Intelligent equipment for carrying and mounting partition plates of urban comprehensive pipe gallery bins

Abstract

The invention discloses an intelligent device for carrying and mounting an urban comprehensive pipe gallery partition plate. The intelligent device comprises a chassis assembly which is used for moving; a guide assembly is arranged below the chassis assembly and can limit the moving path of the chassis assembly. A lifting assembly is arranged on the chassis assembly and comprises a main lifting platform and an auxiliary lifting platform, and the main lifting platform and the auxiliary lifting platform can independently move up and down relative to the chassis assembly; the two sets of auxiliary lifting platforms are symmetrically arranged on the front side and the rear side of the main lifting platform, limiting assemblies are arranged on the auxiliary lifting platforms, and the limiting assemblies can limit the position of the horizontal prefabricated slab on the main lifting platform so as to ensure that the final installation position of the horizontal prefabricated slab is accurate. The system is high in modularization degree, flexible and intelligent to use, capable of simplifying construction procedures, high in construction efficiency and capable of effectively reducing the construction cost.

Description

Technical Field

[0001] The present invention relates to the field of urban utility tunnel construction, and particularly to an intelligent equipment for transporting and installing partition boards of urban utility tunnel compartments. Background Art

[0002] With the acceleration of the urbanization process, the demand for underground pipe network construction is increasing day by day. As an important livelihood project for centralized laying of municipal water supply and drainage, gas, electricity, communication and other pipeline corridors, the underground utility tunnel plays an important role in alleviating the ground traffic pressure, improving the urban environment, and enhancing the quality of municipal facilities. In recent years, a series of policies on accelerating the construction of underground utility tunnels have been introduced in China, and prefabricated and assembled construction has also been increasingly valued by the market. Therefore, the applicant has designed a shield tunnel prefabricated and assembled compartment structure as shown in Figures 11-12 The structure mainly includes a cast-in-place bottom slab at the bottom of the tunnel, and arc-shaped side support legs matching the tunnel are arranged on both sides of the cast-in-place bottom slab. A horizontal precast slab is placed at the top of the arc-shaped side support legs and at the middle position of the tunnel, thus forming a double-layer compartment structure of the urban utility tunnel of the present invention.

[0003] However, during the construction of the tunnel, due to limited space conditions, when horizontally transporting and installing the horizontal precast slab used for the prefabricated compartment structure over a long distance, the equipment for transportation and installation is required to have high precision. In the prior art, the most commonly used method is to use a gantry crane in cooperation with an intelligent hoisting device for installing the horizontal precast slab. The gantry crane is used to lift the intelligent hoisting machine, and the intelligent hoisting machine hoists the horizontal precast slab. The horizontal and longitudinal movements and rotation of the horizontal precast slab are controlled by an electrical system to complete the installation of the horizontal precast slab. However, the gantry crane needs to be erected in the tunnel and the intelligent hoisting device needs to be installed, resulting in a large amount of construction work and high construction costs. Moreover, there are certain limitations in the construction of some tunnels with an arc-shaped length direction. Therefore, it is an urgent technical problem to study a construction device for horizontal precast slabs with high flexibility and high transportation and installation efficiency. Summary of the Invention

[0004] The present invention provides an intelligent equipment for transporting and installing partition boards of urban utility tunnel compartments, which has the effects of high flexibility and high transportation and installation efficiency. The specific technical solutions are as follows:

[0005] An intelligent equipment for the handling and installation of the partition boards in the urban utility tunnel. Among them, it includes a chassis assembly for movement; a guiding assembly is arranged below the chassis assembly, and the guiding assembly can limit the movement path of the chassis assembly; a lifting assembly is arranged on the chassis assembly, and the lifting assembly includes a main lifting platform and an auxiliary lifting platform. Both the main lifting platform and the auxiliary lifting platform can independently move up and down relative to the chassis assembly; there are two groups of auxiliary lifting platforms, symmetrically arranged on the front and back sides of the main lifting platform. A limiting assembly is arranged on the auxiliary lifting platform, and the limiting assembly can limit the position of the horizontal precast slab on the main lifting platform to ensure the accurate final installation position of the horizontal precast slab.

