Crawler-type walking structure of cement rotary masonry equipment

Abstract

The utility model relates to a crawler-type walking structure of cement rotary masonry equipment, which comprises a connecting main seat structure, a transmission crawler belt structure, a main body connecting seat and a connecting component, the connecting main seat structure is in a splayed shape, the connecting component is arranged on the upper portion of the main body connecting seat, and the transmission crawler belt structure comprises a crawler belt driving inner seat structure and a crawler belt body. The connecting part comprises a main frame connecting rail body structure arranged on the upper portion of the main body connecting base and an external connecting piece arranged on the upper portion of the main body connecting base. A set of overturning oil cylinder assembly is arranged between the two side ends of the main body connecting base and each crawler driving inner base structure. The crawler belt carrying mechanism is optimally designed for walking of the inner cambered surface of the rotary kiln. And in maintenance and monitoring in the kiln, the equipment structure has the requirements of light weight and high-adaptability walking mechanisms. In kiln body reducing position adaptation, the angle of the crawler belt is dynamically adjusted, and cambered surfaces with different diameters are attached. The friction pressure of equipment on the lining of the kiln body is reduced; the stability is high in use; and overturning caused by center deviation during walking is avoided.

Description

Technical Field

[0001] This utility model relates to the field of cement rotary kiln construction equipment, and in particular to a tracked walking structure for cement rotary kiln construction equipment. Background Technology

[0002] With the development of the social economy, the labor costs in the construction industry are constantly increasing, and there is a shortage of skilled bricklayers, prompting companies to seek automated bricklaying equipment to reduce costs and improve efficiency.

[0003] Manual bricklaying is susceptible to variations in worker skill level and work conditions, resulting in inconsistent quality. Robots, on the other hand, ensure consistent bricklaying quality and can operate in hazardous environments, guaranteeing worker safety.

[0004] Wheeled, tracked, and legged locomotion mechanisms are widely used in the field of mobile robots, providing technical reference for the locomotion mechanism of automated bricklaying robots. For example, wheeled locomotion mechanisms are fast and efficient; tracked locomotion mechanisms have good stability and can adapt to complex terrain.

[0005] Some bricklaying robots designed for complex terrain or harsh construction environments use tracked locomotives, such as those operating on uneven ground like coal mine tunnels. Tracked locomotives offer good stability and adaptability to different terrains, allowing them to move on soft, rugged surfaces without easily slipping or getting stuck.

[0006] Existing internal kiln movement devices (such as pipeline inspection robots and kiln maintenance equipment) have the following problems:

[0007] 1. Poor adaptability: The fixed-angle track structure cannot adapt to cylindrical environments with different diameters or obstacles;

[0008] 2. Inflexible adjustment: Traditional walking mechanisms require manual adjustment of the track angle after the machine is stopped, which is inefficient;

[0009] 3. Insufficient stability: The inner wall of the cylinder may have oil stains, scale, and other working conditions, and the track is prone to slipping at a single angle;

[0010] 4. Complex control: Multi-degree-of-freedom adjustment relies on complex transmission mechanisms, resulting in high maintenance costs.

[0011] Some bricklaying robots designed for complex terrain or harsh construction environments use tracked locomotives, such as those operating on uneven ground like coal mine tunnels. Tracked locomotives offer good stability and adaptability to different terrains, allowing them to move on soft, rugged surfaces without easily slipping or getting stuck.

[0012] Cement rotary kilns often feature variable-diameter arc-shaped structures (such as ultra-large kilns with diameters of Φ6.96×52m). Traditional wheeled or fixed-track walking mechanisms struggle to adapt to these diameter changes (such as gradual or abrupt transitions from the kiln head to the kiln tail). Existing equipment is prone to friction damage due to poor contact with the kiln body during movement, potentially affecting kiln stability. For example, patent CN110979035A proposes a variable-diameter arc-shaped walking trolley, but it relies on wheel angle adjustment, resulting in a complex structure and limited load-bearing capacity. Wheeled walking devices require frequent wheel angle adjustments, leading to high maintenance costs and uneven pressure distribution on the kiln surface, causing localized wear. Fixed-track mechanisms, while having low ground pressure, are prone to jamming or slippage in variable-diameter sections due to rigid track connections, and their large size makes them unsuitable for confined kiln spaces. Utility Model Content

[0013] The purpose of this invention is to use a tracked walking mechanism to support an automatic bricklaying machine for bricklaying within a rotary kiln. The entire machine is supported by hydraulic cylinders, and then the tracked walking wheels extend to a certain angle. When the tracked walking discs make uniform contact with the inner surface of the kiln, the hydraulic support cylinders retract, allowing the tracked walking mechanism to rest on the kiln surface and move.

