Self-propelled walking vehicle for tunnels

Abstract

The utility model discloses a kind of self-driving walking vehicles for tunnel, including the wheel group being connected with trolley frame, the wheel group includes the wheel being arranged below wheel box, wheel box is connected with the driving mechanism for driving wheel, wheel box includes the upper part and lower part of swing cooperation, upper part is hinged with trolley frame, lower part is used to connect wheel and driving mechanism, upper part and lower part between being provided with the steering device for driving the relative rotation of both. The utility model provides a kind of self-driving walking vehicles for tunnel, over structure innovation comprehensively solves the pain points such as " dependence on track, poor working condition adaptability, insufficient stability, low transport efficiency " of existing tunnel battery car, without track can realize advancing, retreating and steering, simultaneously with rail / trackless two kinds of working conditions, solve the limitation that existing battery car can only track travel;Wheel group can change the angle of radial self-adaptation relative to trolley frame, adapt to different diameter tunnel.

Description

Technical Field

[0001] This utility model relates to the technical field of material transfer equipment for tunnel construction, and in particular to a self-propelled vehicle for tunnels. Background Technology

[0002] With the continuous urbanization and increasing demand for underground space development, tunnel engineering has become a core component of transportation construction, urban pipeline laying, and underground logistics channel construction. The efficient and stable transportation of materials and equipment within tunnels is crucial for ensuring construction progress, safety, and quality. In current tunnel construction practices, specific transportation models have emerged for different construction scenarios: for example, during subway tunnel shield construction, dedicated battery-powered vehicles are used to transport shield segments, construction materials, and excavated soil over long distances within the tunnel; similarly, in mechanical connection tunnel construction, battery-powered vehicles are relied upon to transport large construction equipment, work trolleys, and auxiliary components to designated construction locations. These battery-powered vehicle transportation methods have become indispensable in current tunnel construction.

[0003] However, existing battery-powered vehicles used for tunnel transportation have significant limitations in adaptability to various working conditions: these vehicles rely on batteries for propulsion, and their movement is entirely confined to dedicated tracks pre-laid within the tunnel—meaning the vehicles must work in conjunction with these tracks to perform basic movements such as forward and backward movement. The extent of track coverage directly determines the vehicle's transport range. With the increasing complexity of underground space development, more and more tunnel projects face non-standard working conditions: some tunnels, due to limited construction space, temporary construction needs, or subsequent renovation requirements, do not have dedicated tracks. Furthermore, in temporary connection sections before tunnel completion and in tunnel maintenance scenarios, comprehensive track laying is difficult. When encountering these trackless conditions, existing track-dependent battery-powered vehicles are completely ineffective, leading to stagnation in the transport of equipment and materials within the tunnel or requiring inefficient methods such as manual handling or multiple transfers of small equipment. This severely limits tunnel construction efficiency and adaptability, and may even affect the construction cycle and safety due to transportation delays.

[0004] Based on this, the current tunnel transportation field urgently needs a transportation device that can overcome the limitations of track dependence: the device should be able to move forward, backward and turn autonomously in the tunnel without the aid of external auxiliary facilities, such as pre-laid tracks, and be adaptable to both tracked and trackless typical working conditions to meet the diverse transportation needs in the development of complex underground spaces. This has become a key technical problem that needs to be solved by those skilled in the art. Utility Model Content

[0005] To address the shortcomings in the aforementioned background technology, this utility model proposes a self-driving vehicle for tunnels. The technical problem to be solved is: how to simultaneously adapt to both tracked and trackless typical working conditions in order to meet the diverse transportation needs in the development of complex underground spaces.

[0006] The technical solution of this utility model is as follows:

[0007] A self-propelled vehicle for tunnels includes several wheel sets connected to a trolley frame. Each wheel set includes a wheel disposed below a wheel box. The wheel box is connected to a drive mechanism for driving the wheel. The wheel box includes an upper part and a lower part that rotate together. The upper part is hinged to the trolley frame, and the lower part is used to connect the wheel and the drive mechanism. A steering device is provided between the upper part and the lower part for driving the two to rotate relative to each other.

[0008] The beneficial effects of this technical solution are: ① Breaking track dependence—The upper and lower components of the wheel box can rotate and cooperate, and with the steering device, the wheels can autonomously adjust their steering angle. With the drive mechanism, the wheels can move, achieving forward, backward, and turning without a track. It is also suitable for both tracked and trackless working conditions, solving the limitation of existing battery-powered vehicles that can only travel on tracks; ② Adapting to complex tunnel terrain—The upper components of the wheel box are hinged to the trolley frame, so the wheel set can adaptively change its radial angle relative to the trolley frame. This not only adapts to different terrains and tunnels of different diameters, such as subway tunnels and connecting passages, improving working condition adaptability, but also buffers the vibration caused by the undulation of the tunnel ground, preventing the wheel set from detaching from the ground and ensuring walking stability; ③ Direct power transmission—The wheel box integrates the drive mechanism and wheels, reducing power loss and ensuring stable power output during transportation, meeting the needs of heavy-load transportation in tunnels.

[0009] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the wheel boxes of each wheel set are respectively hinged to both sides of the bottom of the trolley frame.

[0010] Based on the above technical solution, as a preferred technical solution for the self-driving vehicle used in tunnels, each wheel set includes several wheels, and the axles of each wheel are parallel to each other.