[0006] Furthermore, the main lifting platform includes a supporting platform, and the supporting platform is connected to the main lifting mechanism. The main lifting mechanism is used to drive the lifting of the supporting platform. The main lifting mechanism is arranged on the lifting base, and the lifting base is fixed above the chassis assembly; the main lifting mechanism includes four main screw jacks distributed in a rectangle. The output end of the main screw jack is fixedly connected to the supporting platform, and the four main screw jacks are connected to the same main drive motor through couplings and rotating shafts.

[0007] Furthermore, the output end of the main screw jack is connected to an induction rod, and the induction rod corresponds to a sensor. The sensor can detect the position of the induction rod, so as to control the start and stop of the main screw jack.

[0008] Furthermore, the supporting platform is connected to a secondary lifting mechanism. The secondary lifting mechanism is fixedly arranged on the lifting base, and the secondary lifting mechanism can reduce the lateral shear force borne by the main screw jack when transporting the horizontal precast slab.

[0009] Furthermore, the secondary lifting mechanism includes a sleeve. The sleeve is fixed on the lifting base. A sliding rod is slidably arranged in the sleeve. The sliding rod is in close fit with the sleeve. The top of the sliding rod is fixedly connected to the supporting platform.

[0010] Furthermore, the auxiliary lifting platform includes limiting platforms symmetrically arranged on the left and right. The limiting platforms are connected to the auxiliary lifting mechanism. The auxiliary lifting mechanism is arranged on the lifting base. The limiting assembly is detachably arranged on the auxiliary lifting platform.

[0011] Furthermore, a position sensor is arranged at the midpoint position of the connection line of the two limiting blocks on the left and right. The position sensor can detect the side position of the horizontal precast slab.

[0012] Further, the chassis assembly includes a base frame, which is detachably connected to the lifting assembly as a whole above the base frame. At the front and rear ends below the base frame, a rotating shaft disc is respectively hinged. The rotating shaft disc can rotate horizontally relative to the base frame, and the rotating shaft disc is fixedly connected to the wheel axle bracket. At both ends of the wheel axle bracket, a wheel is respectively arranged, and each wheel is respectively connected to a set of moving motors and a speed reducer. By controlling the four moving motors, the rotation speeds of the four wheels are controlled, so as to realize the movement of the chassis assembly.

[0013] Further, the guiding assembly includes a guiding sensor and a guiding unit. The guiding sensor is fixed on the wheel axle bracket, and the guiding unit is arranged on the ground. The guiding sensor can control the moving direction of the chassis assembly according to the position of the guiding unit, so that the chassis assembly walks along a preset route.

[0014] Further, a remote control module is also arranged on the base frame. The remote control module is wirelessly connected to a remote controller, and the remote controller can control the operating state of the vehicle.

[0015] An intelligent device for handling and installing the compartment partition of an urban utility tunnel according to the present invention has a clever structural design, a high degree of modularization, and is flexible and intelligent to use. Through the cooperation of the main lifting platform and the auxiliary lifting platform, the reliability of picking up and placing the horizontal precast slab is ensured. At the same time, with the positioning of the position sensor, the accuracy of picking up and placing the horizontal precast slab is further ensured. By setting a chassis assembly with a navigation component, it can carry the horizontal precast slab for flexible long-distance horizontal transportation in the tunnel, simplifies the construction process, has high construction efficiency, and effectively reduces the construction cost.

