Crawler-type pusher self-propelled trolley

Abstract

The application provides a crawler type push-pulling self-walking trolley and relates to the technical field of object translation. The crawler type push-pulling self-walking structure is arranged, the vehicle body frame and the crawler type walking mechanism are matched to bear pressure, the ground pressure ratio is reduced, heavy load can be safely borne, and the bearing bottleneck of traditional equipment such as SPMT is overcome. The crawler type push-pulling self-walking structure has independent driving, that is, walking is realized by cooperation of the push-pulling mechanism and the crawler type walking mechanism, the whole can realize straight walking, inclined walking, in-place rotation and even complex curve walking, is free from track constraints and has more various path planning. The whole realizes stable step-by-step movement under the synergistic action of the push-pulling mechanism and the crawler type walking mechanism, the marching efficiency is improved compared with traditional step-by-step equipment, and the construction period is shortened.

Description

Technical Field

[0001] This invention relates to the field of object translation technology, and more specifically, to a tracked pusher self-propelled trolley. Background Technology

[0002] Currently, in the overall relocation of buildings and the lifting and lateral movement of large components (such as bridges, petrochemical equipment, generator sets, etc.), commonly used technical solutions include SPMT (self-propelled modular transport vehicle), wheel-rail type slipway trolley, jacking and sliding equipment, and walking vehicles. While SPMT (Special Purpose Tunneling Machine) offers modularity and flexibility, its limited load-bearing capacity per unit ground area makes it difficult to meet the heavy-load requirements of ultra-heavy components. Furthermore, its high requirements for site flatness and load-bearing capacity increase pre-treatment costs. Wheel-rail type slipway trolleys, though possessing strong load-bearing capacity, suffer from limited flexibility due to track rigidity, making them unsuitable for complex construction environments. While jacking and sliding technology is relatively inexpensive, it suffers from intermittent operation, low efficiency, poor automation, and difficulty turning, failing to meet the precision and time requirements of modern engineering. Walking vehicles, while possessing steering capabilities, have long walking cycles and slow movement speeds, impacting overall construction efficiency. Therefore, we propose an improvement: a tracked jacking self-propelled trolley. Summary of the Invention

[0003] This invention provides a tracked self-propelled jacking trolley, including a tracked self-propelled jacking structure, wherein the tracked self-propelled jacking structure comprises: Vehicle body frame; A tracked walking mechanism mounted on the vehicle frame for contacting the ground and moving. The jacking mechanism installed within the vehicle frame allows the tracked walking mechanism to move in a stepping motion under the jacking action of the jacking mechanism, thus achieving overall stepping displacement.

[0004] As a preferred technical solution of this application, the vehicle frame includes two oppositely arranged support plates, and a plurality of connecting shafts connect the two support plates.

[0005] As a preferred technical solution of this application, the two support plates are fixedly connected to support frames on their sides that are close to each other, and a clearance gap is provided between the two support frames. The tracked walking mechanism is mounted on the two support frames with the clearance gap.

[0006] As a preferred technical solution of this application, a reinforcing frame is fixedly connected inside each of the two support frames. The reinforcing frame is used to reinforce the support frame, and the jacking mechanism is set inside the support frame.

[0007] As a preferred technical solution of this application, the tracked walking mechanism includes a plurality of push plates, all of which are arranged at the clearance gap. One end of each push plate extends from the clearance gap into the support frame and is provided with a slot and a ramp for use with the push mechanism. The slot is adapted to engage with the push mechanism during the push.

[0008] As a preferred technical solution of this application, the other end of the push plate is located outside the support frame and is connected to a pad. The side of the pad away from the push plate is provided with a protective pad, which is used to contact the ground when walking.

[0009] As a preferred technical solution of this application, rollers are provided on both sides of the push plate, and a track chain is connected between the rollers on two adjacent push plates, and the rollers are in rolling connection with the outer surface of the support frame.

[0010] As a preferred technical solution of this application, the jacking mechanism includes two hydraulic cylinder hinge seats respectively installed in two support frames. Each of the two hydraulic cylinder hinge seats is hinged with a traveling jacking hydraulic cylinder. The telescopic ends of the two traveling jacking hydraulic cylinders are connected to connectors, and a jacking rod is connected between the two connectors. The jacking rod is inserted into a slot during jacking to drive the jacking plate.