[0014] The technical solution adopted by this utility model to solve its technical problem is: a tracked walking structure for a cement rotary masonry equipment, including a connecting main seat structure and a transmission track structure on both sides of the connecting main seat structure. The connecting main seat structure has a main connecting seat in a figure-eight shape and a connecting component on the upper part of the main connecting seat. The transmission track structure includes a track drive inner seat structure on both sides of the main connecting seat and a track body on the outside of the track drive inner seat. The connecting component includes a main frame connecting track structure on the upper part of the main connecting seat and an external connecting component on the upper part of the main connecting seat.

[0015] The main connecting seat also includes a main connecting hole in the main connecting seat, a side wing block assembly connected to the track drive inner seat structure, a track connecting sleeve bearing at the bottom end of the side wing block assembly, and an extension connecting seat block at the outer end of the main connecting seat.

[0016] The track-driven inner seat structure includes a drive seat, an active drive inner guide wheel assembly located at the upper end of the drive seat, and a bottom drive wheel assembly located at the lower part of the drive seat.

[0017] A set of tilting cylinder assemblies is provided between the two ends of the main connecting seat and each track drive inner seat structure.

[0018] The main frame connecting track structure includes a connecting track and limiting block groups located at both ends of the connecting track.

[0019] The beneficial effects of this utility model are as follows: Compared with existing patented technologies, this tracked transport mechanism enhances obstacle-crossing capability through a swing arm assembly and features an optimized design for walking on the curved surfaces inside a rotary kiln. It addresses the requirements of lightweight and highly adaptable walking mechanisms for equipment structures used in kiln maintenance and monitoring. In adapting to kiln diameter changes, it dynamically adjusts the track angle to fit curved surfaces of different diameters. Regarding reducing kiln damage, it reduces frictional pressure on the kiln lining; it offers high stability during use; and it prevents tipping due to center of gravity shift during movement.

[0020] The present invention will be described in more detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model.

[0022] Figure 2 This is a schematic diagram of the main support structure in the present invention.

[0023] Figure 3 for Figure 2 A three-dimensional image.

[0024] Figure 4 for Figure 1 A three-dimensional image.

[0025] Figure 5 This is a schematic diagram of the tilting cylinder assembly of this utility model.

[0026] In the figure: 1. Main connecting seat, 2. Connecting component, 3. Track body, 4. Tilting cylinder assembly, 5. Drive seat, 6. Active drive inner guide wheel assembly, 7. Bottom drive wheel assembly, 8. Connecting rail body, 9. Limiting block assembly, 1.1. Side wing block assembly, 1.2. Main track connecting sleeve axle seat, 1.3. Extension connecting seat block, 1.4. Connecting main hole. Detailed Implementation

[0027] The terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end" used in the application text to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] Example 1

[0030] like Figures 1-5 As shown, a tracked walking structure for a cement rotary masonry equipment includes a connecting main seat structure and transmission track structures on both sides of the connecting main seat structure. The connecting main seat structure consists of a main connecting seat 1 arranged in a V-shape and a connecting component 2 located on the upper part of the main connecting seat. The transmission track structure includes track drive inner seat structures located at both ends of the main connecting seat and track bodies 3 located outside the track drive inner seat. The connecting components include a main frame connecting track structure located on the upper part of the main connecting seat and an external connecting member located on the upper part of the main connecting seat. The main connecting seat 1 also includes a connecting main hole 1.4 located in the main connecting seat 1, a side wing block assembly 1.1 connected to the track drive inner seat structure, a track connecting sleeve axle seat 1.2 located at the bottom end of the side wing block assembly 1.1, and an extension connecting seat block 1.3 located at the outer end of the main connecting seat 1.

[0031] The track-driven inner seat structure includes a drive seat 5, an active drive inner guide wheel group 6 located at the upper end of the drive seat, and a bottom drive wheel group 7 located at the lower part of the drive seat.