[0016] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically exemplified. Brief Description of the Drawings

[0017] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0018] Figure 1 is a three-dimensional view of an intelligent device for handling and installing the compartment partition of an urban utility tunnel according to the present invention Figure 1 ;

[0019] Figure 2 is Figure 1 an enlarged view of part A of

[0020] Figure 3Schematic diagram of placing a horizontal precast slab on an intelligent equipment for handling and installing compartment partition boards of an urban utility tunnel in the present invention;

[0021] Figure 4 Internal connection schematic diagram of the lifting assembly of the present invention;

[0022] Figure 5 For Figure 4 Enlarged view of part B of;

[0023] Figure 6 Three-dimensional view of an intelligent equipment for handling and installing compartment partition boards of an urban utility tunnel in the present invention Figure 2 ;

[0024] Figure 7 Connection schematic diagram of the chassis assembly of the present invention;

[0025] Figure 8 Three-dimensional view of the chassis assembly of the present invention;

[0026] Figure 9 Connection schematic diagram of the safety spring strip of the present invention;

[0027] Figure 10 Connection schematic diagram of the lifting frame of the present invention;

[0028] Figure 11 Internal schematic diagram of an urban utility tunnel applied in the present invention;

[0029] Figure 12 Three-dimensional view of an urban utility tunnel applied in the present invention. Detailed implementation manners

[0030] In order to better understand the purpose, functions and specific design of the present invention, the following further describes in detail an intelligent equipment for handling and installing compartment partition boards of an urban utility tunnel in the present invention with reference to the accompanying drawings.

[0031] As Figures 1-10 shown, an intelligent equipment for handling and installing compartment partition boards of an urban utility tunnel in the present invention includes a chassis assembly 1 for moving; a guiding assembly 2 is arranged below the chassis assembly 1 to limit the moving path of the chassis assembly 1; a lifting assembly 3 is arranged on the chassis assembly 1, and the lifting assembly 3 includes a main lifting platform 31 and an auxiliary lifting platform 32. Both the main lifting platform 31 and the auxiliary lifting platform 32 can move up and down independently relative to the chassis assembly 1; there are two groups of auxiliary lifting platforms 32 symmetrically arranged on the front and rear sides of the main lifting platform 31, and a limiting assembly 4 is arranged on the auxiliary lifting platform 32 to limit the position of the horizontal precast slab 5 on the main lifting platform 31 to ensure the accurate final installation position of the horizontal precast slab 5.

[0032] Specifically, as Figures 4-5 shown, the main lifting platform 31 includes a supporting platform 311. The supporting platform 311 is connected to the main lifting mechanism 312. The main lifting mechanism 312 is arranged on the lifting base 33, and the lifting base 33 is fixed above the 1 of the chassis assembly. The main lifting mechanism 312 includes four groups of main screw jacks 313 distributed in a rectangle. The output end of the main screw jack 313 is fixedly connected to the supporting platform 311. The four main screw jacks 313 are connected to the same main drive motor 314 through couplings and rotating shafts. Using one main drive motor 314 to control the lifting actions of the four groups of main screw jacks 313 can ensure the synchronism of the four groups of main screw jacks 313 and guarantee the smoothness of the supporting platform 311 during the lifting process.

[0033] Preferably, in order to improve the automation performance of the main lifting platform 31, the output end of the main screw jack 313 in this embodiment is connected to an induction rod, and the induction rod corresponds to a sensor. The sensor can detect the position of the induction rod to control the start and stop of the main screw jack 313. Further, the induction rod includes a lowering control rod 315 and a jacking control rod 316. The lowering control rod 315 and the jacking control rod 316 respectively correspond to a lowering sensor 317 and a jacking sensor 318. The length of the lowering control rod 315 is less than the length of the jacking control rod 316.

