Cast-in-cantilever arch bridge hanging basket pushing type crawler small tank walking device

Abstract

The invention relates to the technical field of bridge construction equipment, in particular to a cantilever casting arch bridge hanging basket pushing type crawler small tank walking device which comprises a crawler walking chassis, a pushing device, a connecting frame and a control system.The crawler walking chassis is adopted, and compared with a traditional wheel type walking mode, the adaptability to complex terrains is greatly improved; the crawler belt can stably walk even under the condition of uneven ground or slope, the friction force and transmission precision between the crawler belt and the ground and between the crawler belt and the wheels are enhanced through the design of the anti-skid lines and the special gear teeth, the walking stability is further improved, and the multi-stage telescopic jack and the high-strength pushing beam are designed, so that the walking stability is improved. The pushing device can provide larger driving force, the long-distance moving requirement of the large hanging basket is met, remote operation and parameter monitoring are achieved through a sensor and a remote controller in the control system, and construction safety and convenience are improved.

Description

Technical Field

[0001] The invention relates to the technical field of bridge construction equipment, in particular to a cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device. Background Art

[0002] As we all know, in the construction process of cantilever cast arch bridge, the movement of the hanging basket is one of the key links.

[0003] After searching, the invention patent with Chinese patent authorization publication number CN204919372U discloses a cantilever cast arch bridge hanging basket top-pushing crawler tank walking device, which includes a cantilever cast arch bridge hanging basket selecting a bottom-supported inverted triangle hanging basket, the overall structure of the hanging basket is on the lower side of the concrete structure, a crawler tank is installed on the hanging legs of the hanging basket, the front support of the jack is arranged on the hanging legs of the hanging basket and is connected to the jack, and a rear pulley is arranged at the rear fulcrum of the main beam of the hanging basket. The present invention successfully solves the technical problem of low operating efficiency of the hanging basket, changes the traditional sliding walking with large friction force into crawler rolling walking, and then uses continuous jack pushing force to reduce the frequent switching operation of the reaction block, greatly improving the stability and speed of the inverted hanging basket operation, and compared with the traditional fine-rolled threaded steel traction, the jack pushing effect avoids the risk of brittle fracture of the fine-rolled threaded steel, and the pushing force distance becomes shorter, the hanging basket will not deviate left and right, avoids scratching with the arch ring, and the walking is stable and safe.

[0004] Although the above technical solution solves the problem that the hanging basket will not deviate left and right, avoids scratching against the arch ring, and walks stably and safely, in the above technical solution, although the technical solution can realize the movement of the hanging basket and solve certain construction needs, the walking system performs poorly in terms of adaptability to complex terrain. The coordination between the walking trolley and the track makes the walking stability poor when the ground is uneven or has a certain slope, and there is a risk of jamming or even derailment. Moreover, the driving force of the system is relatively limited. When pushing the hanging basket for long distances or encountering large resistance, the efficiency is low, and it is difficult to meet the growing needs of large-scale bridge construction. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In order to overcome the problems of poor adaptability, insufficient walking stability and limited driving force of the existing cantilever cast arch bridge hanging basket top-pushing crawler tank walking device in complex terrain, the present invention provides a cantilever cast arch bridge hanging basket top-pushing crawler tank walking device with the effect of adapting to complex terrain.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device, including a crawler walking chassis, a pushing device, a connecting frame and a control system. The crawler walking chassis is composed of a plurality of crawler assemblies that are parallel to each other and arranged at equal intervals along the horizontal direction of the crawler walking chassis. Each crawler assembly includes a crawler, a driving wheel, a driven wheel and a supporting wheel. The driving wheel and the driven wheel are respectively arranged at the front and rear ends of the crawler assembly, and their axes are parallel to each other and are at the same horizontal height, which is perpendicular to the longitudinal center plane of the crawler walking chassis. The driving wheel is connected to a power source arranged at the center position inside the crawler walking chassis through a coupling, and the output shaft of the power source is on the same straight line as the rotating shaft of the driving wheel. The pushing device is installed directly above the crawler walking chassis, and its longitudinal center line is aligned with the longitudinal center line of the crawler walking chassis. The center lines coincide, the pushing device includes a jack and a pushing beam, the jack is installed in a vertical state, the bottom end of the jack is vertically fixedly connected to the crawler walking chassis by bolts, the top end of the jack is movably connected to the pushing beam by a movable hinge seat, the movable hinge seat allows the pushing beam to rotate horizontally relative to the jack within a certain range, the pushing beam is arranged along the longitudinal direction of the crawler walking chassis, parallel to the longitudinal center line of the crawler walking chassis, one end of the connecting frame is vertically fixedly connected to the end of the pushing beam by welding, and the other end is provided with an interface connected to the hanging basket, the connecting surface of the interface is perpendicular to the pushing beam, and is used to connect to the hanging basket, the control system is electrically connected to the power source and the jack by wires, respectively, and is arranged on one side of the crawler walking chassis, the control line of the control system is parallel to the connecting line of the power source and the jack, and is used to control the travel and pushing action of the walking device.

