A curved arm narrow body type arch drilling and grouting combined operation trolley

Abstract

This invention relates to a narrow-body, articulated boom arch drilling and grouting combined operation trolley in the field of tunnel construction equipment. It comprises a vehicle body, a central boom assembly, and two symmetrically arranged side boom assemblies. The central boom assembly is connected to a rock drilling and anchor bolt assembly via a slewing joint. The rock drilling and anchor bolt assembly includes a slewing frame, on which are mounted an anchor bolt chamber assembly, an anchor bolt installation assembly, a drilling assembly, and a grouting assembly. The anchor bolt installation assembly is located on one side of the anchor bolt chamber assembly. The slewing frame is equipped with a swing cylinder that tilts the anchor bolt chamber assembly toward the anchor bolt installation assembly for feeding. The anchor bolt installation assembly includes a fixed clamp and a sliding clamp. This invention, through its narrow-body design, multi-boom collaborative layout, highly integrated drilling, anchoring, and grouting functions, and automated linkage for anchor bolt loading, solves the problems of traditional tunnel support equipment such as large size, limited functionality, and poor adaptability to narrow spaces. It possesses significant technical advantages such as high efficiency, safety, intelligence, and flexibility, and is suitable for rapid support construction in tunnel engineering.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, specifically to a curved-arm narrow-body arch drilling and anchoring combined operation trolley. Background Technology

[0002] In tunnel, mine, and underground engineering support construction, drilling, anchor bolt installation, and grouting are key processes to ensure the stability of the surrounding rock. Traditional construction methods often employ a step-by-step approach: drilling is first completed using a rock drilling rig, then anchor bolts are installed manually or with simple machinery, and finally, grouting is performed using independent grouting equipment. This model suffers from problems such as fragmented processes, frequent equipment relocation, low work efficiency, and prolonged exposure of personnel to high-risk areas. Especially in narrow tunnels or tunnels with limited cross-sections, large equipment is difficult to access, further increasing the construction difficulty.

[0003] While some existing multi-functional anchor bolt trolleys integrate drilling and anchor bolt installation functions, they generally suffer from the following shortcomings: First, the overall width of the machine is too large to adapt to narrow cross-section tunnels; second, they lack efficient automatic feeding and clamping mechanisms, and anchor bolt installation still relies heavily on manual intervention; third, they do not achieve integrated and coordinated operation of drilling, anchoring, and grouting, and grouting is often delayed, affecting the timeliness of support; fourth, the boom structure has limited freedom of movement, making it difficult to flexibly cover work points with complex angles on the arch and sidewalls; and fifth, they lack auxiliary functions, making it impossible to simultaneously complete supporting operations such as obstacle clearing, material grabbing, or personnel climbing, thus limiting comprehensive construction capabilities. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a curved boom narrow-body arch drilling and anchoring combined operation trolley, which is compact in structure, integrated in function, highly automated and suitable for combined operation in narrow spaces, so as to realize efficient construction of drilling, anchoring and injection, while taking into account the needs of auxiliary operations, and improving the safety, accuracy and construction efficiency of underground engineering support, which can effectively solve the problems in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a curved boom narrow-body arch drilling and anchoring combined operation trolley, comprising a vehicle body, a middle boom assembly and two symmetrically arranged side boom assemblies, wherein the middle boom assembly and the side boom assemblies are rotatably mounted on the vehicle body, and the mounting ends of the middle boom assembly and the two side boom assemblies form an isosceles triangle.

[0006] The intermediate boom assembly is connected to the rock drilling anchor bolt assembly via a slewing joint. The rock drilling anchor bolt assembly includes a slewing frame, on which are mounted an anchor bolt chamber assembly, an anchor bolt installation assembly, a drilling assembly, and a grouting assembly. The anchor bolt installation assembly is located on one side of the anchor bolt chamber assembly. The slewing frame is equipped with a swing cylinder that allows the anchor bolt chamber assembly to be oriented toward the anchor bolt installation assembly for feeding. The anchor bolt installation assembly includes a fixed clamp for holding the anchor bolt and a sliding clamp for positioning the anchor bolt. The fixed clamp is fixed to the end of the slewing frame, and the sliding clamp is slidably adapted to the slewing frame. The anchor bolt installation assembly also includes an anchor bolt installer and a telescopic cylinder for driving the anchor bolt installer to feed.

