Adjustable active clamping crawler

Abstract

The invention provides an adjustable active clamping crawler which comprises an upper hoop, a lower hoop and a jacking oil cylinder connected between the upper hoop and the lower hoop, and the jacking oil cylinder is used for driving the upper hoop and the lower hoop to alternately crawl in a stepping mode. Each of the upper hoop and the lower hoop is formed by connecting two semi-ring assemblies through a pin shaft and a fastening bolt; each of the upper hoop and the lower hoop comprises an outer hoop assembly and an inner hoop assembly embedded in the outer hoop assembly; the outer hoop assembly is provided with an adjustable device used for adapting to the sizes of pier columns with different diameters. The inner hoop assembly comprises an inner hoop steel belt, a flange connecting block and a locking device assembly, and the locking device assembly is arranged between the two semi-ring hoops in a penetrating mode and drives the two semi-ring hoops to achieve clamping and loosening. According to the crawler, adaptive switching of bridge pier columns of different specifications can be achieved, and the turnover utilization rate of equipment is greatly increased; and the clamping force can be accurately controlled, and damage to the surface of the bridge pier stud can be effectively avoided in the crawling process of the crawler.

Description

Technical Field

[0001] The present invention relates to the technical field of the construction of the lower structure of a cast-in-place bridge, and more particularly to an adjustable active clamping crawler. Background Art

[0002] With the progress of China's science and technology and the acceleration of the urbanization process, the construction of bridges has become increasingly important. Crawlers are important components in bridge construction. Crawlers can automatically complete many cumbersome and high-risk bridge construction tasks, significantly improving work efficiency, reducing the time and cost of manual operation, and lowering the operation difficulty and risk.

[0003] In the prior art, when the crawler crawls up and down along the bridge pier column, the multi-disc spring locking and electric clamping methods are mostly adopted:

[0004] For example, the Chinese patent with the application number CN202223075330.6 discloses a crawler of a bridge pier column climbing formwork construction system. This crawler adopts the disc spring locking method, and the clamping method is passive clamping.

[0005] Another example is the Chinese patent with the application number CN202223056625.9, which discloses a climbing device and a climbing system. The electric crawler clamping device adopts screw rod clamping, and the clamping method belongs to the active clamping driven by a motor.

[0006] The commonly used crawler structures in the above prior art have the following defects:

[0007] 1. In actual construction, since the sizes and specifications of bridge pier columns are different, none of the above crawlers can achieve the adaptation to multiple different specifications of pier columns with one device. Therefore, its turnover rate is relatively low, which is not conducive to popularization.

[0008] 2. When using disc spring locking, affected by the change of the pier column diameter, the clamping force of the crawler will change to a certain extent, and the clamping force is not accurate.

[0009] 3. When using an electric clamping device, there are problems of heavy weight and high cost.

[0010] In summary, there is an urgent need in the existing construction for a bridge pier column crawler that can achieve the adaptive switching of different specifications of pier columns, has high clamping force control accuracy, can greatly improve the turnover rate of equipment, and is conducive to product promotion. Summary of the Invention

[0011] To solve the above problems in the prior art, the present invention provides an adjustable active clamping crawler, which can achieve the adaptive switching of different specifications of bridge pier columns, greatly improving the turnover utilization rate of the equipment; and the clamping force can be accurately controlled, effectively avoiding damage to the surface of the bridge pier column during the crawling process of the crawler.

[0012] To achieve the above object, the present invention provides the following technical solution: An adjustable active clamping crawler, comprising an upper hoop, a lower hoop, and a jacking oil cylinder connected between the upper hoop and the lower hoop, wherein the jacking oil cylinder is used to drive the upper hoop and the lower hoop to perform alternating step-by-step crawling; both the upper hoop and the lower hoop are connected by two semi-ring assemblies through pin shafts and fastening bolts; both the upper hoop and the lower hoop include an outer hoop assembly and an inner hoop assembly embedded inside the outer hoop assembly; the outer hoop assembly is provided with an adjustable device for adapting to the sizes of piers with different diameters.

[0013] In a preferred technical solution, the outer hoop assembly is provided with adjustable devices for adapting to the sizes of piers with different diameters in three directions: horizontal, vertical, and diagonal.