[0009] Preferably, the track is made of high-strength rubber material and has anti-slip patterns on the surface. The anti-slip patterns are raised ribs arranged in a staggered manner. The track surrounds the outer circumference of the driving wheel and the driven wheel to form a closed annular structure, and the inner surface of the track fits tightly with the outer circumferential surface of the driving wheel and the driven wheel.

[0010] Furthermore, the wheel rims of the driving wheel and the driven wheel are both provided with tooth grooves matching the inner teeth of the track, the tooth grooves of the driving wheel and the driven wheel are evenly distributed along the circumferential direction, and the tooth groove sizes, shapes and spacings of the two are exactly the same.

[0011] Furthermore, the supporting wheels are evenly distributed at the bottom of the track assembly, the number of the supporting wheels is an even number, and the supporting wheels are symmetrically arranged in pairs on both sides of the longitudinal center line of the bottom of the track assembly, the axis of each supporting wheel is parallel to the axis of the driving wheel and the driven wheel, and the top of the supporting wheel is in contact with the bottom inner surface of the track.

[0012] In a further solution, the extension and retraction direction of the jack is parallel to the longitudinal center line of the crawler chassis, and the extension and retraction action of the jack can accurately push the push beam to move along the longitudinal direction of the crawler chassis.

[0013] Based on the above scheme, the pushing beam is made of I-beam, and the model of the I-beam is selected according to the weight of the basket and the strength required for pushing. The length direction of the pushing beam is consistent with the longitudinal direction of the crawler walking chassis, and the connection points between its two ends and the connecting frame are located at the central symmetrical position of the pushing beam.

[0014] Further on the basis of the above scheme, the control system includes a controller, a remote controller and a sensor. The controller is installed in the control box of the crawler-type walking chassis, and the sensors are respectively installed at key positions of the crawler-type walking chassis and the jack. The signal line of the sensor is connected to the input interface of the controller through parallel lines, which is used to detect parameters such as crawler walking speed and jacking pressure, and feed the data back to the controller. The remote controller communicates with the controller through wireless signals, and the controller can be remotely controlled.

[0015] (III) Beneficial effects

[0016] The cantilever cast arch bridge hanging basket top-pushing crawler tank walking device adopts a crawler walking chassis, which greatly improves the adaptability to complex terrain compared with the traditional wheeled walking method. It can walk stably even on uneven ground or on slopes. The anti-slip texture and special gear design enhance the friction and transmission accuracy between the track and the ground and between the track and the wheel, further improving the walking stability. The multi-stage telescopic jack and high-strength pushing beam design enable the pushing device to provide greater driving force to meet the long-distance movement requirements of large hanging baskets. The sensors and remote controllers in the control system realize remote operation and parameter monitoring, improving the safety and convenience of construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the crawler-type walking chassis of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the pushing device of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the connecting frame of the present invention.

[0021] In the figure: 1. crawler walking chassis; 2. pushing device; 3. connecting frame; 4. control system; 5. crawler track; 6. driving wheel; 7. driven wheel; 8. supporting wheel; 9. power source; 10. jack; 11. pushing beam; 13. tooth groove; 14. controller; 15. remote control; 16. sensor; 17. crawler track assembly. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figures 1 to 4 The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device comprises a crawler walking chassis 1, a top-pushing device 2, a connecting frame 3 and a control system 4.

