] The purpose of this invention is to provide a walking-type jacking robot and a method for jacking bridges, in order to solve the problems mentioned in the background art.

[0006] This invention is achieved through the following technical solution: a walking pusher robot, comprising:

[0007] The vehicle body has a mounting plate on its top surface, and the vehicle body and the mounting plate slide vertically together. The bottom surface of the mounting plate is also provided with a drive assembly for controlling the upward and downward sliding of the vehicle body.

[0008] The travel rail consists of two rails, which are fixedly installed on the front and rear side walls of the mounting plate, and are parallel to each other.

[0009] A longitudinal slide rail is perpendicular to the traveling rail. Both ends of the longitudinal slide rail are respectively slidably engaged with the two traveling rails along the length direction of the traveling rails. A transverse sliding part is slidably provided on the longitudinal slide rail along its own length direction. Two lifting cylinders are provided on the top surface of the transverse sliding part. The movable ends of the two lifting cylinders are jointly provided with a support part.

[0010] The pushing mechanism includes an extension frame and a propulsion cylinder. The extension frame is fixedly connected to the longitudinal slide rail and can extend and retract along the length of the travel rail. The cylinder body of the propulsion cylinder is fixedly connected to the extension frame, and the movable end of the propulsion cylinder is connected to the longitudinal slide rail. The extension frame is also provided with a positioning mechanism, which can be connected to or separated from the travel rail.

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

[0012] Optionally, the top surface of the travel rail is provided with sliders distributed along its own length direction, and the longitudinal slide rail is slidably engaged with the sliders; two rolling wheels are provided at both the front and rear ends of the longitudinal slide rail, and the rolling wheels are rotatably engaged with the longitudinal slide rail; the top surface of the travel rail is provided with grooves distributed along its own length direction, and the rolling wheels are slidably engaged with the grooves.

[0013] Optionally, the top surface of the longitudinal slide rail is provided with an embedded groove, and the bottom surface of the transverse moving part is provided with a roller that is rotatably mounted on it. The roller is in rolling engagement with the inner bottom surface of the longitudinal slide rail. The embedded groove is provided with transverse moving cylinders distributed along the length direction of the transverse moving part, and the movable end of the transverse moving cylinder is fixedly connected to the transverse moving part.

[0014] Optionally, the extension frame includes a U-shaped main frame, with extension plates slidably provided on both outer sides of the main frame, and both extension plates are fixedly connected to the longitudinal slide rail; the cylinder of the propulsion cylinder is fixedly connected to the main frame.

[0015] Optionally, the positioning mechanism includes vertically distributed positioning cylinders. The cylinder body of the positioning cylinder is fixedly connected to the main frame. The movable end of the positioning cylinder is provided with a connecting plate. The length direction of the connecting plate is perpendicular to the travel rail. Both ends of the connecting plate are fixedly provided with vertically distributed positioning posts. The upper surface of the travel rail is provided with a plurality of spaced positioning slots that are adapted to the positioning posts. The main frame is provided with vertically distributed limiting slide rails on both sides of the positioning cylinder. Both limiting slide rails slide vertically with the connecting plate.

[0016] Optionally, the top surface of the traveling rail is provided with retainers distributed along its own length direction. Two retainers are respectively located on both sides of the longitudinal slide rail. Several through holes are opened through the retainers, and elastic columns are movably inserted into the several through holes. The outer ends of several elastic columns located on the same side are connected to a drive plate, and the inner ends of several elastic columns located on the same side are connected to a pressing plate. The drive plate is L-shaped, and the top surface of the drive plate is provided with a first toothed rack distributed along the axial direction of the elastic columns.

[0017] The outer surface of the cage is rotatably provided with a drive tooth column, the axial direction of which is consistent with the length direction of the travel rail, and the drive tooth column meshes with the first rack. The top of the positioning column is fixedly connected with a drive member, which is L-shaped. The surface of the drive member is provided with a second rack distributed vertically, and the second rack meshes with the drive tooth column. When the positioning column moves downward, the extrusion plate moves toward the side away from the longitudinal slide rail.

[0018] Optionally, the elastic column includes an outer tube, an inner tube, and a compression spring. The outer tube is fixedly connected to the drive plate. One end of the inner tube is inserted into the outer tube, and the other end is fixedly connected to the compression plate. The two ends of the compression spring are fixedly connected to the outer tube and the inner tube, respectively.

