Adjustable moving platform for ditching and excavating

Abstract

The utility model provides an adjustable moving platform for ditching and excavating, which is used for solving the problem that the width of a traveling mechanism cannot be flexibly adjusted according to the width of a pipe ditch in the prior art. Comprising a walking mechanism, the walking mechanism comprises a frame, two walking crawlers arranged at the left end and the right end of the frame, transverse stretching assemblies arranged on the periphery of the frame and a stretching power assembly driving the walking crawlers at the left end and the right end to stretch, and the two walking crawlers are connected with the frame through the two transverse stretching assemblies correspondingly; the stretching power assembly and the transverse stretching assembly are matched to drive the two walking crawler belts to move leftwards and rightwards correspondingly. The movable platform can be flexibly adjusted according to the width of the pipe ditch, and the construction efficiency and safety can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of urban pipeline engineering, in particular to an adjustable mobile platform for trenching and excavation. Background Art

[0002] In today's rapidly developing urban process, urban pipeline construction plays a vital supporting role, and trenching and excavation operations are undoubtedly the most common and critical basic processes.

[0003] Traditional trenching and excavation equipment has exposed numerous limitations when addressing the complex demands of urban pipeline projects. For one thing, the diverse diameters of urban pipelines necessitate precise trench width adaptation. However, the mobile mechanisms of traditional trenching and excavation equipment often utilize fixed structures that cannot adapt to varying trench widths. This occupies available road space during trenching, significantly impacting the normal operation of urban roads and posing significant safety risks. The equipment also lacks sufficient adaptability and cannot flexibly adjust the width of the mobile mechanism.

[0004] Urban pipeline projects, on the other hand, place extremely high demands on construction safety, and trench support is an essential and critical step. Existing trench excavation equipment is unable to automatically install trench support structures, requiring manual installation. This not only consumes significant manpower and material resources, but also significantly reduces construction efficiency due to the tedious manual work. Furthermore, if excavated trenches are not promptly supported, they are highly likely to cause safety accidents such as trench collapse, endangering the lives of construction workers and the overall progress of the project. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an adjustable mobile platform for trenching and excavation, which is used to solve the problem in the prior art that the width of the walking mechanism cannot be flexibly adjusted according to the width of the trench.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides an adjustable mobile platform for trenching and excavation, comprising:

[0007] A walking mechanism, the walking mechanism comprising a frame, two walking tracks provided at the left and right ends of the frame, a transverse extension assembly provided around the frame, and an extension power assembly for driving the walking tracks at the left and right ends to extend, the two walking tracks being connected to the frame respectively through the two transverse extension assemblies, and the extension power assembly and the transverse extension assembly cooperating to drive the two walking tracks to move left and right respectively;

[0008] The two gears are connected with each other to form a circle, and the two gears are connected with each other to form a circle, and the two gears are connected with each other to form a circle.

[0009] Optionally, each of the lateral extension components includes a fixed arm fixed to the frame at one end, an extension arm, and an extension power member that drives the extension arm to extend and retract. The other end of the fixed arm has an extension groove that slides with the extension arm, and the two ends of the extension power member are respectively fixedly connected to the frame and the side of the extension arm.

[0010] Optionally, the stretching power member includes a hydraulic rod, an electric push rod or a pneumatic rod.

[0011] Optionally, the rotating power member is an electric motor or a hydraulic motor.

[0012] Optionally, the walking track is driven by a motor and / or hydraulically.

[0013] Optionally, it further comprises two telescopic mechanisms, which are symmetrically arranged above the walking track along the frame;

[0014] The telescopic mechanism includes two vertical arms fixedly connected to the upper part of the walking mechanism, two vertical motion arms, a longitudinal beam, three rotating platforms, a first mechanical arm, a second mechanical arm, a third mechanical arm, and a motion power assembly for driving the two vertical motion arms to rotate simultaneously;

[0015] The top end of the vertical arm has a motion groove along its own axis, the side wall of the motion groove has a thread, and the vertical motion arm has a thread line that matches the thread. The two vertical motion arms are perpendicular to the two ends of the longitudinal beam and are rotatably connected. The first robotic arm is connected to the middle position of the longitudinal beam through the rotating table, and the second robotic arm and the third robotic arm are respectively connected to the two vertical motion arms through the rotating table.