[0014] In a preferred technical solution, the outer hoop assembly includes two horizontally arranged main frames arranged opposite to each other, longitudinal connecting frames connected to the four corners of the inner walls of the two horizontally arranged main frames, and frame adjusting blocks connected between the two longitudinal connecting frames in the longitudinal direction; a plurality of adjustable mounting holes are horizontally opened on the inner walls of the horizontally arranged main frames, and the longitudinal connecting frames are adjustably mounted at different hole positions of the horizontally arranged main frames in the horizontal direction; the number of the frame adjusting blocks is adjustable in the longitudinal direction and is set to be one or more; elastic guide wheels for pressing against the bridge pier are installed on the inner walls of the four longitudinal connecting frames, and the elastic guide wheels are all arranged at the 45° angle positions inside the outer hoop assembly.

[0015] In a preferred technical solution, a guide wheel adjusting block for adapting to piers with different diameters is further installed between the elastic guide wheel and the longitudinal connecting frame, and the number of the guide wheel adjusting blocks is adaptively increased or decreased according to the diameter of the bridge pier.

[0016] In a preferred technical solution, the inner hoop assembly includes an inner hoop steel belt, a flange connection block, and a locking device assembly. One end of the inner hoop steel belt and the flange connection block are connected through a pin shaft to form a semi-encircling hoop, and the locking device assembly passes through between the two semi-encircling hoops to drive the two semi-encircling hoops to clamp and release the inner hoop steel belt.

[0017] In a preferred technical solution, the locking device assembly includes a hydraulic motor, a worm and worm gear reducer, a transmission screw rod, a connecting box body one, and a connecting box body two; the worm and worm gear reducer is connected to the power output end of the hydraulic motor; the worm and worm gear reducer is installed on the connecting box body one; one end of the transmission screw rod is connected to the worm by key connection, and the other end sequentially passes through the connecting box body one, the inner hoop steel belt of one of the semi-encircling hoops, the connecting flange block connected to the other semi-encircling hoop, and the connecting box body two, and is fixed by an anti-rotation nut.

[0018] In a preferred technical solution, an anti-rotation clamping plate for preventing the anti-rotation nut from rotating together with the transmission lead screw is clamped on the outer surface of the anti-rotation nut, and the anti-rotation clamping plate is fixed to the second connecting box body; a reverse baffle is further connected to the outside of the anti-rotation clamping plate, and the reverse baffle and the anti-rotation clamping plate are fixedly connected by bolts.

[0019] When the transmission lead screw rotates driven by the worm gear, the anti-rotation clamping plate can prevent the anti-rotation nut from rotating together with the transmission lead screw, so that while the transmission lead screw rotates in place, it drives the anti-rotation nut to achieve horizontal movement on the transmission lead screw.

[0020] The transmission lead screw and the anti-rotation nut can be trapezoidal threads, which can achieve mechanical self-locking, so that the locking device has self-locking performance. And the hydraulic motor can be integrated with a brake, so that the locking force of the locking device can be reliably maintained.

[0021] In a preferred technical solution, flange connection lugs are provided on the connection flange block connected to one end of the inner holding hoop steel belt and on the other end of the inner holding hoop steel belt; two semi-circular mounting blocks are provided on the upper and lower parts of the two flange connection lugs; hinge shafts are connected to the upper and lower surfaces of the first connecting box body and the second connecting box body in an articulated manner, and the four hinge shafts are respectively fixed on the four semi-circular mounting blocks through four rotating shaft pressing blocks, and both the first connecting box body and the second connecting box body can rotate around the corresponding double hinge shafts.

[0022] In a preferred technical solution, a disc spring, a disc spring pressing plate and a pressure sensor are sequentially arranged inside the second connecting box body from inside to outside, one side of the pressure sensor abuts against the anti-rotation nut, and the other side is fixed on the disc spring pressing plate.