[0007] Both the fixed clamp and the sliding clamp include clamps. The inner walls of the two opposing clamping parts of the clamps are equipped with rolling balls. The two opposing clamp legs of the clamps are equipped with springs to close them. One of the clamp arms of the clamp is equipped with a positioning baffle. The anchor bolt chamber assembly is equipped with a push rod. When the swing cylinder drives the anchor bolt chamber assembly to swing, the push rod pushes the positioning baffle to open the clamps and the anchor bolt enters the clamps. When the swing cylinder drives the anchor bolt chamber assembly to reset, the clamps close and clamp the anchor bolt.

[0008] Preferably, the intermediate boom assembly includes a telescopic boom, a folding boom, and a slewing bearing. The slewing bearing is mounted on the vehicle body. The two ends of the folding boom are respectively hinged to one end of the slewing bearing and one end of the telescopic boom. The other end of the telescopic boom is connected to the rock drilling anchor assembly through a slewing joint.

[0009] Preferably, the side boom assembly includes a second slewing bearing and a swing telescopic boom. The second slewing bearing is mounted on the vehicle body, and the swing telescopic boom is hinged to the second slewing bearing. The free end of the swing telescopic boom is provided with a side grab, a work basket, and a breaker hammer.

[0010] Preferably, the anchor bolt chamber assembly includes a rotating shaft rotatably mounted on a swing frame, a push rod fixedly connected to the rotating shaft, the shaft body having at least two feeding discs, the edge of the feeding discs having multiple flexible slots for clamping and fixing anchor bolts, and one end of the rotating shaft having a hydraulic motor for driving its rotation.

[0011] Preferably, the grouting assembly includes a pressurized feeding device and a grouting head located at the lower part of the rotary frame.

[0012] Preferably, the drilling assembly includes a sliding frame, an intermediate support rod, an end support rod, and a drilling drive motor. The end support rod is fixed to the end of the sliding frame. The intermediate support rod and the drilling drive motor are slidably mounted on the sliding frame via a front slider base and a rear slider base, respectively. A drilling hydraulic cylinder is connected between the front slider base and the rear end of the sliding frame. A directional pulley is installed on the front slider base. One end of a steel wire rope is connected to the rear slider base. The other end of the steel wire rope passes around the directional pulley and is fixed to the rear end of the sliding frame.

[0013] Preferably, one end of the slewing frame is hinged with a central gripper.

[0014] Preferably, the rotary joint includes two hydraulic motors installed inside the housing, the output shafts of the two hydraulic motors being perpendicular to each other, one hydraulic motor driving the rock drilling anchor assembly to rotate, and the other hydraulic motor driving the rock drilling anchor assembly to swing.

[0015] Preferably, the vehicle body is a narrow-body chassis structure, and the bottom of the vehicle body is equipped with a tracked walking device or a tire walking device, and is equipped with hydraulic outriggers.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. Compact structure, high operational flexibility, and wide coverage: The narrow-body design makes it particularly suitable for operations in confined spaces such as narrow alleyways or tunnels, significantly improving the equipment's passability and applicability in complex underground engineering environments; the middle boom has multiple degrees of freedom, including telescopic, folding, rotating, and swinging, and with the orthogonal drive of dual hydraulic motors in the slewing joint, it can achieve full-position adjustment of the rock drilling anchor assembly in space, adapting to different angle support needs such as arches and side walls; the two side booms are equipped with work baskets, breakers, and side grabs, which can simultaneously carry out auxiliary operations (such as personnel climbing, obstacle clearing, and material grabbing).