[0016] Optionally, the motion power assembly includes a driving sprocket, a driven sprocket, a chain, and a motion power member. The driving sprocket is coaxially fixed with one of the vertical motion arms, and the driven sprocket is coaxially fixed with the other vertical motion arm. The driving sprocket and the driven sprocket are connected through the chain transmission. The motion power member drives the driving sprocket to rotate and drives the driven sprocket to rotate.

[0017] Alternatively, the motion power assembly includes a driving pulley, a driven pulley, a belt, and a motion power part. The driving pulley is coaxially fixedly matched with one of the vertical motion arms, and the driven pulley is coaxially fixedly matched with the other vertical motion arm. The driving pulley and the driven pulley are connected through the belt transmission, and the motion power part drives the driving pulley to rotate and drives the driven pulley to rotate.

[0018] Optionally, the moving power part includes an electric motor or a hydraulic motor.

[0019] Optionally, the rotating table includes a fixed box fixed to the bottom of the longitudinal beam, a fixed shaft rotatably arranged on the fixed box, a worm gear coaxially fixed with the fixed shaft, a worm meshing with the worm gear, and a rotating driving member that drives the worm gear to rotate, the worm gear is rotatably connected to the fixed box, one end of the fixed shaft extends out of the fixed box, and one end of the first robotic arm is fixedly connected to the protruding end of the fixed shaft.

[0020] Optionally, the first robotic arm, the second robotic arm and the third robotic arm have the same structure, and the first robotic arm includes at least three groups of connected rotating arms and a grabbing arm fixedly connected to one end of one of the rotating arms;

[0021] The rotating support arm includes two U-shaped frames, two U-shaped support arms respectively connected to the two U-shaped frames, two rotating arms fixedly connected to each other perpendicularly, a carrying arm, and two groups of annular transmission components respectively arranged in the U-shaped frames, the two rotating arms are respectively rotatably connected in the U-shaped support arms, the two groups of annular transmission components are respectively transmission-connected to the two rotating arms, one of the U-shaped frames is fixedly connected to the rotating table, the other U-shaped frame is fixedly connected to one end of the carrying arm, and the U-shaped frame on one rotating support arm is fixedly connected to the other end of the carrying arm on the previous rotating support arm;

[0022] The grabbing arm includes a fixed frame fixed to the carrying arm, a grabbing frame, a rotating arm, an L-shaped arm, two arc-shaped arms, two arc-shaped gears meshing with each other, two grabbing claws, a rotating driving component provided in the fixed frame, and a grabbing driving component provided in the grabbing frame for driving the rotating arm to rotate. The fixed frame is connected to the grabbing frame through the rotating driving component, the rotating arm is rotatably connected to one end of the L-shaped arm, the other end of the L-shaped arm is fixedly connected to one of the arc-shaped arms, one end of the two grabbing claws is respectively fixedly connected to the two arc-shaped gears, and the other end of the grabbing claws has a serrated structure and an arc-shaped structure.

[0023] As described above, the adjustable mobile platform for trenching and excavation of the present invention has at least the following beneficial effects:

[0024] The extension power assembly and the lateral extension assembly work together to enable the walking track of the walking mechanism to move left and right, allowing the walking mechanism to flexibly adjust the walking track spacing according to the width of the trench work area. The rotating power member drives the rotating shaft to rotate, driving the first bevel gear. The first bevel gear meshes with the two second bevel gears, driving the two drive shafts to rotate, which in turn drives the transmission shafts. The two transmission shafts are threadedly engaged with threaded holes with different rotation directions on the left and right ends of the middle position of the frame. The two transmission shafts slide within the drive cavity and push the two walking tracks left and right, respectively, to move, thereby achieving flexible adjustment according to the width of the trench. This improves the practicality, adaptability, and versatility of the walking mechanism, and solves the problem of occupying available space on urban roads, which greatly affects the normal operation of urban roads and also poses a significant safety hazard. The fixed arm and extension arm in each lateral extension assembly are driven by the extension power member to achieve extension and retraction. The extension arm slides and engages within the extension slot of the fixed arm, ensuring the linearity and stability of the extension process. The extension power assembly cooperates to achieve lateral extension of the walking track, increasing the maneuverability and flexibility of the walking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the utility model;