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

[0020] This invention also proposes a method for using a walking jacking robot for bridge jacking, applicable to the aforementioned walking jacking robot, comprising the following steps:

[0021] The device is carried to the corresponding position that needs to be pushed by the movement of the vehicle body, and then the drive component controls the vehicle body to rise so that the running track is in contact with the ground;

[0022] In the initial state, the longitudinal slide rail is located on one side of the travel rail. Then, the support part is raised by the lifting cylinder, so that the support part lifts the object to be supported upward.

[0023] The positioning mechanism is connected to the travel rail, and then the push cylinder pushes the longitudinal slide rail forward. When the push cylinder extends to its maximum stroke, the longitudinal slide rail stops moving forward. At this time, the positioning mechanism separates from the travel rail, and then the push cylinder retracts.

[0024] After the propulsion cylinder retracts, the positioning mechanism reconnects with the travel rail. Then, the propulsion cylinder continues to extend and push the longitudinal slide rail. This process is repeated until the longitudinal slide rail moves from one end of the travel rail to the other end. Finally, the lifting cylinder retracts and lowers the support.

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

[0026] 1. This invention sets up a vehicle body between two walking rails, and the vehicle body automatically moves the device, thus eliminating the need for manual handling, greatly reducing the labor intensity of workers, and improving construction efficiency.

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

[0028] 3. In this invention, the top surface of the traveling rail has a retainer, and an extrusion plate is movably arranged on the inner side of the retainer. When the positioning mechanism controls the positioning column to move down, the extrusion plate does not contact the longitudinal slide rail. When the positioning mechanism controls the positioning column to move up, the extrusion plate is tightly attached to the outer surface of the longitudinal slide rail, thereby fixing the position of the longitudinal slide rail. Therefore, it helps to achieve accurate positioning and facilitates control of the beam's advancing distance.

[0029] 4. The present invention also includes an extrusion frame and a push plate. When the support moves down, the push plate can move down, thereby indirectly controlling the extrusion plate to retract. Therefore, during the retraction and reset process, the longitudinal slide rail in the present invention does not need to be moved intermittently by pushing the hydraulic cylinder, but can be quickly reset by controlling the rotation of the rolling wheel by the motor. This helps to improve the construction efficiency of the present invention. Attached Figure Description

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

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

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

[0033] Figure 4 This is a longitudinal sectional view of the present invention;

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

[0035] Figure 6 This is a schematic diagram of the transverse moving part of the present invention;

[0036] Figure 7 for Figure 1 Enlarged view of point A in the middle;

[0037] Figure 8 for Figure 3 Enlarged view of the corresponding area at point B.

[0038] In the diagram: 100, vehicle body; 101, mounting plate; 102, drive assembly; 200, travel rail; 201, slider; 202, slide groove; 203, positioning slot; 204, retainer; 205, elastic column; 2051, outer sleeve; 2052, inner sleeve column; 2053, compression spring; 206, drive plate; 207, compression plate; 208, first rack; 209, drive toothed column; 210, wedge block; 300, longitudinal slide rail; 301, rolling wheel; 302, motor; 303. Elastic element; 304. Extrusion frame; 305. Push plate; 400. Pushing mechanism; 401. Extension frame; 4011. Main frame; 4012. Extension plate; 402. Pushing cylinder; 500. Lateral movement part; 501. Lifting cylinder; 502. Support part; 503. Roller; 504. Lateral movement cylinder; 600. Positioning mechanism; 601. Positioning cylinder; 602. Connecting plate; 603. Positioning column; 604. Limiting slide rail; 605. Driving element; 606. Second rack. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0040] Example 1: Please refer to Figure 1 - Figure 8A walking pusher robot includes a vehicle body 100, a travel rail 200, a longitudinal slide rail 300, and a push mechanism 400. The top surface of the vehicle body 100 is provided with a mounting plate 101, and the vehicle body 100 and the mounting plate 101 slide vertically together. The bottom surface of the mounting plate 101 is also provided with a drive assembly 102 for controlling the upward and downward sliding of the vehicle body 100. In addition, there are two travel rails 200, which are fixedly installed on the front and rear side walls of the mounting plate 101, and the two travel rails 200 are parallel to each other. Specifically, the bottom of the vehicle body 100 has wheels, and the interior of the vehicle body 100 has an electric drive system for controlling the movement of the vehicle body 100.