[0023] In a preferred technical solution, a limit nut for preventing the anti-rotation nut from coming off the transmission lead screw is further provided at the end of the transmission lead screw.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. The outer holding hoop of the crawler of the present invention can adjust the dimensions in three directions of horizontal, longitudinal and oblique directions: the longitudinal connection frame can be installed at different hole positions of the transverse main frame to achieve horizontal adjustment, the longitudinal adjustment can be achieved by adding or reducing the frame adjustment blocks, and the oblique adjustment can be achieved by adding or reducing the guide wheel adjustment blocks. Through the adjustment of these three directions, the outer holding hoop assembly can adapt to pier columns with different diameters; by replacing the inner holding hoop steel belt, the adaptability switching of different specifications of pier columns can be realized, greatly improving the turnover rate of the equipment and reducing the production cost;

[0026] 2. The present invention realizes active locking by using a lead screw and a nut, the locking force will not change due to the slight change of the diameter of the bridge pier column, and the locking force can be precisely controlled;

[0027] 3. The locking device of the internal hoop of the present invention adopts a screw rod locking method driven by a hydraulic motor, which can achieve precise clamping force control and obtain a larger opening gap, avoiding the scraping of the internal hoop on the pier column during the crawling process, and is safe and reliable;

[0028] 4. The internal hoop of the present invention adopts a method of driving the opening and locking simultaneously on both sides, which can achieve a faster opening and closing speed compared with single-sided driving;

[0029] 5. The crawler assembly of the present invention is connected by two semi-ring assemblies through pin shafts and fastening bolts, and can be quickly disassembled into two halves on site to achieve the separation from the pier column;

[0030] 6. There are flange connection blocks between the internal hoop steel belts of the present invention. The internal hoop steel belt and the flange connection block are connected by pin shafts to form a semi-circular hoop. Two locking device assemblies drive the two semi-circular hoops to achieve clamping and loosening. Therefore, by disassembling the pin shafts, the internal hoop assembly can be separated into two halves, and the locking device assembly does not need to be disassembled, so that the locking device assembly is always a whole, enhancing the convenience of disassembly and assembly;

[0031] 7. There are disc springs and pressure sensors in the connecting box body II of the present invention. The pressure sensor can achieve precise measurement of the clamping force, enhancing the reliability of the equipment. The disc spring can effectively maintain the clamping force and enhance the stability of the clamping force. Brief Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the overall structure of the crawler of an adjustable active clamping crawler of the present invention;

[0033] Figure 2 It is a schematic diagram of the connection structure of the left and right semi-ring assemblies of an adjustable active clamping crawler of the present invention;

[0034] Figure 3 It is a schematic diagram of the inner and outer double-layer structure of the upper and lower hoops of an adjustable active clamping crawler of the present invention;

[0035] Figure 4 It is an exploded view of the structure of the outer hoop assembly of an adjustable active clamping crawler of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure of the outer hoop assembly of an adjustable active clamping crawler of the present invention when it is applicable to a pier column with a smaller diameter;

[0037] Figure 6 It is a schematic diagram of the structure of the outer hoop assembly of an adjustable active clamping crawler of the present invention when it is applicable to a pier column with a larger diameter;

[0038] Figure 7Schematic diagram of the overall structure of the inner hoop assembly of an adjustable active clamping crawler according to the present invention;

[0039] Figure 8 Exploded structure diagram of the inner hoop assembly of an adjustable active clamping crawler according to the present invention;

[0040] Figure 9 Schematic diagram of the structure of the locking device assembly of the inner hoop assembly of an adjustable active clamping crawler according to the present invention;

[0041] Figure 10 is Figure 9 Enlarged view of part A in

[0042] Figure 11 Exploded view of the worm and worm gear reducer of the inner hoop assembly of an adjustable active clamping crawler according to the present invention;

[0043] Figure 12 Structural sectional view of the locking device assembly of the inner hoop assembly of an adjustable active clamping crawler according to the present invention;

[0044] Figure 13 Schematic diagram of the hinge of the locking device assembly of the inner hoop assembly of an adjustable active clamping crawler according to the present invention;

[0045] Figure 14 Schematic diagram of the structure of the inner hoop steel strip of an adjustable active clamping crawler according to the present invention;

[0046] Figure 15 Schematic diagram of the intermediate state of the inner hoop assembly when the locking device assembly of an adjustable active clamping crawler functions;