[0011] As a preferred technical solution of this application, the number of the tracked jacking self-propelled structures is two, and a jacking mechanism is provided between the two tracked jacking self-propelled structures.

[0012] As a preferred technical solution of this application, the lifting mechanism includes a lifting cylinder disposed between two tracked self-propelled jacking structures, and a frame is provided on the lifting cylinder.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: In the scheme of this application: 1. This application uses a tracked jacking self-propelled structure, in which the vehicle frame and tracked walking mechanism work together to bear pressure, reducing the ground pressure ratio, and enabling it to safely bear heavy loads, thus overcoming the load-bearing bottleneck of traditional equipment such as SPMT. 2. The tracked jacking self-propelled structure has independent drive, that is, the jacking mechanism and the tracked walking mechanism work together to achieve movement. The whole can achieve straight movement, diagonal movement, rotation in place and even complex curve movement, freeing it from the constraints of the track and allowing for more diverse path planning. 3. The entire system achieves smooth stepping movement through the coordinated action of the jacking mechanism and the tracked walking mechanism, which improves the travel efficiency compared to traditional stepping equipment and shortens the construction period. Attached Figure Description

[0014] Figure 1A structural schematic diagram of the tracked jacking self-propelled trolley provided in this application; Figure 2 Another structural schematic diagram of the tracked jacking self-propelled trolley provided in this application; Figure 3 A partial structural schematic diagram of the tracked jacking self-propelled trolley provided in this application; Figure 4 This is a schematic diagram of the structure of the traveling push cylinder provided in this application; Figure 5 A structural schematic diagram of the vehicle body frame provided in this application; Figure 6 This is a structural schematic diagram of the tracked walking mechanism provided in this application; Figure 7 This is a schematic diagram of the card slot provided in this application; Figure 8 The structural diagram of the lifting cylinder and frame provided in this application.

[0015] The image shows: 1. Tracked self-propelled jacking structure; 101. Support plate; 102. Connecting shaft; 103. Support frame; 104. Reinforcing frame; 105. Hydraulic cylinder articulation seat; 106. Traveling jacking cylinder; 107. Connector; 108. Jacking rod; 109. Jacking plate; 110. Ramp; 111. Slot; 112. Track chain; 113. Pad plate; 114. Protective pad; 115. Roller; 116. Vehicle frame; 117. Tracked walking mechanism; 118. Jacking mechanism; 2. Lifting cylinder; 201. Frame. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0017] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] For an example, please refer to... Figures 1-8A tracked self-propelled jacking trolley, including a tracked self-propelled jacking structure 1, wherein the tracked self-propelled jacking structure 1 includes: Car body frame 116; A tracked walking mechanism 117 is installed on the vehicle frame 116 for contacting the ground and moving. The vehicle frame 116 and the tracked walking mechanism 117 cooperate with each other to bear pressure, reduce the ground pressure, and can safely bear heavy loads, overcoming the load-bearing bottleneck of traditional equipment such as SPMT. The jacking mechanism 118, which is installed inside the vehicle frame 116, causes the tracked walking mechanism 117 to move in a stepping motion under the jacking action of the jacking mechanism 118, thereby achieving overall stepping displacement.

[0020] Furthermore, the vehicle frame 116 includes two opposing support plates 101, and a plurality of connecting shafts 102 are connected between the two support plates 101, the connecting shafts 102 being used to connect the two support plates 101 together.

[0021] Furthermore, support frames 103 are fixedly connected to the sides of the two support plates 101 that are close to each other, and a clearance is provided between the two support frames 103. The tracked walking mechanism 117 is mounted on the two support frames 103 with the clearance. A reinforcing frame 104 is fixedly connected inside each of the two support frames 103. The reinforcing frame 104 is used to reinforce the support frame 103 to improve the stability of the support frame 103, and a jacking mechanism 118 is mounted inside the support frame 103. The support frame 103 provides a stable mounting carrier for the tracked walking mechanism 117 and the jacking mechanism 118.