[0018] 2. Multifunctional integration to achieve integrated drilling-anchoring-grouting operations: The intermediate boom integrates three core functions: rock drilling, anchor installation, and grouting. The drilling component improves drilling accuracy and stability, the anchor chamber automatically feeds, clamps, positions, and installs, realizing automated anchor installation, and the grouting component is directly integrated into the lower part of the rotary frame to realize immediate grouting after drilling, improving support efficiency and quality, reducing equipment switching and manual intervention, and greatly improving construction efficiency and safety.

[0019] 3. High degree of automation and easy to use: The anchor bolt bin adopts a rotating feeding plate with flexible slots and hydraulic motor drive to achieve orderly and continuous feeding; the clamping structure uses ball bearing friction reduction, spring return, and push rod linkage to automatically complete the opening and closing of the clamp during the swinging process of the anchor bolt bin, without the need for additional drive, and the structure is simple and reliable; the swinging cylinder coordinates the movement of the anchor bolt bin and the clamping mechanism to achieve mechanical linkage automated feeding.

[0020] In summary, this work trolley, through its narrow-body design, multi-arm collaborative layout, highly integrated drilling, anchoring and grouting functions, and automated linkage of key components, solves the problems of traditional tunnel support equipment, such as large size, single function, high dependence on manual labor, and poor adaptability to narrow spaces. It has significant technical advantages such as high efficiency, safety, intelligence, and flexibility, and is suitable for rapid support construction in modern mining, railway, water conservancy and other tunnel projects. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the intermediate boom assembly structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the rock drilling anchor assembly structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the side boom assembly structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the feeding tray structure of the present invention;

[0026] Figure 6 This is a schematic diagram of a partial structure of the present invention.

[0027] In the picture:

[0028] 1. Vehicle body;

[0029] 2. Intermediate boom assembly; 2.1 Rock drilling anchor bolt assembly; 2.11 Feeding plate; 2.12 Rotary shaft; 2.13 Hydraulic motor; 2.14 Anchor bolt installer; 2.15 Fixing clamp; 2.16 Rotary frame; 2.17 Sliding clamp; 2.18 Drilling drive motor; 2.19 Intermediate gripper; 2.20 Push rod; 2.21 Positioning baffle; 2.22 Clamp; 2.23 Spring; 2.2 Telescopic boom; 2.3 Rotary joint; 2.4 Folding boom; 2.5 Rotary bearing I.

[0030] 3. Side boom assembly, 3.1 Slewing bearing II, 3.2 Swing telescopic boom, 3.3 Side grab, 3.4 Work basket, 3.5 Breaker. Detailed Implementation

[0031] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right" indicating the orientation or positional relationship, they are only corresponding to the drawings of this application for the convenience of describing the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation.

[0032] Please see Figure 1-6 The present invention provides the following technical solutions:

[0033] Example 1: As Figure 1 As shown, a curved boom narrow-body arch drilling and anchoring combined operation trolley includes a vehicle body 1, a middle boom assembly 2 and two symmetrically arranged side boom assemblies 3. The middle boom assembly 2 and the side boom assemblies 3 are rotatably mounted on the vehicle body 1, and the mounting ends of the middle boom assembly 2 and the two side boom assemblies 3 are in the shape of an isosceles triangle, which makes the structure stable and the force reasonable, and at the same time realizes multi-station collaborative operation.

[0034] like Figure 2 As shown, the intermediate boom assembly 2 includes a telescopic boom 2.2, a folding boom 2.4, and a slewing bearing 2.5. The slewing bearing 2.5 is mounted on the vehicle body 1. The two ends of the folding boom 2.4 are respectively hinged to one end of the slewing bearing 2.5 and one end of the telescopic boom 2.2. The other end of the telescopic boom 2.2 is connected to the rock drilling anchor assembly 2.1 through a slewing joint 2.3. The rock drilling anchor assembly 2.1 includes a slewing frame 2.16, which is equipped with an anchor bolt chamber assembly, an anchor bolt installation assembly, a drilling assembly, and a grouting assembly. The intermediate boom assembly 2 can rotate 360°, and with the telescopic boom 2.2 and the folding boom 2.4, it can be adapted to different height and space requirements.