[0026] Figure 2 Shown is an exploded view of the walking mechanism of the present utility model;

[0027] Figure 3 Shown is a schematic diagram of the three-dimensional structure of the grabbing and telescopic mechanism of the present invention;

[0028] Figure 4 Shown is a schematic diagram of the three-dimensional structure of the rotating platform and the first robotic arm of the present invention;

[0029] Figure 5 Shown as the utility model Figure 4 Enlarged view of part A in the middle;

[0030] Figure 6 Shown is a schematic diagram of the three-dimensional structure of the grabbing arm of the present invention;

[0031] Figure 7 Shown is a schematic diagram of the three-dimensional structure of the rotating table of the present invention.

[0032] Component number description

[0033] Walking mechanism 11, frame 111, drive chamber 1111, walking track 112, lateral extension assembly 113, fixed arm 1131, extension arm 1132, extension power member 1133, extension slot 1134, extension power assembly 114, first bevel gear 1141, second bevel gear 1142, drive shaft 1143, transmission shaft 1144, slide 1145, rotating shaft 1146, rotating power member 1147, sliding chamber 1148, slide slot 1149, grabbing and telescopic mechanism 12, vertical arm 121, vertical motion arm 122, motion slot 1221, longitudinal beam 123, rotating table 124, fixed box 1241, fixed shaft 1242, worm gear 1243, worm 1244, rotating drive member 1245, The first robotic arm 125, the rotating support arm 1251, the U-shaped skeleton 12511, the U-shaped support arm 12512, the rotating arm 12513, the carrying arm 12514, the annular transmission component 12515, the grabbing arm 1252, the fixed frame 12521, the grabbing frame 12522, the rotating arm 12523, the L-shaped arm 12524, the arc-shaped arm 12525, the arc-shaped gear 12526, the gripper 12527, the rotating drive member 12528, the grabbing drive member 12529, the sawtooth structure 125210, the arc-shaped structure 125211, the second robotic arm 126, the third robotic arm 127, the motion power assembly 128, the driving sprocket 1281, the driven sprocket 1282, the chain 1283, and the motion power member 1284. DETAILED DESCRIPTION

[0034] The following describes the implementation of the present invention through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0035] See also Figures 1 to 7. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of this utility model. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by this utility model without affecting the efficacy and purpose that can be achieved by this utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of this utility model. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this utility model without substantially changing the technical content.

[0036] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0037] In this embodiment, please refer to Figures 1 to 7 The utility model provides an adjustable mobile platform for trenching and excavation, comprising:

[0038] The walking mechanism 11 includes a frame 111, two walking tracks 112 provided at the left and right ends of the frame 111, a transverse extension component 113 provided around the frame 111, and an extension power component 114 for driving the walking tracks 112 at the left and right ends to extend. The two walking tracks 112 are respectively connected to the frame 111 through the two transverse extension components 113. The extension power component 114 and the transverse extension component 113 cooperate to drive the two walking tracks 112 to move left and right respectively. The walking tracks 112 are used as the walking mode. The contact area between the walking tracks 112 and the ground is large, so that when the walking mechanism 11 walks in the trench, it can disperse the weight, reduce the pressure per unit area, and reduce the risk of sinking. At the same time, the walking tracks 112 can better adapt to the ups and downs and unevenness of the ground, ensuring that the walking mechanism 11 moves smoothly.

[0039] A driving cavity 1111 is provided in the middle of the vehicle frame 111 along the left and right transverse directions. The stretching power assembly 114 includes a first bevel gear 1141 arranged longitudinally along the front and rear of the vehicle frame 111, two second bevel gears 1142 respectively meshing with the first bevel gear 1141 for transmission, two drive shafts 1143 coaxially rotating in the driving cavity 1111, two transmission shafts 1144 respectively fixed at one end to the two walking tracks 112, a plurality of slides 1145 located at the other end of the transmission shaft 1144 and arranged circumferentially along the transmission shaft 1144, and a coaxial fixed assembly 1146 with the first bevel gear 1141. A rotating shaft 1146 and a rotating power part 1147 that drives the rotating shaft 1146 to rotate, one end of the two driving shafts 1143 are respectively coaxially fixed with the two second bevel gears 1142, and the other end has a sliding cavity 1148 that slides with the transmission shaft 1144, and the side wall of the sliding cavity 1148 has a plurality of sliding grooves 1149 that slide with the slide 1145. The left and right ends of the middle position of the frame 111 respectively have threaded holes that are connected to the driving cavity 1111 and have different rotation directions, and the two transmission shafts 1144 respectively have threads that threadedly cooperate with the two threaded holes of different rotation directions.