[0034] When the supporting platform 311 is in the initial position, the lower end of the lowering control rod 315 corresponds to the lowering sensor 317, and the rod body of the jacking control rod 316 corresponds to the jacking sensor 318. As the supporting platform 311 rises, the lower end of the lowering control rod 315 separates from the lowering sensor 317. When the supporting platform 311 reaches the preset height, the lower end of the jacking control rod 316 separates from the jacking sensor 318, and the jacking sensor 318 sends a signal to control the main screw jack 313 to stop lifting. When the supporting platform 311 descends, the lower end of the lowering control rod 315 gradually approaches the lowering sensor 317. When the supporting platform 311 reaches the initial position, the lower end of the lowering control rod 315 corresponds to the lowering sensor 317. At this time, the lowering sensor 317 sends a signal to control the main screw jack 313 to stop descending. It can be understood that the lowering control rod 315 and the jacking control rod 316 can be installed on the output end of the same main screw jack 313 or on the output ends of two different main screw jacks 313.

[0035] It should be noted that since the horizontal precast slab 5 is heavy, when transporting the horizontal precast slab 5, affected by the inertial force, the horizontal precast slab 5 will apply a lateral shear force to the main screw elevator 313 of the main lifting mechanism 312 through the supporting platform 311, resulting in deformation of the lifting screw rod of the main screw elevator 313 and affecting the service life of the main screw elevator 313. Therefore, the main lifting platform 31 of this embodiment further includes a secondary lifting mechanism 6. The secondary lifting mechanism 6 has four groups and is distributed in a rectangular shape near the main screw elevator 313. The secondary lifting mechanism 6 can reduce the lateral shear force on the main screw elevator 313 when transporting the horizontal precast slab 5.

[0036] Specifically, the secondary lifting mechanism 6 includes a sleeve 61. The sleeve 61 is fixed on the lifting base 33. A sliding rod 62 is slidably arranged in the sleeve 61. The sliding rod 62 is in close fit with the sleeve 61. The top of the sliding rod 62 is fixedly connected to the supporting platform 311. When transporting the horizontal precast slab 5, due to the close fit between the sliding rod 62 and the sleeve 61, the gap between the sliding rod 62 and the sleeve 61 is much smaller than the gap between the lifting screw rod of the main screw elevator 313 and the cast-in-place bottom plate of the main screw elevator 313. Even if the horizontal precast slab 5 is affected by the inertial force, it is the secondary lifting mechanism 6 that is preferentially applied with the lateral shear force through the supporting platform 311, thereby achieving the effect of reducing the lateral shear force on the main screw elevator 313 when transporting the horizontal precast slab 5.

[0037] As Figure 4 shown, the auxiliary lifting platform 32 of this embodiment includes limiting platforms 321 arranged symmetrically on the left and right. The limiting platforms 321 are connected to the auxiliary lifting mechanism 322. The auxiliary lifting mechanism 322 is arranged on the lifting base 33. The auxiliary lifting mechanism 322 includes an auxiliary screw elevator 323. The output end of the auxiliary screw elevator 323 is fixedly connected to the limiting platform 321. The two auxiliary screw elevators 323 on the left and right are connected to the same auxiliary drive motor 324 through a coupling and a rotating shaft. Using one auxiliary drive motor 324 to control the lifting actions of the two auxiliary screw elevators 323 can ensure the synchronism of the two auxiliary screw elevators 323, so as to ensure the synchronism of the left and right limiting platforms 321 during the lifting process and the reliability of the limiting component 4 in working.

[0038] It can be understood that in order to improve the automation performance of the auxiliary lifting platform 32, the output end of the auxiliary screw elevator 323 of this embodiment is connected to an induction rod. The induction rod corresponds to a sensor. The sensor can detect the position of the induction rod, thereby controlling the start and stop of the auxiliary screw elevator 323. The installation method of the induction rod and the sensor is the same as that of the main screw elevator 313 and will not be elaborated here.