[0035] It should be noted that the rotary joint 2.3 includes two hydraulic motors installed in the housing. The output shafts of the two hydraulic motors are perpendicular to each other. One hydraulic motor drives the rock drilling anchor assembly 2.1 to rotate, and the other hydraulic motor drives the rock drilling anchor assembly 2.1 to swing.

[0036] Therefore, the intermediate boom assembly 2 includes a telescopic boom 2.2, a folding boom 2.4 and a slewing joint 2.3, and connects to the rock drilling and anchor bolt assembly 2.1 which integrates drilling, anchor bolt and grouting functions. The intermediate boom assembly 2 focuses on drilling, anchoring and grouting operations. The multi-degree-of-freedom curved boom is suitable for construction of arched cross sections in narrow tunnels.

[0037] Specifically, such as Figure 3 and Figure 5 As shown, the anchor bolt bin assembly includes a rotating shaft 2.12 rotatably mounted on a swing frame. The shaft of the rotating shaft 2.12 has at least two feeding discs 2.11. The edge of the feeding discs 2.11 has multiple flexible slots for clamping and fixing anchor bolts. The flexible slots are used to clamp anchor bolts, which can carry multiple anchor bolts at one time, support continuous operation, and reduce the frequency of manual material replenishment. One end of the rotating shaft 2.12 is equipped with a hydraulic motor 2.13 to drive its rotation. That is, the hydraulic motor 2.13 drives the rotating shaft 2.12 to rotate, thereby driving the two feeding discs 2.11 to rotate, realizing wheel-type unloading.

[0038] Specifically, such as Figure 3As shown, the anchor bolt installation assembly is located on one side of the anchor bolt storage assembly. The rotary frame 2.16 is also equipped with a swing cylinder that causes the anchor bolt storage assembly to feed towards the anchor bolt installation assembly. Specifically, the hydraulic motor 2.13 drives the rotating shaft 2.12 to rotate. During wheel-type unloading, the swing cylinder actuates, causing the feeding plate 2.11 to move upward onto the anchor bolt installation assembly, allowing the anchor bolts to enter the assembly and achieving automatic continuous feeding. The anchor bolt installation assembly includes a fixing clamp 2.15 for holding the anchor bolts and a sliding clamp 2.17 for positioning the anchor bolts. The fixing clamp 2.15 is fixed to the rotary frame 2.16. At the end, the sliding clamp 2.17 slides onto the rotating frame 2.16. Both the fixed clamp 2.15 and the sliding clamp 2.17 are used to position and guide the anchor bolt, ensuring the accuracy of the anchor bolt's axis. The fixed clamp 2.15 provides a reference positioning, while the sliding clamp 2.17 is adjustable to accommodate anchor bolts of different lengths. The anchor bolt installation assembly also includes an anchor bolt installer 2.14 and a telescopic hydraulic cylinder for driving the anchor bolt installer 2.14. The telescopic hydraulic cylinder drives the anchor bolt installer 2.14 to feed, and the anchor bolt installer 2.14 screws the anchor bolt in and pushes it forward, realizing the anchor bolt extension and driving operation.

[0039] Specifically, such as Figure 3 As shown, the grouting assembly includes a pressurized feeding device and a grouting head located at the bottom of the rotary frame 2.16. After drilling and driving in anchor bolts, the grouting operation can be carried out.