[0040] The extension power assembly 114 and the lateral extension assembly 113 cooperate to enable the walking tracks 112 of the walking mechanism 11 to move left and right, so that the walking mechanism 11 can flexibly adjust the spacing of the walking tracks 112 according to the width of the trench work site. The rotating power member 1147 drives the rotating shaft 1146 to rotate, driving the first bevel gear 1141 to rotate. The first bevel gear 1141 meshes with the two second bevel gears 1142 to drive the two drive shafts 1143 to rotate, and then drives the transmission shaft 1144 to rotate. The two transmission shafts 1144 are respectively threaded with threaded holes of different rotation directions at the left and right ends of the middle position of the frame 111. The two transmission shafts 1144 slide in the drive cavity 1111 and push the two walking tracks 112 to the left and right respectively, thereby achieving flexible adjustment according to the width of the trench, improving the practicality, adaptability and versatility of the walking mechanism 11, and solving the problem of occupying the available area of ​​urban roads, greatly affecting the normal operation of urban roads, and also posing a great safety hazard.

[0041] In this embodiment, please refer to Figure 1Each of the lateral extension components 113 includes a fixed arm 1131 fixed at one end to the vehicle frame 111, an extension arm 1132, and an extension power member 1133 for driving the extension arm 1132 to extend and retract. The other end of the fixed arm 1131 has an extension slot 1134 that slides with the extension arm 1132. The two ends of the extension power member 1133 are fixedly connected to the vehicle frame 111 and the side of the extension arm 1132, respectively. The extension and retraction are achieved by driving the fixed arm 1131 and the extension arm 1132 in each lateral extension component 113 through the extension power member 1133. The extension arm 1132 slides in the extension slot 1134 of the fixed arm 1131, ensuring the linearity and stability of the extension process. This allows the extension power member 114 to cooperate with the lateral extension of the walking track 112, thereby increasing the maneuverability and flexibility of the walking mechanism 11.

[0042] In this embodiment, please refer to Figure 1 The stretching power member 1133 includes a hydraulic rod, an electric push rod or a pneumatic rod.

[0043] In this embodiment, please refer to Figure 2 , the rotating power part 1147 is an electric motor or a hydraulic motor.

[0044] In this embodiment, please refer to Figure 1 The walking track 112 is driven by a motor and / or a hydraulic drive.

[0045] In this embodiment, please refer to Figure 1 、 Figures 3 to 7 , further comprising two telescopic mechanisms, the two telescopic mechanisms being symmetrically arranged above the walking track 112 along the frame 111;

[0046] The telescopic mechanism includes two vertical arms 121 fixedly connected to the top of the walking mechanism 11 in the front and rear, two vertical motion arms 122, a longitudinal beam 123, three rotating platforms 124, a first robotic arm 125, a second robotic arm 126, a third robotic arm 127, and a motion power assembly 128 that drives the two vertical motion arms 122 to rotate simultaneously; the top of the vertical arm 121 has a motion groove 1221 along its own axis, the side wall of the motion groove 1221 has a thread, and the vertical motion arm 122 has a thread line that matches the thread, the two vertical motion arms 122 are perpendicular and rotatably connected to the two ends of the longitudinal beam 123, the first robotic arm 125 is connected to the middle position of the longitudinal beam 123 through the rotating platform 124, and the second robotic arm and the third robotic arm are respectively connected to the two vertical motion arms 122 through the rotating platform 124.