[0041] Additionally, the drive assembly 102 includes two electric push rods. One end of each electric push rod is hinged to the bottom surface of the mounting plate 101, and the movable end of each electric push rod is hinged to the vehicle body 100. The two electric push rods are located on opposite sides of the vehicle body 100 and are used to control the lifting and lowering of the vehicle body 100. It should be noted that when the top surface of the vehicle body 100 is in contact with the bottom surface of the mounting plate 101, the bottom surface of the vehicle body 100's wheels is higher than the bottom wall of the travel rail 200.

[0042] Furthermore, the longitudinal slide rail 300 is perpendicular to the traveling rail 200, and both ends of the longitudinal slide rail 300 are slidably engaged with the two traveling rails 200 along the length direction of the traveling rails 200. A transverse moving part 500 is slidably provided on the longitudinal slide rail 300 along its own length direction. Two lifting cylinders 501 are provided on the top surface of the transverse moving part 500, and the movable ends of the two lifting cylinders 501 are jointly provided with a support part 502. Specifically, the top surface of the traveling rail 200 is provided with sliders 201 distributed along its own length direction, and the longitudinal slide rail 300 is slidably engaged with the sliders 201. The lifting cylinders 501 are connected to an external hydraulic control system (not shown in the figure) and are used to directly control the lifting of the support part 502.

[0043] It is worth mentioning that two rolling wheels 301 are provided at both the front and rear ends of the longitudinal slide rail 300. The rolling wheels 301 are rotatably engaged with the longitudinal slide rail 300. The top surface of the traveling rail 200 is provided with grooves 202 distributed along its own length, and the rolling wheels 301 are in rolling engagement with the grooves 202. There are a total of four rolling wheels 301, two on each side. The function of the rolling wheels 301 is to reduce the resistance when the longitudinal slide rail 300 moves. In addition, a hidden cavity is provided on one side of one of the rolling wheels 301. A motor 302 is provided in the hidden cavity. The output shaft of the motor 302 is coaxially connected to the rotating shaft of the rolling wheel 301, that is, the motor 302 can drive the longitudinal slide rail 300 to slide along the length of the traveling rail 200.

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

[0045] In some embodiments of this application, the pushing mechanism 400 includes an extension frame 401 and a pushing cylinder 402. The extension frame 401 is fixedly connected to the longitudinal slide rail 300 and can extend and retract along the length direction of the traveling rail 200. The cylinder body of the pushing cylinder 402 is fixedly connected to the extension frame 401, and the movable end of the pushing cylinder 402 is connected to the longitudinal slide rail 300. The extension frame 401 is also provided with a positioning mechanism 600, which can be connected to or separated from the traveling rail 200. When the positioning mechanism 600 is connected to the traveling rail 200, the pushing cylinder 402 can directly control the longitudinal slide rail 300 to move back and forth. Furthermore, the length direction of the pushing cylinder 402 is consistent with the length direction of the traveling rail 200, and the pushing cylinder 402 is connected to an external hydraulic control system.

[0046] Furthermore, the extension frame 401 includes a U-shaped main frame 4011, with extension plates 4012 slidably mounted on both outer sides of the main frame 4011. Both extension plates 4012 are fixedly connected to the longitudinal slide rail 300. The cylinder body of the propulsion cylinder 402 is fixedly connected to the main frame 4011. When the propulsion cylinder 402 extends or retracts, the extension frame 401 will also extend or retract synchronously to adapt to the change in the length of the propulsion cylinder 402.

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

[0048] The positioning mechanism 600 includes vertically distributed positioning cylinders 601. The cylinder body of the positioning cylinder 601 is fixedly connected to the main frame 4011. The movable end of the positioning cylinder 601 is provided with a connecting plate 602. The length direction of the connecting plate 602 is perpendicular to the travel rail 200. Both ends of the connecting plate 602 are fixedly provided with vertically distributed positioning posts 603. The upper surface of the travel rail 200 is provided with several spaced positioning slots 203 that are adapted to the positioning posts 603. The main frame 4011 is provided with vertically distributed limiting slide rails 604 on both sides of the positioning cylinder 601. Both limiting slide rails 604 slide vertically with the connecting plate 602. The positioning cylinder 601 is connected to an external hydraulic control system. The positioning cylinder 601 can directly control the lifting and lowering of the two positioning posts 603. When the positioning post 603 is inserted into the positioning slot 203, the position of the main frame 4011 can be temporarily fixed.