[0022] Furthermore, the tracked walking mechanism 117 includes several push plates 109, all of which are arranged at the clearance gap. One end of the push plate 109 extends from the clearance gap into the support frame 103 and is provided with a slot 111 and a ramp 110 that cooperate with the push mechanism 118. The slot 111 is adapted to engage with the pushing mechanism 118 during the pushing process. The engagement structure can prevent relative sliding between the pushing mechanism 118 and the pushing plate 109, ensuring that the extension force of the pushing mechanism 118 is completely converted into the driving force of the pushing plate 109, thereby improving the power transmission efficiency.

[0023] Furthermore, the other end of the push plate 109 is located outside the support frame 103 and is connected to a pad 113. A protective pad 114 is provided on the side of the pad 113 away from the push plate 109. The protective pad 114 is used to contact the ground when walking. Several plates 113 can distribute the pressure when the whole is under load. The protective pad 114 contacts the ground, which can increase the friction with the ground and also play a buffering role.

[0024] Furthermore, rollers 115 are provided on both sides of the push plate 109, and a track chain 112 is connected between the rollers 115 on two adjacent push plates 109. The rollers 115 are in rolling contact with the outer surface of the support frame 103. The rollers 115 can separate the pad 113 from the support frame 103, reducing the wear caused by contact between the pad 113 and the support frame 103 during use.

[0025] Furthermore, the jacking mechanism 118 includes two hydraulic cylinder hinge seats 105 respectively installed in two support frames 103. Each hydraulic cylinder hinge seat 105 is hinged to a traveling jacking hydraulic cylinder 106. The telescopic ends of the two traveling jacking hydraulic cylinders 106 are connected to connectors 107, and a jacking rod 108 is connected between the two connectors 107. When jacking, the jacking rod 108 is inserted into the slot 111 to drive the jacking plate 109.

[0026] Furthermore, there are two tracked jacking self-propelled structures 1, and a jacking mechanism is provided between the two tracked jacking self-propelled structures 1. The jacking mechanism includes a jacking cylinder 2 provided between the two tracked jacking self-propelled structures 1. A frame 201 is provided on the jacking cylinder 2. The jacking cylinder 2 is specifically connected to the support plate 101. When the frame 201 is shortened and raised, it can jack up the object that needs to be moved, so that the load of the object is transferred to this application.

[0027] It also includes a control system, which independently controls each jacking mechanism 118, enabling the trolley to perform straight, diagonal, stationary rotation, and curved movement; the control system is an electro-hydraulic servo control system and integrates an intelligent navigation module; The intelligent navigation module can collect path information, obstacle information and vehicle position information of the work site, and transmit the information to the electro-hydraulic servo control system to provide navigation basis for vehicle trajectory planning and precise positioning; The intelligent navigation module adopts a dual-mode fusion acquisition method using LiDAR and a visual camera. The LiDAR is responsible for accurately acquiring 3D spatial information of the work site, obstacle distances, and contour data; the visual camera is used to capture site markings, path lines, and details of the surrounding environment, assisting the LiDAR in completing path calibration; the intelligent navigation module has a built-in high-precision GPS + BeiDou dual-mode positioning unit; the intelligent navigation module integrates a path planning algorithm, which can automatically generate the optimal translation path based on the acquired site information.