[0047] The two vertical motion arms 122 are driven to rotate simultaneously by the motion power assembly 128. The vertical motion arms 122 and the top motion slots 1221 are threadedly matched to achieve vertical motion, thereby adjusting the vertical position of the entire grabbing and telescopic mechanism 12. Three rotating platforms 124 are respectively arranged in the middle of the longitudinal beam 123 and on the two vertical motion arms 122, so that the first robotic arm 125, the second robotic arm 126 and the third robotic arm 127 can achieve independent angular rotation in multiple planes, greatly increasing the working space range and flexibility of the first robotic arm 125, the second robotic arm 126 and the third robotic arm 127, and can achieve grasping of the support structure from different directions, thereby improving construction efficiency and safety. Among them, multiple support structures are arranged above the frame 111. The support structures adopt existing ones and are not described here.

[0048] In this embodiment, please refer to Figure 3 The motion power assembly 128 includes a driving sprocket 1281, a driven sprocket 1282, a chain 1283, and a motion power piece 1284. The driving sprocket 1281 is coaxially fixed with one of the vertical motion arms 122, and the driven sprocket 1282 is coaxially fixed with the other vertical motion arm 122. The driving sprocket 1281 and the driven sprocket 1282 are connected by the chain 1283. The motion power piece 1284 drives the driving sprocket 1281 to rotate and drives the driven sprocket 1282 to rotate.

[0049] Alternatively, the motion power assembly 128 includes a driving pulley, a driven pulley, a belt, and a motion power part 1284, the driving pulley is coaxially fixedly matched with one of the vertical motion arms 122, the driven pulley is coaxially fixedly matched with the other vertical motion arm 122, the driving pulley and the driven pulley are connected through the belt transmission, and the motion power part 1284 drives the driving pulley to rotate, thereby driving the driven pulley to rotate.

[0050] The driving sprocket 1281 or the driving pulley is driven to rotate by the moving power part 1284 to drive the driven sprocket 1282 or the driven pulley. The two vertical moving arms 122 rotate at the same time to achieve vertical movement through the threaded cooperation with the moving groove 1221 at the top of the vertical arm 121. The threaded transmission method can accurately control the height of the vertical moving arm 122, thereby adjusting the vertical position of the entire grabbing and telescopic mechanism 12.

[0051] In this embodiment, please refer to Figure 3 , the moving power part 1284 includes an electric motor or a hydraulic motor.

[0052] In this embodiment, please refer to Figure 4 and Figure 7The rotating platform 124 includes a fixed box 1241 fixed to the bottom of the longitudinal beam 123, a fixed shaft 1242 rotatably arranged on the fixed box 1241, a worm gear 1243 coaxially fixedly matched with the fixed shaft 1242, a worm 1244 meshing with the worm gear 1243, and a rotating driving member 1245 driving the worm 1244 to rotate. The worm 1244 is rotatably connected to the fixed box 1241, one end of the fixed shaft 1242 extends out of the fixed box 1241, and one end of the first robotic arm 125 is fixedly connected to the protruding end of the fixed shaft 1242. The rotating drive member 1245 is an electric motor or a hydraulic motor. Through the cooperation of the fixed box 1241, the fixed shaft 1242, the worm gear 1243 and the worm 1244, the first robotic arm 125 fixed at one end of the fixed shaft 1242 can achieve precise angle control. The worm gear 1243 and worm 1244 transmission has self-locking properties, which can ensure that the robotic arm is fixed in the required position. The three rotating platforms 124 are respectively arranged in the middle of the longitudinal beam 123 and the two vertical motion arms 122, so that the first robotic arm 125, the second robotic arm 126 and the third robotic arm 127 can achieve independent angular rotation in multiple planes, which greatly increases the working space range and flexibility of the first robotic arm 125, the second robotic arm 126 and the third robotic arm 127, and can achieve grasping from different directions.

[0053] In this embodiment, please refer to Figure 1 、 Figures 3 to 7 The first robotic arm 125, the second robotic arm 126 and the third robotic arm 127 have the same structure. The first robotic arm 125 includes at least three groups of connected rotating arms 1251 and a grabbing arm 1252 fixedly connected to one end of the rotating arm 1251.