[0049] The top surface of the traveling rail 200 is provided with retainers 204 distributed along its own length direction. Two retainers 204 are respectively located on both sides of the longitudinal slide rail 300. Several through holes are opened through the retainers 204. Elastic columns 205 are movably inserted into the several through holes. The outer ends of several elastic columns 205 located on the same side are connected to a drive plate 206. The inner ends of several elastic columns 205 located on the same side are connected to a pressing plate 207. The drive plate 206 is L-shaped. The top surface of the drive plate 206 is provided with a first rack 208 distributed along the axial direction of the elastic columns 205. Since the elastic columns 205 are inserted into the through holes, the drive plate 206 can slide back and forth along the axial direction of the elastic columns 205.

[0050] A drive pinion 209 is rotatably mounted on the outer surface of the retainer 204. The axial direction of the drive pinion 209 is consistent with the length direction of the travel rail 200, and the drive pinion 209 meshes with the first rack 208. A drive member 605 is fixedly connected to the top of the positioning pin 603. The drive member 605 is L-shaped, and the surface of the drive member 605 is provided with a second rack 606 distributed vertically. The second rack 606 meshes with the drive pinion 209. When the positioning pin 603 moves downward, the pressing plate 207 moves toward the side away from the longitudinal slide rail 300. When the positioning pin 603 moves upward, the pressing plate 207 moves toward the side closer to the longitudinal slide rail 300, thereby clamping and fixing the longitudinal slide rail 300.

[0051] Specifically, the elastic column 205 includes an outer sleeve 2051, an inner sleeve 2052, and a compression spring 2053. The outer sleeve 2051 is fixedly connected to the drive plate 206. One end of the inner sleeve 2052 is inserted into the outer sleeve 2051, and the other end is fixedly connected to the compression plate 207. Both ends of the compression spring 2053 are fixedly connected to the outer sleeve 2051 and the inner sleeve 2052, respectively. When the positioning column 603 moves downward and inserts into the positioning slot 203, the compression plate 207 is not in contact with the longitudinal slide rail 300. When the positioning column 603 is pulled upward and moves out of the positioning slot 203, the compression plate 207 will fit tightly against the surface of the longitudinal slide rail 300, thereby temporarily fixing the position of the longitudinal slide rail 300.

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

[0053] Furthermore, when the elastic element 303 is in its natural state, i.e., when the extrusion frame 304 is not subjected to external force, the bottom end of the push plate 305 does not contact the wedge block 210. When the lifting cylinder 501 controls the support part 502 to move downward and indirectly pushes the extrusion frame 304 downward, the push plate 305 will abut against the wedge block 210. It should be noted that when the push plate 305 moves downward and abuts against the wedge block 210, the extrusion plate 207 can move towards the side away from the longitudinal slide rail 300, thereby driving the extrusion plate 207 to separate from the longitudinal slide rail 300. At this time, the rolling wheel 301 can be rotated by the motor 302, thereby enabling the longitudinal slide rail 300 to quickly reset, further helping to improve the beam's propulsion efficiency.

[0054] Example 2: A method for using a walking jacking robot for bridge jacking, applicable to the walking jacking robot in Example 1, includes the following steps:

[0055] The device is carried to the corresponding position that needs to be pushed by the movement of the vehicle body 100, and then the drive component 102 controls the vehicle body 100 to rise so that the travel rail 200 is in contact with the ground.

[0056] In the initial state, the longitudinal slide rail 300 is located on one side of the travel rail 200. Then, the support part 502 is raised by the lifting cylinder 501, so that the support part 502 lifts the object to be supported upward.

[0057] Then, the positioning mechanism 600 is connected to the traveling rail 200. That is, the positioning pin 603 is inserted into the positioning slot 203, and the longitudinal slide rail 300 is pushed forward by the push cylinder 402. When the push cylinder 402 extends to its maximum stroke, the longitudinal slide rail 300 stops moving forward. At this time, the positioning mechanism 600 separates from the traveling rail 200, and then the push cylinder 402 retracts. That is, when the longitudinal slide rail 300 moves a certain distance and stops, the positioning pin 603 is pulled out from the positioning slot 203, and then the push cylinder 402 retracts and resets.