[0040] Specifically, such as Figure 3 As shown, the drilling assembly includes a sliding frame, an intermediate support rod, an end support rod, and a drilling drive 2.18. The end support rod is fixed to the end of the sliding frame. The intermediate support rod and the drilling drive 2.18 are slidably mounted on the sliding frame via a front slider base and a rear slider base, respectively. A drilling hydraulic cylinder is connected between the front slider base and the rear end of the sliding frame. A directional pulley is installed on the front slider base, and one end of a steel wire rope is connected to the rear slider base. The other end of the steel wire rope passes over the directional pulley and is fixed to the rear end of the sliding frame. The drill rod passes through the intermediate support rod and the end support rod for rotational retention. The tail end of the drill rod is fixed to the drilling drive 2.18 and is driven to rotate by the drilling drive 2.18. When the drilling hydraulic cylinder is extended, it pushes the intermediate support rod towards the end support rod. When the directional pulley moves with the intermediate support rod, it can use the steel wire rope to drive the drilling drive forward by twice the stroke, thereby shortening the relative distance between the drilling drive and the intermediate support rod and completing the function of drill rod advancement.

[0041] Specifically, such as Figure 4As shown, the side boom assembly 3 includes a slewing bearing 3.1 and a swing telescopic boom 3.2. The slewing bearing 3.1 is mounted on the vehicle body 1, and the swing telescopic boom 3.2 is hinged to the slewing bearing 3.1. The free end of the swing telescopic boom 3.2 is equipped with a side grab 3.3, a work basket 3.4, and a breaker hammer 3.5. The two side boom assemblies 3 undertake auxiliary tasks (personnel operation, rock breaking, grabbing), realizing the integration of main and auxiliary functions.

[0042] Example 2: Unlike Example 1, as follows Figure 6 As shown, both the fixed clamp 2.15 and the sliding clamp 2.17 include clamps 2.22. The two opposing clamp legs of the clamp 2.22 are equipped with springs 2.23 to close them. One of the clamp arms of the clamp 2.22 is equipped with a positioning baffle 2.21. The anchor bolt magazine assembly is equipped with a push rod 2.20. Specifically, the push rod 2.20 is fixedly connected to the rotating shaft 2.12 of the anchor bolt magazine assembly. When the swing cylinder drives the anchor bolt magazine assembly to swing, that is, the rotating shaft 2.12 swings, causing the push rod 2.20 to swing. The push rod 2.20 pushes the positioning baffle 2.21, causing the clamp 2.22 to close. 2. When the anchor rod is opened and enters the clamp 2.22, the swing cylinder drives the anchor rod chamber assembly to reset, and the clamp 2.22 closes to clamp the anchor rod. The automatic opening and closing is achieved by the push rod pushing the baffle when the anchor rod chamber swings. There is no additional drive source. The opening and closing of the clamp 2.22 is achieved by using the existing swing action, which simplifies the structure and reduces costs. The push rod 2.20 and the baffle 2.21 cooperate to enable the clamp 2.22 to open when the material is received and clamp when the material is fed, which has a high degree of automation. The inner walls of the two opposite clamping parts of the clamp 2.22 are equipped with rolling balls, which facilitates the movement of the anchor rod and reduces friction.

[0043] Example 3: Unlike Example 1, the vehicle body 1 has a narrow chassis structure. The bottom of the vehicle body 1 is equipped with a tracked walking device or a tire walking device and hydraulic outriggers. The narrow body design makes the width of the whole machine not exceed 2.2 meters, which is particularly suitable for operation in narrow alleys or tunnels and other confined spaces, significantly improving the equipment's passability and applicability in complex underground engineering environments.

[0044] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to encompass all changes that fall within the meaning and scope of equivalents in the content of this invention.