[0039] As Figures 1-2As shown, the limit component 4 is detachably arranged on the auxiliary lifting platform 32, and the limit component 4 can adjust its installation position on the auxiliary lifting platform 32 according to the size of the horizontal precast slab 5 to be transported. In this embodiment, the limit component 4 is fixed on the auxiliary lifting platform 32 by bolts. The limit component 4 includes a limit block, and the limit block includes an inclined arc-shaped guiding portion 41. The guiding portions 41 of two limit blocks corresponding to the front and back form a flared shape with a wider upper part and a narrower lower part. The lower part of the guiding portion 41 is connected to the limiting portion 42, and the limiting portion 42 is a vertical plane. The limiting portion 42 can be in contact with the side surface of the horizontal precast slab 5 to limit the position of the horizontal precast slab 5. An installation portion 43 is arranged on one side of the limit block away from the limiting portion 42. The installation portion 43 extends in a direction away from the limit block to form a plane, and a plurality of through holes are evenly distributed on the plane to facilitate the fixing by bolts.

[0040] Preferably, in order to accurately pick up and place the horizontal precast slab 5, a position sensor 44 is arranged at the midpoint position of the connection line of the left and right limit blocks. The position sensor 44 can detect the side position of the horizontal precast slab 5. In this embodiment, the horizontal precast slab 5 is placed on a placement rack, and a space for the movement of the present invention is arranged below the placement rack. When picking up the horizontal precast slab 5 on the placement rack, the lifting component moves below the horizontal precast slab 5. When the position sensor 44 detects the side of the horizontal precast slab 5, the chassis component 1 stops moving. At this time, the lifting component 3 is raised to pick up the horizontal precast slab 5. When placing the horizontal precast slab 5, the present invention moves towards the target position in the pipe gallery. When the position sensor 44 detects the side of the previously installed horizontal precast slab 5, the chassis component 1 stops moving. At this time, the lifting component 3 drops to place the horizontal precast slab 5, thereby completing the continuous laying of the horizontal precast slab 5.

[0041] Preferably, in order to improve the accuracy of the stop when the present invention picks up and places the horizontal precast slab 5, a laser sensor 45 is arranged above the chassis component 1. The laser sensor 45 can detect the position of the horizontal precast slab 5. When the laser sensor 45 detects the horizontal precast slab 5, the chassis component 1 starts to reduce its speed until the position sensor 44 detects the side of the horizontal precast slab 5, and then the chassis component 1 stops.

[0042] As Figures 6-9 As shown, the chassis component 1 includes a base frame 11. The upper part of the base frame 11 is detachably connected to the lifting component 3 as a whole. In this embodiment, the lifting component 3 as a whole is fixed above the base frame 11 by bolts. Preferably, in order to facilitate the installation of the lifting component 3 as a whole, 4 hooks are evenly distributed on both sides of the lifting component 3 to facilitate the crane to lift the lifting component 3 as a whole and place it above the base frame 11.

[0043] A rotating shaft disk 12 is hingedly provided at each of the front and rear ends below the base frame 11. The rotating shaft disk 12 can rotate horizontally relative to the base frame 11. The rotating shaft disk 12 is fixedly connected to the wheel axle bracket 13. A wheel is provided at each end of the wheel axle bracket 13. Each wheel is respectively connected to a set of mobile motors and speed reducers. By controlling the four mobile motors, the rotation speeds of the four wheels are controlled, so as to realize the movement of the chassis assembly 1, including forward movement, backward movement, and steering, etc.

[0044] The guiding assembly 2 is arranged on the wheel axle bracket 13. The guiding assembly 2 includes a guiding sensor and a guiding unit. The guiding sensor is fixed on the wheel axle bracket 13. The guiding unit is arranged on the ground. The guiding sensor can control the moving direction of the chassis assembly 1 according to the position of the guiding unit, so that the chassis assembly 1 travels along a preset route. Specifically, the guiding assembly 2 in this embodiment adopts magnetic tape navigation. The guiding assembly 2 includes a magnetic sensor 21 and a magnetic tape. The magnetic sensor 21 is fixed on the wheel axle bracket 13. The magnetic tape is laid on the ground. The magnetic sensor 21 controls the moving path of the chassis assembly 1 of the present invention by detecting the position of the magnetic tape in real time. The guiding assembly 2 can also adopt other existing navigation methods, such as magnetic nail navigation, color tape navigation, laser reflection navigation, etc.