[0032] A set of tilting cylinder assemblies 4 are provided between the two ends of the main connecting seat and each track drive inner seat structure.

[0033] The main frame connecting track structure includes a connecting track 8 and limiting block groups 9 located at both ends of the connecting track.

[0034] Structural parameters:

[0035] The main connecting seat is 1.2m long and 0.8m wide, and is equipped with 4 sets of HSG-50 / 28 hydraulic cylinders;

[0036] The track body is 200mm wide, with anti-slip rubber teeth embedded on the surface, and the single-sided drive motor has a power of 1.5kW;

[0037] Workflow:

[0038] In the initial state, the hydraulic cylinder retracts, and the track body enters the cylinder at a 30° angle with the main body connecting seat;

[0039] After startup, the pressure sensor detected a decrease in the contact force of the left track. The control module extended the left hydraulic cylinder by 10mm, adjusting the track angle to 25° and increasing the contact area.

[0040] The total travel speed is 0.3 m / s, and the hydraulic cylinder adjustment response time is <0.5 s.

[0041] Four hydraulic cylinders (for support) are evenly distributed on the tracked walking mechanism frame. Initially, they are folded and not activated. When the automatic brick-laying robot lands inside the rotary kiln, the hydraulic cylinder motor starts. First, the hydraulic cylinders are unfolded by the motor rotation control. When the hydraulic cylinders are fully unfolded, they start and extend. After the hydraulic cylinders support the entire automatic brick-laying machine, they stop. The track-turning cylinder inside the tracked walking mechanism starts, rotating the track. When the track is in parallel contact with the surface of the kiln, the track-turning cylinder stops working, and the hydraulic cylinders (for supporting the entire machine) slowly retract. The tracked walking mechanism lands on the surface of the kiln. At this time, the adjustment of the tracked walking mechanism is completed, and it can move along the axis of the kiln inside the kiln.

[0042] Compared to existing patented technologies, this tracked transport mechanism enhances obstacle-crossing capability through a swing arm assembly and features an optimized design for movement on the curved surfaces inside a rotary kiln. It addresses the requirements of a lightweight and highly adaptable walking mechanism for equipment during kiln maintenance and monitoring. In adapting to varying kiln diameters, the track angle is dynamically adjusted to conform to curved surfaces of different diameters. To reduce kiln damage, it minimizes frictional pressure on the kiln lining; provides high stability during use; and prevents tipping due to center of gravity shift during movement.

[0043] The above embodiments are merely descriptions of preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements to the technical solutions of the present utility model made by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

[0044] The parts not covered in this utility model are the same as or can be implemented using existing technologies.

Claims

1. A tracked walking structure for a cement rotary masonry equipment, comprising a connecting main base structure and transmission track structures disposed on both sides of the connecting main base structure, characterized in that: The main connecting seat structure is a figure-eight-shaped main connecting seat and a connecting component located on the upper part of the main connecting seat. The transmission track structure includes a track drive inner seat structure located at both ends of the main connecting seat and a track body located outside the track drive inner seat. The connecting component includes a main frame connecting track structure located on the upper part of the main connecting seat and an external connecting component located on the upper part of the main connecting seat.

2. The tracked walking structure of the cement rotary masonry equipment as described in claim 1, characterized in that: The main connecting seat also includes a main connecting hole in the main connecting seat, a side wing block assembly connected to the track drive inner seat structure, a track connecting sleeve bearing at the bottom of the side wing block assembly, and an extension connecting seat block at the outer end of the main connecting seat.

3. The tracked walking structure of the cement rotary masonry equipment as described in claim 1, characterized in that: The track-driven inner seat structure includes a drive seat, an active drive inner guide wheel assembly located at the upper end of the drive seat, and a bottom drive wheel assembly located at the lower part of the drive seat.

4. The tracked walking structure of the cement rotary masonry equipment as described in claim 1, characterized in that: A set of tilting cylinder assemblies is provided between the two ends of the main connecting seat and each track drive inner seat structure.

5. The tracked walking structure of the cement rotary masonry equipment as described in claim 1, characterized in that: The main frame connecting track structure includes a connecting track and limiting block groups located at both ends of the connecting track.

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