Claims

1. A curved boom narrow-body arch drilling and anchoring combined operation trolley, characterized in that: It includes a vehicle body (1), a central boom assembly (2) and two symmetrically arranged side boom assemblies (3). The central boom assembly (2) and the side boom assemblies (3) are rotatably mounted on the vehicle body (1), and the mounting ends of the central boom assembly (2) and the two side boom assemblies (3) form an isosceles triangle. The intermediate boom assembly (2) is connected to the rock drilling anchor assembly (2.1) via a rotary joint (2.3). The rock drilling anchor assembly (2.1) includes a rotary frame (2.16), on which are provided an anchor chamber assembly, an anchor installation assembly, a drilling assembly, and a grouting assembly. The anchor installation assembly is located on one side of the anchor chamber assembly. The rotary frame (2.16) is provided with a swing cylinder that causes the anchor chamber assembly to feed towards the anchor installation assembly. The anchor installation assembly includes a fixed clamp (2.15) for clamping the anchor and a sliding clamp (2.17) for positioning the anchor. The fixed clamp (2.15) is fixed to the end of the rotary frame (2.16), and the sliding clamp (2.17) is slidably adapted to the rotary frame (2.16). The anchor installation assembly also includes an anchor installer (2.14) and a telescopic cylinder for driving the anchor installer (2.14) to feed. Both the fixed clamp (2.15) and the sliding clamp (2.17) include clamps (2.22). The inner walls of the two opposing clamping parts of the clamps (2.22) are equipped with rolling balls. The two opposing clamp legs of the clamps (2.22) are equipped with springs (2.23) to close them. One of the clamp arms of the clamps (2.22) is equipped with a positioning baffle (2.21). The anchor bolt chamber assembly is equipped with a push rod (2.20). When the swing cylinder drives the anchor bolt chamber assembly to swing, the push rod (2.20) pushes the positioning baffle (2.21) to open the clamps (2.22) and the anchor bolt enters the clamps (2.22). When the swing cylinder drives the anchor bolt chamber assembly to reset, the clamps (2.22) close and clamp the anchor bolt.

2. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The intermediate boom assembly (2) includes a telescopic boom (2.2), a folding boom (2.4), and a slewing bearing (2.5). The slewing bearing (2.5) is mounted on the vehicle body (1). The two ends of the folding boom (2.4) are respectively hinged to one end of the slewing bearing (2.5) and one end of the telescopic boom (2.2). The other end of the telescopic boom (2.2) is connected to the rock drilling anchor assembly (2.1) through a slewing joint (2.3).

3. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The side boom assembly (3) includes a slewing bearing (3.1) and a swing telescopic boom (3.2). The slewing bearing (3.1) is mounted on the vehicle body (1). The swing telescopic boom (3.2) is hinged to the slewing bearing (3.1). The free end of the swing telescopic boom (3.2) is provided with a side grab (3.3), a work basket (3.4) and a breaker hammer (3.5).

4. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The anchor bolt chamber assembly includes a rotating shaft (2.12) rotatably mounted on a swing frame, a push rod (2.20) fixedly connected to the rotating shaft (2.12), the shaft body of the rotating shaft (2.12) is provided with at least two feeding discs (2.11), the edge of the feeding discs (2.11) has multiple flexible slots for clamping and fixing anchor bolts, and one end of the rotating shaft (2.12) is provided with a hydraulic motor (2.13) for driving its rotation.

5. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The grouting assembly includes a pressurized feeding device and a grouting head located at the bottom of the rotary frame (2.16).

6. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The drilling assembly includes a sliding frame, an intermediate support rod, an end support rod, and a drilling drive (2.18). The end support rod is fixed to the end of the sliding frame. The intermediate support rod and the drilling drive (2.18) are slidably mounted on the sliding frame via a front slider base and a rear slider base, respectively. A drilling hydraulic cylinder is connected between the front slider base and the rear end of the sliding frame. A directional pulley is installed on the front slider base. One end of a steel wire rope is connected to the rear slider base. The other end of the steel wire rope passes around the directional pulley and is fixed to the rear end of the sliding frame.

7. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: One end of the slewing frame (2.16) is hinged to a central gripper (2.19).

8. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The rotary joint (2.3) includes two hydraulic motors installed in the housing, with the output shafts of the two hydraulic motors perpendicular to each other. One hydraulic motor drives the rock drilling anchor assembly (2.1) to rotate, and the other hydraulic motor drives the rock drilling anchor assembly (2.1) to swing.

9. The articulated boom narrow-body arch drilling and anchoring combined operation trolley according to claim 1, characterized in that: The vehicle body (1) is a narrow chassis structure. The bottom of the vehicle body (1) is equipped with a tracked walking device or a tire walking device and hydraulic outriggers.

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