[0058] After the push cylinder 402 retracts, the positioning mechanism 600 reconnects to the traveling rail 200. Then, the push cylinder 402 continues to extend, pushing the longitudinal slide rail 300. This process repeats until the longitudinal slide rail 300 moves from one end of the traveling rail 200 to the other. At this point, the lifting cylinder 501 retracts and lowers the support. In other words, the longitudinal slide rail 300 can carry the support in intermittent motion; when the longitudinal slide rail 300 moves from one end of the traveling rail 200 to the other, the support is lowered.

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

[0060] It is worth mentioning that each time the propulsion cylinder 402 pushes a certain distance and then retracts to reset, the positioning pin 603 needs to be pulled out from the positioning slot 203. At this time, the two pressing plates 207 can hold the longitudinal slide rail 300 tightly to prevent the longitudinal slide rail 300 from sliding and causing displacement, thus helping to improve the accuracy of the longitudinal slide rail 300 when it moves.

[0061] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

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

Claims

1. A walking pusher robot, characterized by The utility model relates to a kind of vehicle, including: Vehicle body (100), the top surface of the vehicle body (100) is equipped with mounting plate (101), the vehicle body (100) is slidably fitted with the mounting plate (101) between vertically, the bottom surface of the mounting plate (101) is also equipped with drive assembly (102) for controlling the up and down sliding of vehicle body (100); Walking rail (200), the walking rail (200) has two, two walking rail (200) is respectively fixedly arranged in the front and rear two side walls of mounting plate (101), and two walking rail (200) is parallel to each other; Longitudinal slide rail (300), the longitudinal slide rail (300) is perpendicular to the walking rail (200), two ends of the longitudinal slide rail (300) are slidably fitted with two walking rail (200) along the length direction of walking rail (200), the transverse moving part (500) is slidably arranged on the longitudinal slide rail (300) along the length direction of itself, the top surface of the transverse moving part (500) is equipped with two lifting oil cylinders (501), and the movable end of two lifting oil cylinders (501) is commonly equipped with support part (502); Push mechanism (400), the push mechanism (400) includes extension frame (401) and push oil cylinder (402), the extension frame (401) is fixedly connected with the longitudinal slide rail (300), the extension frame (401) can be telescopic along the length direction of walking rail (200), the cylinder body of the push oil cylinder (402) is fixedly connected with the extension frame (401), the movable end of the push oil cylinder (402) is connected with the longitudinal slide rail (300), and the extension frame (401) is also equipped with positioning mechanism (600), and the positioning mechanism (600) can be connected with walking rail (200) or separated; The extension frame (401) includes the main frame body (4011) of the shape of the character, the outer two sides of the main frame body (4011) are slidably equipped with extension plate (4012), and two extension plates (4012) are fixedly connected with the longitudinal slide rail (300);The cylinder body of the push oil cylinder (402) is fixedly connected with the main frame body (4011); The positioning mechanism (600) includes positioning oil cylinder (601) distributed along the vertical direction, the cylinder body of the positioning oil cylinder (601) is fixedly connected with the main frame body (4011), the movable end of the positioning oil cylinder (601) is equipped with connecting plate (602), the length direction of the connecting plate (602) is perpendicular to the walking rail (200), and the two ends of the connecting plate (602) are fixedly equipped with positioning column (603) distributed along the vertical direction, the upper surface of the walking rail (200) is provided with a plurality of positioning slot holes (203) distributed at intervals and matched with the positioning column (603);The main frame body (4011) is equipped with vertical limit slide rail (604) distributed on both sides of positioning oil cylinder (601), and the vertical limit slide rail (604) is slidably fitted with the connecting plate (602) between the two. The top surface of the walking rail (200) is provided with a retaining frame (204) distributed along the length direction of the walking rail (200), two retaining frames (204) are respectively located on the two sides of the longitudinal slide rail (300), a plurality of through holes are formed in the retaining frame (204), a plurality of elastic columns (205) are movably inserted into the through holes, the outer ends of the elastic columns (205) on the same side are connected with a driving plate (206), the inner ends of the elastic columns (205) on the same side are connected with a pressing plate (207), the driving plate (206) is L-shaped, and the top surface of the driving plate (206) is provided with a first rack (208) distributed along the axial direction of the elastic column (205). The outer surface of the retaining frame (204) is rotatably provided with a driving tooth column (209), the axial direction of the driving tooth column (209) is consistent with the length direction of the walking rail (200), the driving tooth column (209) is engaged with the first rack (208), the top of the positioning column (603) is fixedly connected with a driving member (605), the driving member (605) is L-shaped, the surface of the driving member (605) is provided with a second rack (606) distributed along the vertical direction, and the second rack (606) is engaged with the driving tooth column (209); when the positioning column (603) moves downward, the pressing plate (207) moves away from the longitudinal slide rail (300). The pressing plate (207) is in a rectangular frame structure, one side of the inner wall of the pressing plate (207) away from the longitudinal slide rail (300) is provided with a wedge-shaped block (210), the top surface of the longitudinal slide rail (300) is connected with a pressing frame (304) through an elastic member (303), the bottom surfaces of the two ends of the pressing frame (304) are provided with a pushing plate (305), and the bottom ends of the two pushing plates (305) extend into the inner sides of the two pressing plates (207); when the pushing plate (305) moves downward and abuts against the wedge-shaped block (210), the pressing plate (207) can move away from the longitudinal slide rail (300).