[0054] The rotating support arm 1251 includes two U-shaped frames 12511, two U-shaped support arms 12512 respectively connected to the two U-shaped frames 12511, two rotating arms 12513 fixedly connected to each other vertically, a carrying arm 12514, and two groups of annular transmission components 12515 respectively arranged in the U-shaped frames 12511, the two rotating arms 12513 are respectively rotatably connected in the U-shaped support arms 12512, and the two groups of annular transmission components 12515 are respectively transmission-connected to the two rotating arms 12513, one U-shaped frame 12511 is fixedly connected to the rotating table 124, the other U-shaped frame 12511 is fixedly connected to one end of the carrying arm 12514, and the U-shaped frame 12511 on one rotating support arm 1251 is fixedly connected to the other end of the carrying arm 12514 on the previous rotating support arm; the annular transmission component 12515 is a sprocket annular transmission wheel set or a belt annular transmission wheel set;

[0055] The grabbing arm 1252 includes a fixed frame 12521 fixedly connected to the carrying arm 12514, a grabbing frame 12522, a rotating arm 12523, an L-shaped arm 12524, two arc-shaped arms 12525, two arc-shaped gears 12526 meshing with each other, two claws 12527, a rotating driving member 12528 provided in the fixed frame 12521, and a grabbing driving member 12529 provided in the grabbing frame 12522 for driving the rotating arm 12523 to rotate. The fixed frame 12521 is connected to the grabbing frame 12522 through the rotating driving member 12528, the rotating arm 12523 is rotatably connected to one end of the L-shaped arm 12524, the other end of the L-shaped arm 12524 is fixedly connected to the arc arm 12525, one end of the two claws 12527 is respectively fixedly connected to the two arc gears 12526, and the other end of the claws 12527 has a serrated structure 125210 and an arc structure 125211.

[0056] The design of at least three sets of rotating arms 1251 enables the robotic arm to bend and stretch flexibly. Through the coordinated movement of each rotating arm 1251, the grabbing arm 1252 can be accurately controlled to reach the target position, ensuring the synchronization and accuracy of the movement, so that the robotic arm can achieve precise positioning even in a complex spatial environment; the rotating drive member 12528 and the grabbing drive member 12529 are electric motors and / or hydraulic motors, and the output shaft of the rotating drive member 12528 is fixedly connected to the grabbing frame 12522, and is driven by the rotating drive member 12528. The rotating power part rotates, and the output shaft of the grabbing driving part 12529 is vertically fixed to the rotating arm 12523. The rotation of the grabbing driving part drives the rotating arm 12523 to rotate, and the rotation of the rotating arm 12523 drives the L-shaped arm 12524 to move, and then drives the two arc gears 12526 to rotate, controlling the two claws 12527 respectively fixed to the arc gears 12526 to open or close. The serrated structure 125210 can achieve better grasping of the support structure, and the arc structure 125211 can achieve better grasping of the supporting mechanism of the support structure.

[0057] Working principle: When in use, the rotating power piece 1147 drives the rotating shaft 1146 to rotate and drives the first bevel gear 1141 to rotate. The first bevel gear 1141 is meshed with the two second bevel gears 1142 for transmission, driving the two drive shafts 1143 to rotate, and then driving the transmission shaft 1144 to rotate. The two transmission shafts 1144 are respectively threaded with the threaded holes of different rotation directions at the left and right ends of the middle position of the frame 111. The two transmission shafts 1144 slide in the driving cavity 1111 and push the two walking tracks 112 to the left and right respectively. At the same time, the fixed arm 1131 and the extension arm 1132 in each lateral extension component 113 are driven by the extension power piece 1133 to achieve extension and retraction. The extension arm 1132 slides and fits in the extension groove 1134 of the fixed arm 1131, ensuring the linearity and stability of the extension process, so that the lateral extension of the walking track 112 can be achieved in cooperation with the extension power component 114. The driving sprocket 1281 or the driving pulley is driven to rotate by the moving power piece 1284, and the driven sprocket 1282 or the driven pulley is driven. The two vertical motion arms 122 rotate at the same time and realize vertical motion through the threaded cooperation with the motion groove 1221 at the top of the vertical arm 121. The threaded transmission method can accurately control the height of the vertical motion arm 122. Through the cooperation of the fixed box 1241, the fixed shaft 1242, the worm gear 1243 and the worm 1244, the first robotic arm 125 fixed at one end of the fixed shaft 1242 can realize precise angle control. The three rotating platforms 124 are respectively set in the middle of the longitudinal beam 123 and the two vertical motion arms 122 for independent control, so that the first robotic arm 125, the second robotic arm 126 and the third robotic arm 127 can realize independent angular rotation in multiple planes, which greatly increases the working space range and flexibility of the first robotic arm 125, the second robotic arm 126 and the third robotic arm 127, and can realize grasping from different directions. The design of at least three groups of rotating arms 1251 allows the robotic arm to bend and stretch flexibly. Through the coordinated movement of each rotating arm 1251, the grabbing arm 1252 can be precisely controlled to reach the target position. The output shaft of the rotating drive member 12528 is fixedly connected to the grabbing frame 12522, and the rotating power member is driven to rotate by the rotating drive member 12528. The output shaft of the grabbing drive member 12529 is vertically fixed to the rotating arm 12523. The rotation of the grabbing drive member drives the rotating arm 12523 to rotate, and the rotation of the rotating arm 12523 drives the L-shaped arm 12524 to move, and then drives the two arc gears 12526 to rotate, controlling the opening or closing of the two grabbing claws 12527 respectively fixed to the arc gears 12526.