[0047] Figure 16 Schematic diagram of the clamping state of the inner hoop assembly when the locking device assembly of an adjustable active clamping crawler functions;

[0048] Figure 17 Schematic diagram of the released state of the inner hoop assembly when the locking device assembly of an adjustable active clamping crawler functions;

[0049] Figure 18 Sectional view of the locking device assembly of an adjustable active clamping crawler without a pressure sensor according to the present invention;

[0050] The marks in the figure are:

[0051] 1. Crawler assembly;

[0052] 1.1 Upper hoop; 1.2 Lower hoop; 1.3 Jacking oil cylinder;

[0053] 2. Pier column;

[0054] 3. Semi - ring assembly

[0055] 4. Pin shaft

[0056] 5. Fastening bolt

[0057] 6. Outer hoop assembly

[0058] 6.1 Transverse main frame; 6.2 Longitudinal connection frame; 6.3 Guide wheel adjustment block; 6.4 Elastic guide wheel; 6.5 Longitudinal adjustment block; 6.1.1 Adjustable mounting hole

[0059] 7. Inner hoop assembly

[0060] 7.1 Locking device assembly; 7.2 Inner hoop steel strip; 7.2.1 First through - hole; 7.2.2 First semi - circular mounting block; 7.3 Flange connection block; 7.3.1 Second through - hole; 7.3.2 Second semi - circular mounting block; 7.1.1 Hydraulic motor; 7.1.2 Worm and worm gear reducer; 7.1.3 First shaft pressing block; 7.1.4 First connection box; 7.1.5 Transmission lead screw; 7.1.6 Second connection box; 7.1.7 Disc spring; 7.1.8 Second shaft pressing block; 7.1.9 Disc spring pressing plate; 7.1.10 Pressure sensor; 7.1.11 Anti - rotation nut; 7.1.12 Anti - rotation clamping plate; 7.1.13 Reverse baffle; 7.1.14 Limit nut; 7.1.15 Proximity switch; 7.1.16 Plane; 7.1.2.1 First end cover; 7.1.2.2 First oil seal; 7.1.2.3 Lock nut; 7.1.2.4 First bearing; 7.1.2.5 Worm wheel; 7.1.2.6 Key; 7.1.2.7 Transmission box; 7.1.2.8 Second bearing; 7.1.2.9 Second oil seal; 7.1.2.10 Second end cover; 7.1.2.11 Third bearing; 7.1.2.12 Worm; 7.1.4.1 First double - hinge shaft; 7.1.6.1 Second double - hinge shaft Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0062] Embodiment 1

[0063] Refer to Figures 1 to 17 , and the embodiments of an adjustable active clamping crawler of the present invention will be further described.

[0064] AsFigure 1 As shown in the figure, the crawler assembly 1 mainly consists of an upper clamp 1.1, a lower clamp 1.2, and a jacking oil cylinder 1.3. One end of the jacking oil cylinder 1.3 is fixed to the upper clamp 1.1, and the other end of the jacking oil cylinder 1.3 is fixed to the lower clamp 1.2. There are two jacking oil cylinders 1.3, and the two jacking oil cylinders 1.3 are relatively arranged in the middle of the opposite sides of the upper clamp 1.1 and the lower clamp 1.2. Guide devices are arranged on both sides of each jacking oil cylinder 1.3. The guide device is in the form of a guide rod and a guide sleeve. The end of the guide rod is fixed to the upper clamp 1.1, and the end of the guide sleeve is fixed to the lower clamp 1.2.

[0065] Under the guiding action of the guiding device and the driving action of the jacking oil cylinder 1.3, the jacking oil cylinder 1.3 expands and contracts, driving the upper clamp 1.1 and the lower clamp 1.2 to perform alternating step-by-step crawling. The upper clamp 1.1 and the lower clamp 1.2 alternately clamp the pier 2, so that the crawler assembly 1 can crawl along the surface of the pier 2.

[0066] Figure 2 As shown in the figure, the crawler assembly 1 is connected by two semi-ring assemblies 3 through a pin shaft 4 and a fastening bolt 5. Each semi-ring assembly 3 includes half of the upper clamp 1.1 and half of the lower clamp 1.2 structure, and is connected into a whole by a guiding device and a jacking oil cylinder 1.3. During on-site disassembly, only the pin shaft 4 and the fastening bolt 5 need to be disassembled, and the crawler assembly can be quickly split into two halves to realize the separation from the pier.