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

3. The striding top pusher robot of claim 1, wherein: The top surface of the walking rail (200) is provided with a sliding block (201) distributed along the length direction of the walking rail (200), and the longitudinal slide rail (300) and the sliding block (201) are in sliding fit; the front end and the rear end of the longitudinal slide rail (300) are both provided with two rolling wheels (301), the rolling wheels (301) and the longitudinal slide rail (300) are in rotary fit, and the top surface of the walking rail (200) is provided with a sliding groove (202) distributed along the length direction of the walking rail (200), and the rolling wheels (301) and the sliding groove (202) are in rolling fit.

4. The striding top pusher robot of claim 1, wherein: The top surface of the longitudinal slide rail (300) is provided with an embedded groove, the bottom surface of the transverse moving part (500) is rotatably provided with a roller (503), the roller (503) is in rolling fit with the inner bottom surface of the longitudinal slide rail (300); the embedded groove is provided with a transverse moving oil cylinder (504) distributed along the length direction of the transverse moving part (500), and the movable end of the transverse moving oil cylinder (504) is fixedly connected with the transverse moving part (500).

5. The striding top pusher robot of claim 1, wherein: The elastic column (205) comprises an outer sleeve (2051), an inner sleeve column (2052) and an extrusion spring (2053), the outer sleeve (2051) is fixedly connected with the driving plate (206), one end of the inner sleeve column (2052) is inserted into the outer sleeve (2051), the other end is fixedly connected with the extrusion plate (207), and the two ends of the extrusion spring (2053) are fixedly connected with the outer sleeve (2051) and the inner sleeve column (2052) respectively.

6. A method for bridge launching using a walking launching robot, suitable for the walking launching robot according to any one of claims 1-5, characterized in that, The method comprises the following steps: The device is carried to the corresponding position where the pushing is needed through the movement of the vehicle body (100), then the driving assembly (102) controls the vehicle body (100) to rise, so that the walking rail (200) is attached to the ground; In the initial state, the longitudinal slide rail (300) is located at one side of the walking rail (200), then the support part (502) is controlled to rise through the lifting oil cylinder (501), so that the support part (502) lifts the object to be supported upward; The positioning mechanism (600) is connected with the walking rail (200), then the advancing oil cylinder (402) pushes the longitudinal slide rail (300) to move forward, when the advancing oil cylinder (402) is elongated to the maximum stroke, the longitudinal slide rail (300) stops continuing to move forward, at this time, the positioning mechanism (600) is separated from the walking rail (200), then the advancing oil cylinder (402) is retracted; After the advancing oil cylinder (402) is retracted, the positioning mechanism (600) is connected with the walking rail (200) again, then the advancing oil cylinder (402) continues to elongate to push the longitudinal slide rail (300), so as to reciprocate until the longitudinal slide rail (300) moves from one end of the walking rail (200) to the other end, and the lifting oil cylinder (501) is retracted to lower the support object.

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