[0024] In this embodiment, the entire crawler walking chassis 1 is composed of a plurality of crawler track assemblies 5. This multi-component design can disperse the weight of the equipment itself and the hanging basket, and enhance the stability and passability of the device under different terrain conditions. Each crawler track assembly 5 includes a crawler track 5, a driving wheel 6, a driven wheel 7 and a supporting wheel 8. The crawler track 5 is made of high-strength, wear-resistant rubber or metal material, and its surface has a special texture design to increase the friction between the crawler track 5 and the ground, so as to ensure stable walking under various complex ground conditions and prevent the occurrence of slipping. The crawler track 5 is wrapped around the driving wheel 6, the driven wheel 7 and the supporting wheel 8 to form a closed loop structure, which carries the weight of the entire device and realizes movement through contact with the ground. The driving wheel 6 serves as the movement of the crawler track 5. The power input component is tightly connected to the power source 9 inside the crawler walking chassis 1 through the transmission shaft. The power source 9 is an electric motor. When the power source 9 is started, the output torque is transmitted to the driving wheel 6 through the transmission shaft. The driving wheel 6 starts to rotate, thereby driving the crawler 5 to roll along the ground to realize the movement of the device. The driven wheel 7 is installed at the other end of the crawler track assembly 5 and keeps a certain distance from the driving wheel 6. Its main function is to assist the operation of the crawler 5. By adjusting its own position and angle, the crawler 5 is always kept in a tensioned state to avoid the crawler 5 from being loosened or falling off during operation, thereby ensuring the stability and reliability of the operation of the crawler 5. The supporting wheels 8 are distributed under the crawler 5 and arranged at a certain distance. The function of the supporting wheels 8 is to support the crawler 5 and reduce the crawler 5. The sagging degree under the action of its own gravity and the load of the device makes the crawler 5 fit the ground more closely, while reducing the resistance of the crawler 5 during operation and improving the walking efficiency. One end of the jack 10 is fixedly connected to the top of the crawler walking chassis 1 through a high-strength bolt to ensure that no displacement occurs during the pushing process, and the other end is connected to the pushing beam 11 through a movable joint. This movable connection method enables the pushing beam 11 to freely extend and retract under the action of the jack 10, while adapting to different pushing angles and working conditions, thereby realizing the telescopic action of the pushing beam 11. When pushing the hanging basket, the jack 10 can provide stable and precise thrust to ensure that the movement of the hanging basket is smooth and safe. The pushing beam 11 is usually made of high-strength steel beams with good bending resistance and The jack 10 has a compression resistance. One end of the jack 10 is firmly connected to the movable end of the jack 10, and the other end is connected to the basket through the connecting frame 3. The function of the jacking beam 11 is to transmit the thrust generated by the jack 10 to the basket, and push the basket to move along the predetermined track. During the jacking process, the jacking beam 11 is subjected to huge thrust and bending moment to ensure that it can meet the construction requirements. One end of the connecting frame 3 is fixedly connected to the end of the jacking beam 11 by welding to ensure the firmness and reliability of the connection. The other end is connected to the basket by a pin according to the structural characteristics of the basket, so that the connecting frame 3 can be closely combined with the basket to achieve effective force transmission. The design of the connecting frame 3 takes into account the force conditions during the jacking process and the movement requirements of the basket, and it is necessary to ensure sufficient strength and rigidity.It also needs to have a certain degree of flexibility to adapt to the slight displacement and angle change of the hanging basket during the movement. The control system 4 is electrically connected to the power source 9 and the jack 10 through cables. The control system 4 is mainly composed of an operation panel, a controller 14 and a sensor 16. The operator inputs various control instructions through the operation panel, such as start, stop, forward, backward, acceleration, deceleration, and the force and stroke of the jacking. After receiving the operation instruction, the controller 14 analyzes and processes it, and sends corresponding control signals to the power source 9 and the jack 10 according to the preset program and algorithm, so as to realize the precise control of the travel and jacking action of the walking device. At the same time, the sensor 16 monitors the operating status of the power source 9 and the pressure of the jack 10 in real time. Parameters such as force and displacement are fed back to the controller 14. The controller 14 adjusts and optimizes the control signal according to the feedback information to ensure that the walking device is always in the best working state. In addition, the control system 4 also has fault diagnosis and alarm functions. When a fault is detected in the equipment, it can issue an alarm in time and display the fault information so that the operator can conduct investigation and maintenance. The specific steps are as follows: PLC8 is used as the core controller and is connected to the following devices through electrical lines. The furnace temperature sensor monitors the inner wall temperature of the furnace in real time. The wire spinning speed sensor collects the rotation speed of the wire spinning disk through the Hall sensor or the electric tachometer. The feed flow sensor monitors the feed flow through the electromagnetic flowmeter or the rotor flowmeter. The serial port or Ethernet interface The port receives real-time data of furnace temperature, wire spinning speed and feed flow rate, stores these data in variables for subsequent logical judgment, checks whether the furnace temperature exceeds the preset range, if the temperature is too high, triggers the temperature alarm, if the temperature is too low, triggers the temperature alarm, if the temperature is abnormal, the system will automatically issue an alarm and may stop feeding, checks whether the wire spinning speed exceeds the upper and lower limits of the set value, if the speed is too high, it may cause the wire quality to decline, triggering the speed alarm, if the speed is too low, it may cause the production efficiency to decrease, triggering the speed alarm, if the speed is abnormal, the system will automatically adjust the flow control valve opening to keep the feed matching the wire spinning speed, if the feed flow is insufficient, it may cause the furnace to burn empty, triggering the flow alarm, if the feed flow is too large , which may lead to a decrease in production efficiency and trigger a flow alarm. If the flow is abnormal, the system will automatically adjust the flow control valve opening to match production needs. If temperature, speed or flow abnormalities occur at the same time, the system will give priority to the most serious abnormality (such as temperature abnormality). If multiple abnormalities exist at the same time, the system will issue a comprehensive alarm and stop production. According to the real-time data of wire spinning speed and feed flow, PLC8 will automatically adjust the opening of the flow control valve. If the wire spinning speed is too high, reduce the opening of the flow control valve and reduce the feed amount to match production needs. If the wire spinning speed is too low, increase the opening of the flow control valve and increase the feed amount to avoid empty burning of the furnace. Use PID control algorithm (proportional-integral-differential regulation) to achieve precise control of flow regulation.If the temperature, speed or flow is abnormal, PLC8 will control the output through the relay (for example, stop feeding or stop production). The alarm information can be displayed through the HMI and the operator can be prompted by sound or light. When the temperature, speed or flow is abnormal, PLC8 will automatically issue an alarm and take the following measures: stop feeding when the temperature is abnormal to prevent damage to the furnace; adjust the flow control valve opening when the speed is abnormal to maintain stable production; adjust the flow control valve opening when the flow is abnormal to avoid empty burning or overloading of the furnace. PLC8 will store the real-time collected furnace temperature, wire spinning speed and feeding flow data in variables. The storage format can be digital, string or Boolean value, depending on the type of sensor. If the sensor or actuator fails If there is a fault (such as sensor failure, flow control valve stuck, etc.), PLC8 will automatically detect the abnormality and issue a fault alarm. For example, if the furnace temperature sensor fails, PLC8 will detect the temperature abnormality and display a fault prompt. If the sensor or actuator fails, PLC8 will stop the current control task and enter the fault handling mode. For example, if the flow control valve is stuck, PLC8 will stop feeding and issue a fault prompt. PLC8 communicates with HMI and HSMC (human-machine interface control station) via Ethernet, receives control instructions and sends data. PLC8 communicates with actuators (such as drive motors, flow control valves) through RS-485 communication for data transmission. PLC8 will coordinate data transmission between different devices. Transmission, to ensure the accuracy and consistency of data. When the system is abnormal, PLC8 will sound an alarm through sound, light or LED indicator. PLC8 will display the alarm information through HMI, which is convenient for operators to view and process. PLC8 will store real-time data in the memory for historical playback function. PLC8 will display historical data in the form of trend chart, which is convenient for operators to analyze production trends. When the system fails, PLC8 will issue a fault prompt through sound, light or LED indicator. When the system fails, PLC8 will stop the current control task and wait for the fault to be eliminated before restarting. PLC8 and related equipment will be equipped with backup power to ensure that the system can operate normally when the main power fails. When the main power fails, PLC8 will switch to the backup power supply and display the fault prompt through HMI. These components cooperate with each other. The crawler chassis 1 provides a mobile foundation for the entire device, enabling it to move flexibly at the construction site. The jacking device 2 achieves accurate jacking of the hanging basket through the coordinated action of the jack 10 and the jacking beam 11. The connecting frame 3 firmly connects the jacking beam 11 and the hanging basket to ensure reliable transmission of force. The control system 4 coordinates and controls the power source 9 and the jack 10 to ensure that the travel and jacking operations of the entire walking device are carried out safely, efficiently and accurately. During the construction of the cantilever cast arch bridge, this walking device can greatly improve the construction efficiency, reduce the construction difficulty, and ensure the quality and progress of the project.