[0067] As Figure 3 shown, both the upper clamp 1.1 and the lower clamp 1.2 are of an inner and outer two-layer structure. Taking the upper clamp 1.1 as an example, the upper clamp 1.1 is composed of an outer clamp assembly 6 and an inner clamp assembly 7. The inner clamp assembly 7 is embedded inside the outer clamp assembly 6. The advantage of the inner and outer two-layer structure is that the clamping and loosening actions of the inner clamp assembly 7 will not cause the load on the outer clamp assembly to shake, ensuring stable operation.

[0068] As Figure 4 、 Figure 5 、 Figure 6As shown in the figure, the external hoop assembly 6 is provided with adjustable devices in three directions: transverse, longitudinal, and diagonal, for adapting to pier columns of different diameters. The external hoop assembly 6 consists of a transverse main frame 6.1, a longitudinal connecting frame 6.2, a guide wheel adjusting block 6.3, an elastic guide wheel 6.4, and a frame adjusting block 6.5. The two transverse main frames 6.1 are arranged opposite to each other. The inner side wall of the transverse main frame 6.1 is provided with adjustable mounting holes 6.1.1. The longitudinal connecting frame 6.2 can be installed at different hole positions on the two transverse main frames 6.1, enabling the adjustment of the two longitudinal connecting frames 6.2 in the transverse direction. The frame adjusting block 6.5 is connected between the two longitudinal connecting frames 6.2 in the longitudinal direction. Longitudinally, by increasing or decreasing the frame adjusting block 6.5, and the frame adjusting block 6.5 can be set to one or more, the adjustment of the external hoop assembly in the longitudinal direction can be achieved. There are four elastic guide wheels 6.4, which are respectively installed on the inner walls of the longitudinal connecting frames 6.2, and the elastic guide wheels 6.4 are distributed at the 45° positions. According to the size of the bridge pier column diameter, the guide wheel adjusting block 6.3 can be added or not added between the elastic guide wheel 6.4 and the longitudinal connecting frame 6.2, and the position adjustment can be achieved by increasing or decreasing the guide wheel adjusting block 6.3, thereby realizing the adjustment of the external hoop assembly 6 in the diagonal direction.

[0069] Through the adjustment in these three directions, the external hoop assembly 6 can adapt to pier columns of different diameters, such as Figure 5 and 6 shown. Compared with Figure 5 , Figure 6 the longitudinal connecting frame 6.2 of

[0070] is moved outwards, the frame adjusting block 6.5 is added, and the guide wheel adjusting block 6.3 is added, so that the external hoop assembly 6 can adapt to pier columns with a larger diameter. Figure 7 and Figure 8 As shown in

[0071] and Figure 9As described above, the locking device assembly 7.1 mainly consists of a hydraulic motor 7.1.1, a worm and worm gear reducer 7.1.2, a rotating shaft pressing block 1 7.1.3, a connecting box 1 7.1.4, a transmission lead screw 7.1.5, a connecting box 2 7.1.6, a disc spring 7.1.7, a rotating shaft pressing block 2 7.1.8, a disc spring pressing plate 7.1.9, a pressure sensor 7.1.10, an anti-rotation nut 7.1.11, an anti-rotation clamping plate 7.1.12, a reverse baffle 7.1.13, a limit nut 7.1.14, and a proximity switch 7.1.15.

[0072] The structure of the worm and worm gear reducer 7.1.2 is as Figure 11 shown, and it mainly consists of an end cover 1 7.1.2.1, an oil seal 1 7.1.2.2, a lock nut 7.1.2.3, a bearing 1 7.1.2.4, a worm wheel 7.1.2.5, a key 7.1.2.6, a transmission box 7.1.2.7, a bearing 2 7.1.2.8, an oil seal 2 7.1.2.9, an end cover 2 7.1.2.10, a bearing 3 7.1.2.11, and a worm 7.1.2.12. The worm drives the worm wheel to achieve in-situ rotation, realizing a deceleration and torque increase transmission with a 90° stagger.