[0045] As Figure 8 As shown, a control panel and a display screen 14 are arranged behind the base frame 11. Both the control panel and the display screen 14 are connected to a processor. The processor is connected to the guiding assembly 2, the mobile motors, the lifting assembly 3, the position sensor 44, the laser sensor 45, the landing sensor 317, the jacking sensor 318, etc. The control panel can manually control the lifting of the lifting assembly 3, the start and stop of the wheels, and the steering, etc. The display screen 14 can display parameters in different states, such as driving speed, lifting speed, etc.

[0046] Preferably, as Figure 1 As shown, a remote control module 15 is further arranged on the base frame 11. The remote control module 15 is wirelessly connected to a remote controller. The remote controller can control the operating state of the present invention, such as the lifting of the lifting assembly 3, the start and stop of the wheels, the driving speed, and the steering, etc.

[0047] In order to improve the safety during the operation of the present invention, a plurality of emergency stop buttons are arranged on the side of the base frame 11, so that in case of special situations, the emergency stop buttons can be pressed to stop the machine. Preferably, anti-collision guardrails 16 are arranged at the lower positions on the front and rear sides of the base frame 11. A pedestrian detection sensor 17 is arranged on the anti-collision guardrail 16. The pedestrian detection sensor 17 can detect whether there are pedestrians around the vehicle. When a pedestrian is detected, the vehicle stops immediately. When the pedestrian leaves, the vehicle continues to drive according to the original plan. The pedestrian detection sensor 17 adopted in this embodiment has a detection range of 270°. The pedestrian detection sensors 17 are arranged diagonally on the anti-collision guardrails 16 on the front and rear sides.

[0048] It should be noted that, in order to further improve safety, a safety spring strip 18 is movably connected to the anti-collision guardrail 16 through a guide rail 8. The safety spring strip 18 is connected to the anti-collision guardrail 16 through an elastic component 181. Under the action of an external force, the safety spring strip 18 can move towards the inner side of the anti-collision guardrail 16. A touch switch 182 is arranged on the inner side of the anti-collision guardrail 16. When the safety spring strip 18 touches the touch switch 182, the present invention immediately stops the vehicle. Preferably, in order to improve the reliability of the operation of the safety spring strip 18, an elastic component 181 is connected to each of the two sides of the safety spring strip 18, and the touch switch 182 is arranged at the middle position in the length direction on the inner side of the anti-collision guardrail 16.

[0049] For the convenience of transporting the present invention, hooks are arranged around the upper part of the base frame 11. The hooks can conveniently hoist the present invention onto a transport vehicle for long-distance transportation. In addition, towing hooks are also arranged on the front and rear sides of the base frame 11 to facilitate the rescue vehicle to tow the present invention.

[0050] In order to improve the environmental friendliness of the present invention, the present invention is powered by a battery pack. The battery pack is arranged at the middle position below the base frame 11 to ensure that the center of gravity of the present invention is centered, thereby reducing the risk of rollover, and during hoisting, it can also maintain horizontal. It should be noted that a backup battery is also arranged inside the chassis assembly 1 of the present invention. When the battery pack runs out of power, the backup battery can continue to supply power to the present invention, thereby realizing the emergency self-rescue of the present invention when the battery pack runs out of power.

[0051] Preferably, as Figure 10 shown, in order to further ensure the levelness of the present invention during hoisting, the present invention further includes a hoisting frame 7. The hoisting frame 7 is rectangular, and there are two upper and lower lifting rings arranged at the four corners of the rectangle. The steel wire rope can be connected to the hooks around the base frame 11 through the lower lifting rings, and the crane can be connected to the upper lifting rings at the four corners of the hoisting frame 7 to hoist the present invention.

[0052] Preferably, a plurality of storage boxes 19 are arranged on the left and right sides of the base frame 11 to facilitate the placement of tools and the like.