[0025] First, see Figure 2 In this embodiment, the crawler 5 is made of high-strength rubber material. The material is synthesized through a specific formula and process, and its internal polymer chains build a tight and orderly cross-linked structure. From a microscopic level, this cross-linked structure gives the crawler 5 flexibility, allowing it to deform according to different terrains. When encountering slope changes during mountain construction, the crawler 5 can naturally bend with the slope, so that the equipment can climb or descend smoothly. When there are irregular potholes at the construction site, the crawler 5 can flexibly sink or bulge to maintain stable contact with the ground to ensure that the equipment continues to move forward. From the wear principle, a dense protective layer is formed on the surface of the material during use. During construction, sand and gravel on the ground and sharp objects come into contact with the crawler 5, and the protective layer can effectively resist scratches. According to the wear theory of polymer materials, the protective layer can disperse friction and reduce material surface damage, thereby extending the service life of the crawler 5. For example, in a bridge construction project, a large number of scratches and wear appeared on the surface of the crawler 5 after the equipment using ordinary rubber crawler 5 passed through a section of road covered with gravel. The protective layer effectively protects the internal rubber structure. In order to improve the performance of the crawler 5 on complex construction roads, the surface of the crawler 5 is provided with staggered raised ribs with anti-skid patterns. From a mechanical point of view, these ribs can increase the contact points and friction between the crawler 5 and the ground. On wet roads, water can easily form a lubricating layer between the crawler 5 and the ground to reduce friction, while the ribs can pierce the lubricating layer to enhance contact. On muddy roads, the ribs penetrate into the soil to increase the bite area. On rugged roads, the ribs fit into the gaps and protrusions of the ground. The staggered arrangement allows the ribs to support each other to form a stable force-bearing structure, greatly improving the anti-skid effect and ensuring the stable operation of the walking device. At a construction site after a heavy rain, the ground was muddy and slippery, and construction vehicles with ordinary tires frequently slipped and could not operate normally. The walking device equipped with this crawler 5, with its unique anti-skid patterns, successfully completed the material transportation task and ensured the construction progress.