[0073] The worm and worm gear reducer 7.1.2 is connected to the power output end of the hydraulic motor 7.1.1; the worm and worm gear reducer 7.1.2 is installed on the connecting box 1 7.1.4; one end of the transmission lead screw 7.1.5 is connected to the worm wheel 7.1.2.5 by key connection, and the other end sequentially passes through the connecting box 1 7.1.4, the inner hoop steel belt of one semi-encircling clamp, the connecting flange block 7.3 connected to the other semi-encircling clamp, and the connecting box 2 7.1.6, and is fixed by the anti-rotation nut 7.1.11 sleeved outside the transmission lead screw 7.1.5.

[0074] An anti-rotation clamping plate 7.1.12 for preventing it from rotating together with the transmission lead screw 7.1.5 is clamped on the outer surface of the anti-rotation nut 7.1.11. As Figure 10 shown, two planes 7.1.16 are provided on both the upper and lower parts of the anti-rotation nut 7.1.11, and a plane 7.1.16 that abuts against the two planes of the anti-rotation nut 7.1.11 is provided on the anti-rotation clamping plate 7.1.12. When the transmission lead screw 7.1.5 rotates, the transmission lead screw 7.1.5 is kept rotating in place through the two abutting planes 7.1.16, and the anti-rotation nut 7.1.11 drives the connecting box 2 7.1.6 to move left and right on the transmission lead screw 7.1.5 through the anti-rotation clamping plate 7.1.12.

[0075] An anti-rotation baffle 7.1.13 is also connected to the outside of the anti-rotation clamping plate 7.1.12. The anti-rotation nut 7.1.11 is provided with a stepped surface at one end that abuts against the anti-rotation clamping plate 7.1.12. The anti-rotation baffle 7.1.13 is arranged outside the stepped surface, and the anti-rotation baffle 7.1.13 and the anti-rotation clamping plate 7.1.12 are fixedly connected by bolts.

[0076] A proximity switch 7.1.15 is installed on the anti-rotation baffle 7.1.13. When the hoop is fully opened, the proximity switch 7.1.15 can send a signal to the control system.

[0077] When the transmission lead screw 7.1.5 rotates driven by the worm gear 7.1.2.5, the anti-rotation clamping plate 7.1.12 can prevent the anti-rotation nut 7.1.11 from rotating with the transmission lead screw 7.1.5. Thus, while the transmission lead screw 7.1.5 rotates in place, it drives the anti-rotation nut 7.1.11 to move horizontally on the transmission lead screw 7.1.5.

[0078] The transmission lead screw 7.1.5 and the anti-rotation nut 7.1.11 can be trapezoidal threads, which can achieve mechanical self-locking, enabling the locking device to have self-locking performance. And the hydraulic motor 7.1.1 can be integrated with a brake, enabling the locking force of the locking device to be reliably maintained.

[0079] The hydraulic motor 7.1.1 drives the worm 7.1.2.12 to rotate, the worm 7.1.2.12 drives the worm gear 7.1.2.5, and the worm gear 7.1.2.5 drives the transmission lead screw 7.1.5 to rotate in place.

[0080] As Figure 13 and Figure 14 shown, one end of one inner hoop steel belt 7.2 is provided with a flange connection lug. A through hole 7.2.1 is opened on the flange connection lug, and semi-circular mounting blocks 7.2.2 are provided at both the upper and lower parts of the through hole 7.2.1.

[0081] As Figure 8 and Figure 13 shown, the end of the other inner hoop steel belt 7.2 is connected with a connection flange block 7.3 through a pin shaft 4. The end of the flange connection block 7.3 is also provided with a flange connection lug. A through hole 7.3.1 is opened on the flange connection lug, and semi-circular mounting blocks 7.3.2 are provided at both the upper and lower parts of the through hole 7.3.1.

[0082] As Figure 8 、 Figure 9 、 Figure 13As shown, the upper and lower surfaces of the connecting box body 7.1.4 are both hinged with a double hinge shaft 7.1.4.1. The double hinge shaft 7.1.4.1 is fixed on the semi-circular mounting block 7.2.2 of the inner hoop steel belt 7.2 through a rotating shaft pressing block 7.1.3. The connecting box body 7.1.4 rotates around the double hinge shaft 7.1.4.1.