[0028] When using it, the following steps are included: Step S1: Arrange multiple units of this application under the heavy component to be moved; Step S2: The heavy component is raised and lifted through the telescopic end of the frame 201, so that its load is transferred to this application; Step S3: Control the jacking mechanism 118 to move, causing the load to move a step distance along a preset path. Specifically, the traveling jacking cylinder 106 drives the jacking mechanism 118 to reciprocate through the connector 107. When the telescopic end of the traveling jacking cylinder 106 extends, the jacking mechanism 118 and the slot 111 engage, allowing the traveling jacking cylinder 106 to push the ramp 110 to move. When the telescopic end of the traveling jacking cylinder 106 retracts, the jacking rod 108 passes through the ramp 110 on the rear jacking plate 109 and reaches the slot 111 on the rear jacking plate 109. Then, the telescopic end of the traveling jacking cylinder 106 retracts again. Extending and repeating this cycle causes the tracked walking mechanism 117 to rotate, thereby enabling the entire structure to move in a stepping motion. If the pushing mechanisms 118 of the two tracked self-propelled structures 1 move synchronously, the entire structure moves in a straight line. If only one of the pushing mechanisms 118 of the tracked self-propelled structure 1 moves, causing the overall direction of travel to tilt, and then the two pushing mechanisms 118 move synchronously, the entire structure can move diagonally. If only one of the pushing mechanisms 118 of the tracked self-propelled structure 1 moves, the entire structure rotates in place. If the two pushing mechanisms 118 of the tracked self-propelled structure 1 are not synchronized, the entire structure can move in a curved path. Step S4: After reaching the destination, the telescopic end of the rack 201 descends, temporarily supporting the load on other supports, thus completing the unloading of this application.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A tracked self-propelled jacking trolley, characterized in that, The tracked self-propelled jacking structure (1) includes: Vehicle body frame (116); A tracked walking mechanism (117) is mounted on the vehicle frame (116) for walking in contact with the ground. The push mechanism (118) is installed in the vehicle frame (116). The tracked walking mechanism (117) generates a stepping displacement under the pushing action of the push mechanism (118), realizing the overall stepping displacement.

2. The tracked self-propelled trolley with jacking mechanism according to claim 1, characterized in that, The vehicle frame (116) includes two opposing support plates (101), and a plurality of connecting shafts (102) are connected between the two support plates (101).

3. The tracked self-propelled trolley with jacking mechanism according to claim 2, characterized in that, The two support plates (101) are fixedly connected to support frames (103) on their sides that are close to each other, and a clearance is provided between the two support frames (103). The tracked walking mechanism (117) is installed on the two support frames (103) with the clearance.

4. The tracked self-propelled jacking trolley according to claim 3, characterized in that, Each of the two support frames (103) is fixedly connected with a reinforcing frame (104), which is used to reinforce the support frame (103), and the pushing mechanism (118) is set inside the support frame (103).

5. The tracked self-propelled trolley with jacking mechanism according to claim 3, characterized in that, The tracked walking mechanism (117) includes several push plates (109), each of which is located at a clearance gap. One end of each push plate (109) extends from the clearance gap into the support frame (103) and is provided with a slot (111) and a ramp (110) for use with the push mechanism (118). The slot (111) is adapted to engage with the push mechanism (118) during the push.

6. The tracked jacking self-propelled trolley according to claim 5, characterized in that, The other end of the push plate (109) is located outside the support frame (103) and is connected to a pad (113). A protective pad (114) is provided on the side of the pad (113) away from the push plate (109). The protective pad (114) is used to contact the ground when walking.

7. The tracked self-propelled jacking trolley according to claim 6, characterized in that, Rollers (115) are provided on both sides of the push plate (109), and a track chain (112) is connected between the rollers (115) on two adjacent push plates (109). The rollers (115) are in rolling connection with the outer surface of the support frame (103).

8. The tracked jacking self-propelled trolley according to claim 7, characterized in that, The jacking mechanism (118) includes two hydraulic cylinder hinge seats (105) respectively installed in two support frames (103). Each of the two hydraulic cylinder hinge seats (105) is hinged with a traveling jacking hydraulic cylinder (106). The telescopic ends of the two traveling jacking hydraulic cylinders (106) are connected to connectors (107), and a jacking rod (108) is connected between the two connectors (107). When jacking, the jacking rod (108) is inserted into the slot (111) to drive the jacking plate (109).

9. The tracked self-propelled trolley with jacking mechanism according to any one of claims 1-8, characterized in that, The number of the tracked jacking self-propelled structure (1) is two, and a jacking mechanism is provided between the two tracked jacking self-propelled structures (1).

10. The tracked jacking self-propelled trolley according to claim 9, characterized in that, The lifting mechanism includes a lifting cylinder (2) disposed between two tracked self-propelled jacking structures (1), and a frame (201) is provided on the lifting cylinder (2).

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