[0026] Then, see Figure 1In this embodiment, the rims of the driving wheel 6 and the driven wheel 7 are both provided with tooth grooves 13 matching the inner teeth of the crawler 5. The driving wheel 6 rotates under the drive of the power source 9, and the meshing of its tooth grooves 13 with the inner teeth of the crawler 5 follows the mechanical transmission principle. The modulus of the tooth grooves 13, the pressure angle and other parameters are accurately calculated to ensure accurate power transmission. The power source 9 outputs torque, which is converted into linear motion of the crawler 5 through the tight engagement of the tooth grooves 13 of the driving wheel 6 with the inner teeth of the crawler 5, driving the crawler 5 forward. For example, when the power source 9 is a high-power motor, the high torque output by the motor is transmitted to the crawler 5 with extremely high efficiency through the tooth grooves 13 of the driving wheel 6, so that the walking device can start quickly and run smoothly under heavy load conditions. The driven wheel 7 plays a key role in the transmission of the crawler 5. The tooth grooves 13 of the driven wheel 7 cooperate with the inner teeth of the crawler 5, and the tooth surface contact force is used to achieve the desired effect. Adjustment of the tension of the track 5. When the tension of the track 5 is abnormal due to changes in terrain and load, the driven wheel 7 adjusts its own position and changes the tension state of the track 5 through the interaction between the tooth groove 13 and the inner teeth of the track 5. For example, when the climbing load of the equipment increases, the track 5 is loose, and the meshing force of the tooth groove 13 of the driven wheel 7 increases, pulling the track 5 to restore it to a suitable tension. When the downhill load of the equipment decreases and the track 5 is too tight, the driven wheel 7 appropriately loosens the track 5 to avoid tooth disengagement, tooth jumping and other faults, and ensure the operating stability of the track 5. During the construction of a bridge in a mountainous area, the track 5 became loose due to a sudden increase in load during the climbing process. The driven wheel 7 responded quickly and adjusted the tension of the track 5 in time by increasing the meshing force of the tooth groove 13, ensuring the safe climbing of the equipment and avoiding safety accidents caused by the loose track 5.