[0083] The upper and lower surfaces of the connecting box body 7.1.6 are both hinged with a double hinge shaft 7.1.6.1. The double hinge shaft 7.1.6.1 is fixed on the semi-circular mounting block 7.3.2 of the flange connection block 7.3 through a rotating shaft pressing block 7.1.8. The connecting box body 7.1.6 can rotate around the double hinge shaft 7.1.6.1.

[0084] The connecting box bodies on both sides of the locking device can rotate around four rotating shafts, which can adapt to the angular changes caused by the deformation of the flange steel belt when the hoop is clamped, making the hoop clamping more reliable.

[0085] The transmission screw rod 7.1.5 passes through the through hole 7.2.1 of the inner hoop steel belt 7.2 and the through hole 7.3.1 of the flange connection block 7.3, connecting the devices on both sides into one body.

[0086] As Figure 9 and Figure 12 shown, a pressure sensor 7.1.10 is also installed on the right side of the anti-rotation nut 7.1.11. The pressure sensor 7.1.10 is fixed on the disc spring pressing plate 7.1.9. A disc spring 7.1.7 is provided on the right side of the disc spring pressing plate 7.1.9. When the anti-rotation nut 7.1.11 moves to the right, the force is transmitted to the disc spring 7.1.7 through the pressure sensor 7.1.10, and then the force is transmitted to the connecting box body 7.1.6 through the disc spring 7.1.7. The connecting box body 7.1.6 transmits the force to the flange connection block 7.3 through the double hinge shaft 7.1.6.1, thus realizing the action of the hoop closing. The pressure sensor can accurately measure the clamping force, enhancing the reliability of the equipment. The disc spring can effectively maintain the clamping force, enhancing the stability of the clamping force.

[0087] A limit nut 7.1.14 can be set at the tail end of the transmission screw rod 7.1.5 to limit the displacement of the anti-rotation nut 7.1.11 moving outward, preventing the anti-rotation nut 7.1.11 from disengaging from the transmission screw rod 7.1.5.

[0088] As Figure 15 、 Figure 16 、 Figure 17As shown in the figure, it is a schematic diagram of the working state of the locking device assembly. In the initial state of the locking device, the distance between the flange connecting lugs of the inner hoop is S1, and the initial distance between the anti-rotation nut 7.1.11 and the limit nut 7.1.14 is H1. When clamping, the driving lead screw 7.1.5 rotates in place, driving the anti-rotation nut 7.1.11 to move to the right, compressing the disc spring 7.1.7, so that the distance between the flange connecting lugs is reduced to S2, and the distance between the two nuts is increased from H1 to H2. When loosening, the driving lead screw 7.1.5 rotates reversely in place, driving the anti-rotation nut 7.1.11 to move to the left, driving the connecting housing two 7.1.6 to move to the left through the reverse baffle 7.1.13, so that the distance between the flange connecting lugs is increased to S3, and the nut distance can be reduced to H3.

[0089] Adopting this lead screw-nut locking method realizes active locking. The locking force will not change due to the slight change of the pier diameter. The locking force can be precisely controlled, and the opening gap is relatively large, which can avoid the scraping of the inner hoop on the pier during the crawling process.

[0090] Embodiment 2

[0091] As another implementation method, as Figure 18 shown, different from Embodiment 1, the locking device assembly does not have a pressure sensor 7.1.10. The right side of the anti-rotation nut 7.1.11 is directly pressed against the disc spring 7.1.7 through the disc spring pressing plate 7.1.9, and then the disc spring presses against the connecting housing two 7.1.6.

[0092] As other embodiments, the inner hoop assembly of the present invention can be driven by two sets of locking device assemblies as described in Embodiment 1. Both sets can be integrated with pressure sensors, or only one pressure sensor can be integrated to reduce costs.