[0058] In summary, the present invention achieves leftward and rightward movement of the walking tracks 112 of the walking mechanism 11 by cooperating with the extension power assembly 114 and the lateral extension assembly 113, enabling the walking mechanism 11 to flexibly adjust the spacing of the walking tracks 112 according to the width of the trench work site. The rotating power member 1147 drives the rotating shaft 1146 to rotate, driving the first bevel gear 1141 to rotate. The first bevel gear 1141 meshes with the two second bevel gears 1142, driving the two drive shafts 1143 to rotate, and then driving the transmission shaft 1144 to rotate. The two transmission shafts 1144 are respectively threadedly engaged with the threaded holes of different rotation directions at the left and right ends of the middle position of the frame 111. The two transmission shafts 1144 slide in the drive cavity 1111 and push the two walking tracks 112 to the left and right respectively, thereby achieving flexible adjustment of the root canal trench width, improving the practicality, adaptability and versatility of the walking mechanism 11, and solving the problem of occupying the available area of ​​urban roads, greatly affecting the normal operation of urban roads, and also posing a great safety hazard. The fixed arm 1131 and the extension arm 1132 in each lateral extension assembly 113 are driven by an extension power member 1133 to achieve extension and retraction. The extension arm 1132 slides within the extension slot 1134 of the fixed arm 1131, ensuring the linearity and stability of the extension process. This allows the extension power assembly 114 to achieve lateral extension of the walking track 112, thereby increasing the maneuverability and flexibility of the walking mechanism 11. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0059] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed in the present invention are intended to be covered by the claims of the present invention.

Claims

1. An adjustable mobile platform for trenching and excavation, characterized in that: include: A walking mechanism, the walking mechanism comprising a frame, two walking tracks provided at the left and right ends of the frame, a transverse extension assembly provided around the frame, and an extension power assembly for driving the walking tracks at the left and right ends to extend, the two walking tracks being connected to the frame respectively through the two transverse extension assemblies, and the extension power assembly and the transverse extension assembly cooperating to drive the two walking tracks to move left and right respectively; The two gears are connected with each other to form a circle, and the two gears are connected with each other to form a circle, and the two gears are connected with each other to form a circle.

2. The adjustable mobile platform for trenching and excavation according to claim 1, characterized in that: Each of the lateral extension components includes a fixed arm fixed to the frame at one end, an extension arm, and an extension power member that drives the extension arm to extend and retract. The other end of the fixed arm has an extension groove that slides with the extension arm. The two ends of the extension power member are respectively fixedly connected to the frame and the side of the extension arm.

3. The adjustable trenching and excavation mobile platform according to claim 2, characterized in that: The stretching power member includes a hydraulic rod, an electric push rod or a pneumatic rod.

4. The adjustable mobile platform for trenching and excavation according to claim 1, characterized in that: The rotating power member is an electric motor or a hydraulic motor.