[0027] Second, see Figure 1 In this embodiment, the supporting wheels 8 are evenly distributed at the bottom of the crawler assembly 5, the number is an even number and they are symmetrically arranged in pairs. From the perspective of mechanical principles, this symmetrical distribution method allows the crawler 5 to be evenly stressed during operation. The crawler 5 bears its own gravity, equipment load and ground reaction force during operation. If the force is uneven, it will cause local wear to increase. The supporting wheels 8 are symmetrically distributed to evenly disperse these forces to various parts of the crawler 5, reducing local stress concentration. For example, in a large bridge construction project, a walking device that does not adopt a symmetrical supporting wheel 8 layout has a crawler 5 with obvious severe wear on one side after long-term operation. The equipment with symmetrical supporting wheel 8 layout has even wear of track 5 and greatly extended service life. An even number of supporting wheels 8 reasonably share the weight of track 5 and the entire device. Each supporting wheel 8 acts as a support point, and the total weight is evenly distributed according to the principle of force decomposition and synthesis. This effectively reduces the sagging degree of track 5 under its own gravity and device load. When the sagging degree of track 5 decreases, track 5 fits more closely with the ground and the contact area increases. According to the friction formula, the friction force is more evenly distributed, and the running resistance is reduced. According to the law of conservation of energy, the equipment travels faster under the same power, thereby improving the travel efficiency.

[0028] Again, see Figure 3 The present embodiment adopts a multi-stage telescopic jack 10, whose structure is composed of a plurality of nested telescopic sleeves, and realizes multi-stage telescopic extension through hydraulic or mechanical transmission. Compared with the ordinary jack 10, its stroke adjustment range is larger. In the process of pushing the hanging basket, according to the principle of engineering mechanics, different construction stages have different requirements for pushing length. The multi-stage telescopic jack 10 can accurately control the pushing length by telescoping the sleeves step by step. For example, in the initial positioning stage of the hanging basket, millimeter-level fine-tuning is required. The multi-stage telescopic jack 10 can achieve precise positioning by slowly extending the innermost sleeve. In the rapid pushing stage, multiple sleeves can be extended at the same time to provide a larger pushing stroke to meet the construction progress requirements. In the retracted state, the multi-stage telescopic jack The sleeves of the jack 10 are nested with each other, occupying little space, which is convenient for equipment transportation and storage. During transportation, the smaller volume can reduce transportation costs and improve transportation efficiency. When stored, it saves storage space. After unfolding, it can flexibly adjust the pushing length according to different working conditions, such as the weight of the hanging basket, the pushing distance, the construction environment and other factors, provide stable pushing force, and meet complex construction requirements. During the construction of a cross-river bridge, due to the narrow construction site and limited space for transporting and storing equipment, the compact contraction state of the multi-stage telescopic jack 10 enables the equipment to be smoothly transported to the construction site and does not occupy too much space when stored. When pushing the hanging basket, it can provide stable pushing force according to actual needs, ensuring the smooth progress of the construction.

[0029] Finally, see Figure 3 In this embodiment, the pushing beam 11 is made of I-beam. The unique cross-sectional shape of the I-beam consists of upper and lower flange plates and an intermediate web. This structure gives it good bending resistance and high strength. During the pushing process, the pushing beam 11 bears the pressure generated by the weight of the hanging basket, the horizontal thrust during pushing, and the bending moment generated by the movement of the hanging basket. For example, during the pushing process of a large hanging basket, the pushing beam 11 needs to bear the weight of the hanging basket of tens of tons, and at the same time, it also needs to resist the bending moment generated by various forces during the pushing process. The I-beam can stably bear these forces with its superior mechanical properties to ensure the safety of the pushing process. According to the principles of material mechanics and structural mechanics, the selection of the I-beam model needs to comprehensively consider factors such as the actual weight of the hanging basket and the resistance to be overcome during pushing. By accurately calculating the maximum bending moment, shear force and other parameters, and according to the mechanical property parameter table of the I-beam, a suitable model is selected to ensure that the pushing beam 11 meets the strength requirements while avoiding excessive material redundancy, reducing equipment costs and deadweight, and ensuring that the pushing work is safe and efficient, in line with the principles of engineering economy and safety.