[0093] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. It should be noted that any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An adjustable active clamping crawler, comprising an upper hoop, a lower hoop and a jacking oil cylinder connected between the upper hoop and the lower hoop, the jacking oil cylinder being used to drive the upper hoop and the lower hoop to perform alternating step-by-step crawling; characterized in that: The upper hooping and the lower hooping are both connected by two semi-ring assemblies through a pin shaft and a fastening bolt; both the upper hooping and the lower hooping include an outer hooping assembly and an inner hooping assembly embedded inside the outer hooping assembly; the outer hooping assembly is provided with an adjustable device for adapting to the sizes of piers with different diameters.

2. The adjustable active clamping crawler according to claim 1, wherein: The outer hooping assembly is provided with an adjustable device for adapting to the sizes of piers with different diameters in three directions: transverse, longitudinal, and diagonal.

3. The adjustable active clamping crawler according to claim 2, wherein: The outer hooping assembly includes two relatively arranged transverse main frames, longitudinal connecting frames connected to the four corners of the inner walls of the two transverse main frames, and frame adjusting blocks connected between the two longitudinal connecting frames in the longitudinal direction; a plurality of adjustable mounting holes are transversely formed in the inner walls of the transverse main frames, and the longitudinal connecting frames are adjustably mounted at different hole positions of the transverse main frames in the transverse direction; the number of the frame adjusting blocks is adjustable in the longitudinal direction and is set to be one or more; elastic guide wheels for pressing the bridge pier are mounted on the inner walls of the four longitudinal connecting frames, and the elastic guide wheels are all arranged at the 45° angle positions inside the outer hooping assembly.

4. The adjustable active clamping crawler according to claim 3, characterized in that: A guide wheel adjusting block for adapting to piers with different diameters is further mounted between the elastic guide wheel and the longitudinal connecting frame, and the number of the guide wheel adjusting blocks is adaptively increased or decreased according to the diameter of the bridge pier.

5. The adjustable active clamping crawler according to claim 1, wherein: The inner hooping assembly includes an inner hooping steel belt, a flange connection block, and a locking device assembly. One end of the inner hooping steel belt and the flange connection block are connected through a pin shaft to form a semi-circular hooping, and the locking device assembly penetrates between the two semi-circular hoopings to drive the two semi-circular hoopings to clamp and loosen the inner hooping steel belt.

6. The adjustable active clamping crawler according to claim 5, wherein: The locking device assembly includes a hydraulic motor, a worm and worm gear reducer, a transmission lead screw, a connecting box body one, and a connecting box body two; the worm and worm gear reducer is connected to the power output end of the hydraulic motor; the worm and worm gear reducer is mounted on the connecting box body one; one end of the transmission lead screw is connected to the worm by key connection, and the other end sequentially passes through the connecting box body one, the inner hooping steel belt of one of the semi-circular hoopings, the connecting flange block connected to the other semi-circular hooping, and the connecting box body two, and is fixed by an anti-rotation nut.

7. The adjustable active clamping crawler according to claim 6, wherein: An anti-rotation card plate for preventing it from rotating together with the transmission lead screw is clamped on the outer surface of the anti-rotation nut, and the anti-rotation card plate is fixed on the connecting box body two; a reverse baffle is further connected outside the anti-rotation card plate, and the reverse baffle and the anti-rotation card plate are tightly connected by bolts.

8. The adjustable active clamping crawler according to claim 7, characterized in that: Flange connection lugs are provided on the connecting flange block connected to one end of the inner hooping steel belt and on the other end of the inner hooping steel belt, and two semi-circular mounting blocks are provided on the upper and lower parts of the two flange connection lugs; hinge shafts are connected to the upper and lower surfaces of the connecting box body one and the connecting box body two in a hinged manner, and the four hinge shafts are respectively fixed on the four semi-circular mounting blocks through four rotating shaft pressing blocks, and the connecting box body one and the connecting box body two can both rotate around the corresponding double hinge shafts.

9. The adjustable active clamping crawler according to claim 8, wherein: A disc spring, a disc spring pressing plate, and a pressure sensor are sequentially arranged inside the connecting box body two from inside to outside, one side of the pressure sensor abuts against the anti-rotation nut, and the other side is fixed on the disc spring pressing plate.

10. The adjustable active clamping crawler according to claim 9, wherein: A limit nut for preventing the anti-rotation nut from disengaging from the transmission lead screw is further provided at the end of the transmission lead screw.

Images