5. The adjustable trenching and excavation mobile platform according to claim 1, characterized in that: The walking crawler is driven by a motor and / or a hydraulic drive.

6. The adjustable mobile platform for trenching and excavation according to claim 1, characterized in that: It also includes two telescopic mechanisms, which are symmetrically arranged above the walking track along the frame; The telescopic mechanism includes two vertical arms fixedly connected to the upper part of the walking mechanism, two vertical motion arms, a longitudinal beam, three rotating platforms, a first mechanical arm, a second mechanical arm, a third mechanical arm, and a motion power assembly for driving the two vertical motion arms to rotate simultaneously; The top end of the vertical arm has a motion groove along its own axis, the side wall of the motion groove has a thread, and the vertical motion arm has a thread line that matches the thread. The two vertical motion arms are perpendicular to the two ends of the longitudinal beam and are rotatably connected. The first robotic arm is connected to the middle position of the longitudinal beam through the rotating table, and the second robotic arm and the third robotic arm are respectively connected to the two vertical motion arms through the rotating table.

7. The adjustable trenching and excavation mobile platform according to claim 6, characterized in that: The motion power assembly includes a driving sprocket, a driven sprocket, a chain, and a motion power member. The driving sprocket is coaxially fixed with one of the vertical motion arms, and the driven sprocket is coaxially fixed with the other vertical motion arm. The driving sprocket and the driven sprocket are connected through the chain transmission. The motion power member drives the driving sprocket to rotate and drives the driven sprocket to rotate. Alternatively, the motion power assembly includes a driving pulley, a driven pulley, a belt, and a motion power part. The driving pulley is coaxially fixedly matched with one of the vertical motion arms, and the driven pulley is coaxially fixedly matched with the other vertical motion arm. The driving pulley and the driven pulley are connected through the belt transmission, and the motion power part drives the driving pulley to rotate and drives the driven pulley to rotate.

8. The adjustable mobile platform for trenching and excavation according to claim 7, characterized in that: The moving power part includes an electric motor or a hydraulic motor.

9. The adjustable mobile platform for trenching and excavation according to claim 6, characterized in that: The rotating platform includes a fixed box fixedly connected to the bottom of the longitudinal beam, a fixed shaft rotatably arranged on the fixed box, a worm gear coaxially fixedly matched with the fixed shaft, a worm meshing with the worm gear, and a rotating driving member driving the worm gear to rotate. The worm gear is rotatably connected to the fixed box, one end of the fixed shaft extends out of the fixed box, and one end of the first robotic arm is fixedly connected to the protruding end of the fixed shaft.

10. The adjustable mobile platform for trenching and excavation according to claim 6, characterized in that: The first robotic arm, the second robotic arm and the third robotic arm have the same structure. The first robotic arm includes at least three groups of connected rotating arms and a grabbing arm fixedly connected to one end of the rotating arm. The rotating support arm includes two U-shaped frames, two U-shaped support arms respectively connected to the two U-shaped frames, two rotating arms fixedly connected to each other perpendicularly, a carrying arm, and two groups of annular transmission components respectively arranged in the U-shaped frames, the two rotating arms are respectively rotatably connected in the U-shaped support arms, the two groups of annular transmission components are respectively transmission-connected to the two rotating arms, one of the U-shaped frames is fixedly connected to the rotating table, the other U-shaped frame is fixedly connected to one end of the carrying arm, and the U-shaped frame on one rotating support arm is fixedly connected to the other end of the carrying arm on the previous rotating support arm; The grabbing arm includes a fixed frame fixed to the carrying arm, a grabbing frame, a rotating arm, an L-shaped arm, two arc-shaped arms, two arc-shaped gears meshing with each other, two grabbing claws, a rotating driving component provided in the fixed frame, and a grabbing driving component provided in the grabbing frame for driving the rotating arm to rotate. The fixed frame is connected to the grabbing frame through the rotating driving component, the rotating arm is rotatably connected to one end of the L-shaped arm, the other end of the L-shaped arm is fixedly connected to one of the arc-shaped arms, one end of the two grabbing claws is respectively fixedly connected to the two arc-shaped gears, and the other end of the grabbing claws has a serrated structure and an arc-shaped structure.

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