[0030] Working principle:

[0031] The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device is first operated by a worker to operate the crawler walking chassis 1, and use its good terrain adaptability to move the equipment to a preset position under the hanging basket. According to the structural characteristics of the hanging basket, one end of the connecting frame 3 is firmly fixed to the end of the top pushing beam 11 by welding, and the other end is reliably connected to the hanging basket by a pin shaft or the like to ensure a tight connection and smooth force transmission.

[0032] Start the power source 9, and the driving wheel 6 rotates driven by the power source 9, and drives the crawler 5 to operate by meshing with the inner teeth of the crawler 5, so that the walking device performs preliminary movement and fine-tuning to find the starting position of the push. At the same time, the sensor 16 collects parameters such as the walking speed of the crawler 5, the working status of the power source 9, and the initial pressure of the jack 10 in real time, and feeds the data back to the controller 14. The controller 14 analyzes and processes the data to determine whether the equipment is operating normally.

[0033] The operator sends a pushing command to the controller 14 through the remote control 15 or the operation panel. After receiving the command, the controller 14 controls the multi-stage telescopic jack 10 to slowly extend according to the preset program and speed. The telescopic action of the jack 10 pushes the pushing beam 11 to move along the longitudinal direction of the crawler walking chassis 1. The pushing beam 11 transmits the thrust to the hanging basket, so that the hanging basket starts to move smoothly. During the pushing process, the sensor 16 continuously monitors the pushing pressure, the telescopic displacement of the jack 10, the walking speed of the crawler 5 and other parameters. Once the parameters are abnormal, such as excessive pushing pressure, unstable speed of the crawler 5, etc., the sensor 16 immediately feeds back the information to the controller 14, and the controller 14 automatically adjusts the output power of the power source 9, the telescopic speed of the jack 10, etc., to ensure that the pushing operation is safe and stable. If complex terrain or greater resistance is encountered, the control system 4 can intelligently adjust the torque of the power source 9 and the pushing force of the jack 10 according to the feedback information of the sensor 16 to ensure the continuous movement of the hanging basket.

[0034] The construction workers closely observe the movement of the hanging basket on site, and can remotely view the sensor 16 data and the equipment operation status through the remote control 15. If the hanging basket is found to be offset or shaking, the remote control 15 will promptly send an adjustment instruction to the controller 14, and the controller 14 will control the power source 9 to adjust the speed difference on both sides of the crawler 5, so that the walking device turns or fine-tunes the position to correct the movement trajectory of the hanging basket; or adjust the telescopic length of the jack 10, change the angle of the push beam 11 and the direction of the push force to ensure the smooth movement of the hanging basket.