[0053] When the intelligent equipment for transporting and installing the partition board of the urban utility tunnel of the present invention actually installs and lays the horizontal precast slab 5, it first moves to the lower part of the placement rack. When the position sensor 44 detects the side of the horizontal precast slab 5, the chassis assembly 1 stops moving. At this time, the supporting platform 311 is first lifted, and then the limiting platform 321 is lifted, so that the height of the supporting platform 311 is slightly higher than that of the limiting platform 321, and the guiding part 41 of the limiting block is higher than the height of the supporting platform 311 to ensure that the guiding part 41 of the limiting block first positions and guides the horizontal precast slab 5, and then the supporting platform 311 first contacts the bottom surface of the horizontal precast slab 5, and then jacks up the horizontal precast slab 5 to realize the picking up of the horizontal precast slab 5.

[0054] When the horizontal precast slab 5 is placed for the first time, the present invention moves within the utility tunnel. When it moves near the predetermined position, the chassis assembly 1 is remotely controlled to stop at the preset position. Then, the limit platform 321 is first lowered, and subsequently the supporting platform 311 is lowered, such that the height of the supporting platform 311 is slightly higher than that of the limit platform 321 to bear the weight of the horizontal precast slab 5. The guiding portion 41 of the limit block is higher than the height of the supporting platform 311 to ensure that the limiting portion 42 of the limit block can continuously limit the horizontal precast slab 5. Subsequently, the horizontal precast slab 5 is placed at the preset position on the top of the side support legs, thereby completing the placement and installation of the horizontal precast slab 5. The supporting platform 311 and the limit platform 321 descend to the initial position, and then the present invention goes to pick up the next horizontal precast slab 5.

[0055] When the horizontal precast slab 5 is placed for the second and subsequent times, the present invention carries the horizontal precast slab 5 and moves within the utility tunnel towards the laying position. When the laser sensor 45 detects the horizontal precast slab 5, the chassis assembly 1 starts to reduce its speed. The front limit platform 321 descends to the initial position. Subsequently, when the position sensor 44 detects the side of the horizontal precast slab 5, the chassis assembly 1 stops moving. At this time, the rear limit platform 321 is lowered, and then the supporting platform 311 is lowered, such that the height of the supporting platform 311 is slightly higher than that of the limit platform 321 to bear the weight of the horizontal precast slab 5. The guiding portion 41 of the limit block is higher than the height of the supporting platform 311 to ensure that the limiting portion 42 of the limit block can continuously limit the horizontal precast slab 5. Subsequently, the horizontal precast slab 5 is placed at the preset position on the top of the side support legs, thereby completing the continuous laying of the horizontal precast slab 5. It can be understood that if the stopping position of the chassis assembly 1 is not ideal, the parking can also be adjusted by the remote controller.

[0056] An intelligent equipment for the handling and installation of the compartment partition in the urban utility tunnel of the present invention has a clever structural design, a high degree of modularization, and is flexible and intelligent in use; through the cooperation of the main lifting platform and the auxiliary lifting platform, the reliability during the picking and placing of the horizontal precast slab is ensured, and at the same time, with the positioning of the position sensor, the accuracy of the picking and placing of the horizontal precast slab is further ensured; by setting the chassis assembly with a navigation component, it can carry the horizontal precast slab and flexibly transport it horizontally over a long distance within the utility tunnel, simplifying the construction process, having high construction efficiency, and effectively reducing the construction cost.

[0057] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent equipment for the handling and installation of the compartment partition boards in the urban utility tunnel, characterized in that It includes a chassis assembly for movement. A guiding assembly is arranged below the chassis assembly, and the guiding assembly can limit the movement path of the chassis assembly. A lifting assembly is arranged on the chassis assembly. The lifting assembly includes a main lifting platform and an auxiliary lifting platform. Both the main lifting platform and the auxiliary lifting platform can independently move up and down relative to the chassis assembly. There are two sets of auxiliary lifting platforms, symmetrically arranged on the front and rear sides of the main lifting platform. A limiting assembly is arranged on the auxiliary lifting platform, and the limiting assembly can limit the position of the horizontal precast slab on the main lifting platform to ensure the accurate final installation position of the horizontal precast slab.