[0035] When the basket moves to the designated position, the operator sends a stop pushing command to the controller 14 through the remote control 15. The controller 14 controls the jack 10 to stop extending and retracting, the power source 9 stops working, the connecting pin between the connecting frame 3 and the basket is removed, the crawler walking chassis 1 is operated to drive the equipment away from under the basket and move it to the designated storage area, the multi-stage telescopic jack 10 is retracted to the initial state, the equipment is comprehensively inspected and maintained, the debris on the surface of the equipment is cleaned, the wear of each component is checked, and preparations are made for the next use.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Cantilever cast arch bridge hanging basket top push type crawler small tank walking device, characterized in that: The invention comprises a crawler-type walking chassis (1), a pushing device (2), a connecting frame (3) and a control system (4), wherein the crawler-type walking chassis (1) is composed of a plurality of crawler assemblies (17) which are parallel to each other and arranged at equal intervals in the transverse direction of the crawler-type walking chassis (1), each crawler assembly (17) comprises a crawler (5), a driving wheel (6), a driven wheel (7) and a supporting wheel (8), wherein the driving wheel (6) and the driven wheel (7) are respectively arranged at the front and rear ends of the crawler assembly (17), and the axes of the two are parallel to each other and are at the same horizontal height. The horizontal height is perpendicular to the longitudinal center plane of the crawler chassis (1); the driving wheel (6) is connected to a power source (9) arranged at the center position inside the crawler chassis (1) through a coupling; the output shaft of the power source (9) and the rotation axis of the driving wheel (6) are on the same straight line; the pushing device (2) is installed directly above the crawler chassis (1) and its longitudinal center line coincides with the longitudinal center line of the crawler chassis (1); the pushing device (2) includes the jack (10) and the pushing beam (11), the jack (10) is installed in a vertical state, the bottom end of the jack (10) is vertically fixedly connected to the crawler walking chassis (1) by bolts, the top end of the jack (10) is movably connected to the pushing beam (11), the pushing beam (11) is horizontally rotated relative to the jack (10), the pushing beam (11) is arranged along the longitudinal direction of the crawler walking chassis (1) and is parallel to the longitudinal center line of the crawler walking chassis (1), and one end of the connecting frame (3) is welded The control system (4) is vertically fixedly connected to the end of the pushing beam (11), and the other end is provided with an interface connected to the hanging basket. The connection surface of the interface is perpendicular to the pushing beam (11) and is used to connect to the hanging basket. The control system (4) is electrically connected to the power source (9) and the jack (10) through electric wires, and is arranged on one side of the crawler walking chassis (1). The control line of the control system (4) is parallel to the connection line of the power source (9) and the jack (10), and is used to control the travel and pushing action of the walking device.

2. The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device according to claim 1 is characterized in that: The crawler (5) is made of high-strength rubber material and is provided with anti-skid patterns on the surface. The anti-skid patterns are staggered raised ribs. The crawler (5) surrounds the outer circumference of the driving wheel (6) and the driven wheel (7) to form a closed annular structure, and the inner surface of the crawler (5) is tightly fitted with the outer circumferential surface of the driving wheel (6) and the driven wheel (7).

3. The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device according to claim 2 is characterized in that: The wheel rims of the driving wheel (6) and the driven wheel (7) are both provided with tooth grooves (13) matching the inner teeth of the track (5); the tooth grooves (13) of the driving wheel (6) and the driven wheel (7) are evenly distributed along the circumferential direction, and the size, shape and spacing of the tooth grooves (13) of the two wheels are exactly the same.

4. The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device according to claim 3 is characterized in that: The supporting wheels (8) are evenly distributed at the bottom of the crawler assembly (17); the number of the supporting wheels (8) is an even number, and the supporting wheels (8) are symmetrically arranged in pairs on both sides of the longitudinal center line of the bottom of the crawler assembly (17); the axis of each supporting wheel (8) is parallel to the axis of the driving wheel (6) and the driven wheel (7), and the top of the supporting wheel (8) is in contact with the bottom inner surface of the crawler (5).

5. The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device according to claim 4 is characterized in that: The telescopic direction of the jack (10) is parallel to the longitudinal center line of the crawler-type walking chassis (1), and its telescopic action can push the push beam (11) to move along the longitudinal direction of the crawler-type walking chassis (1).

6. The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device according to claim 5 is characterized in that: The pushing beam (11) is made of I-beam material, the length direction of the pushing beam (11) is consistent with the longitudinal direction of the crawler walking chassis (1), and the connection points between its two ends and the connecting frame (3) are located at the central symmetrical position of the pushing beam (11).

7. The cantilever cast arch bridge hanging basket top-pushing crawler small tank walking device according to claim 6 is characterized in that: The control system (4) comprises a controller (14), a remote controller (15) and a sensor (16). The controller (14) is installed in a control box of the crawler-type walking chassis (1). The sensor (16) is installed at key positions of the crawler-type walking chassis (1) and the jack (10). The signal line of the sensor (16) is connected to the input interface of the controller (14) through parallel lines, and is used to detect parameters such as the walking speed and pushing pressure of the crawler (5), and feed the data back to the controller (14). The remote controller (15) communicates with the controller (14) through wireless signals, and can remotely control the controller (14).

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