2. The intelligent equipment for the handling and installation of the partition board in the urban utility tunnel compartment as claimed in claim 1, wherein The main lifting platform includes a supporting platform, and the supporting platform is connected to the main lifting mechanism. The main lifting mechanism is used to drive the lifting of the supporting platform. The main lifting mechanism is arranged on a lifting base, and the lifting base is fixed above the chassis assembly. The main lifting mechanism includes four main screw jacks distributed in a rectangle. The output end of the main screw jack is fixedly connected to the supporting platform, and the four main screw jacks are connected to the same main drive motor through couplings and a rotating shaft.

3. The intelligent equipment for handling and installing the partition board of the urban utility tunnel compartment as claimed in claim 2, wherein, The output end of the main screw jack is connected to an induction rod, and the induction rod corresponds to a sensor. The sensor can detect the position of the induction rod to control the start and stop of the main screw jack.

4. The intelligent equipment for handling and installing the partition board of the urban utility tunnel compartment according to claim 2, characterized in that, The supporting platform is connected to a secondary lifting mechanism. The secondary lifting mechanism is fixedly arranged on the lifting base, and the secondary lifting mechanism can reduce the lateral shear force on the main screw jack when transporting the horizontal precast slab.

5. The intelligent equipment for the handling and installation of the compartment partition in the urban utility tunnel as claimed in claim 4, wherein, The secondary lifting mechanism includes a sleeve. The sleeve is fixed on the lifting base. A sliding rod is slidably arranged in the sleeve. The sliding rod is in close fit with the sleeve, and the top of the sliding rod is fixedly connected to the supporting platform.

6. The intelligent equipment for handling and installing the partition board of the urban utility tunnel compartment as claimed in claim 1, wherein, The auxiliary lifting platform includes limiting platforms symmetrically arranged on the left and right. The limiting platforms are connected to the auxiliary lifting mechanism. The auxiliary lifting mechanism is arranged on the lifting base, and the limiting assembly is detachably arranged on the auxiliary lifting platform.

7. The intelligent equipment for the handling and installation of the compartment partition in the urban utility tunnel according to claim 6, characterized in that, A position sensor is arranged at the midpoint of the connection line between the two left and right limiting blocks. The position sensor can detect the side position of the horizontal precast slab.

8. The intelligent equipment for handling and installing the partition board of the urban utility tunnel compartment as claimed in claim 1, wherein, The chassis assembly includes a base frame. The upper part of the base frame is detachably connected to the lifting assembly as a whole. At the front and rear ends below the base frame, a rotating shaft disc is respectively hinged. The rotating shaft disc can rotate horizontally relative to the base frame. The rotating shaft disc is fixedly connected to a wheel axle bracket. A wheel is arranged at each end of the wheel axle bracket. Each wheel is respectively connected to a set of moving motor and a speed reducer. By controlling the four moving motors to control the rotation speed of the four wheels, the movement of the chassis assembly is realized.

9. An intelligent device for handling and installing the partition boards of a city integrated pipe gallery according to claim 8, characterized in that, The guiding assembly includes a guiding sensor and a guiding unit. The guiding sensor is fixed on the wheel axle bracket, and the guiding unit is arranged on the ground. The guiding sensor can control the moving direction of the chassis assembly according to the position of the guiding unit to make the chassis assembly travel along a preset route.

10. An intelligent equipment for the handling and installation of the partition board in the city integrated pipe gallery as described in claim 1, characterized in that, A remote control module is also arranged on the base frame. The remote control module is wirelessly connected to a remote controller, and the remote controller can control the operating state of the vehicle.

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