[0011] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the drive mechanism includes a drive device, and a driving gear and a driven gear that mesh with each other are provided in the wheel box. The drive device is used to drive the driving gear, and the driven gear is connected to the wheel.

[0012] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the driving gear is a small gear and the driven gear is a large gear.

[0013] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the power source of the drive device is a battery or a generator and is mounted on the trolley frame.

[0014] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the trolley frame includes a bottom platform connected to the wheel assembly below, a column connected above the bottom platform, and a top platform connected to the column.

[0015] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the trolley frame includes a bottom platform connected to the wheel assembly below, a column connected above the bottom platform, and support boots connected to the outer side and top of the column via telescopic devices.

[0016] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the electronic control systems of the drive mechanism, steering device, and telescopic device are all installed on the bottom platform.

[0017] Based on the above technical solutions, as a preferred technical solution for the self-driving vehicle used in tunnels, the telescopic device and / or steering device is a hydraulic cylinder, and the hydraulic system of the hydraulic cylinder is set on the bottom platform.

[0018] This utility model patent's self-propelled vehicle comprehensively solves the pain points of existing tunnel battery-powered vehicles, such as "reliance on tracks, poor adaptability to working conditions, insufficient stability, and low transportation efficiency," through structural innovation. The overall beneficial effects are as follows:

[0019] 1. Full-condition adaptability: The core wheel set (slewing wheel box + steering device) breaks through track dependence and can be adapted to both tracked (such as the pre-set track of subway tunnels) and trackless (such as temporary connecting passages and maintenance sections) working conditions. It can meet the transportation needs of different construction stages of tunnels without changing equipment.

[0020] 2. Balancing heavy load and high efficiency: The combined design of gear transmission (reduction and torque increase), multi-wheel group (pressure distribution), and double-layer platform (capacity expansion) enables heavy-load transportation of 10-30t (such as shield tunnel segments and construction trolleys), and the double-layer platform increases the transportation capacity by more than 50%, greatly improving the efficiency of tunnel construction transportation.

[0021] 3. High stability and safety: The symmetrical arrangement of wheel sets on both sides, the tunnel wall support of the support shoe-telescopic device, and the articulated buffer structure can offset lateral forces, buffer ground bumps, and prevent rollover. Especially in narrow tunnels under trackless conditions or when turning under heavy load, the walking stability and transportation safety are significantly improved.

[0022] 4. Excellent flexibility and convenience: The power source (battery / generator) is adaptable to different scenarios, and the electrical control and hydraulic systems are centrally arranged for easy maintenance and operation; the steering device can achieve small-radius steering, and the support shoe can be adapted to different tunnel diameters to meet the complex and ever-changing construction environment of tunnels.

[0023] 5. Durable and low-consumption: Gear drives, hydraulic cylinders and other components are impact-resistant and dust-resistant, adapting to harsh tunnel conditions and reducing failure rates; high power transmission efficiency (gear drive) and controllable energy consumption (battery / generator can be selected as needed), reducing long-term operating costs. Attached Figure Description

[0024] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of an embodiment of the present utility model, (a) is a side view, and (b) is a front view;

[0026] Figure 2 This is a top view of one embodiment of the present utility model;

[0027] Figure 3 The diagram shows the structure of the wheelset. (c) is a side view, (d) is a front view, and (e) is a top view.

[0028] Figure 4 This is a schematic diagram of the application state of one embodiment of the present invention;

[0029] Figure 5 This is a side view of one embodiment of the present utility model;

[0030] Figure 6 This is a schematic diagram of the application state of one embodiment of the present invention;

[0031] Figure 7 (f) is a sectional view of the wheel assembly, and (g) is a sectional view in the first direction.

[0032] Figure 8 This is a schematic diagram of a wheel assembly without a drive mechanism. (h) is a side view, (i) is a front view, and (j) is a top view.

[0033] Figure 9 This is a side view of one embodiment of the present utility model;

[0034] Figure 10This is a schematic diagram of an embodiment of the present invention, where (k) is the front view and (l) is the side view.

[0035] Explanation of icon numbers:

[0036] 1. Trolley frame, 1-1. Bottom platform, 1-2. Column, 1-3. Support shoe, 1-4. Telescopic device, 1-5. Top platform;

[0037] Wheelset 2, wheel 2-1, wheel box 2-2, drive unit 2-3, steering device 2-4, drive gear 2-5, driven gear 2-6;

[0038] 3. Power source; 4. Electrical control system; 5. Hydraulic system; 6. Main tunnel. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the core concept of the present utility model and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0040] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0041] It should be noted that, in the description of this application, unless otherwise stated, "several" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "axial," "radial," etc., indicating orientation or positional relationships are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation on this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0042] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0043] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0044] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0045] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0046] The purpose of this invention is to enable self-driving transport of materials and equipment within tunnels, regardless of the presence or absence of tracks. The core invention is a slanted wheel assembly supporting the trolley's movement, allowing for automatic travel without an external power source, regardless of the presence of tracks within the tunnel. In existing technologies, trolleys are supported by steel wheels and placed on pre-laid tracks within the tunnel, propelled forward by a battery-powered locomotive, which imposes significant limitations. This invention utilizes a wheel assembly placed at the bottom of the trolley for support, equipped with related electrical and hydraulic systems. This system powers the wheel assembly, enabling forward, backward, and steering functions, eliminating the need for an external power source or auxiliary power unit; the trolley is self-driving.

[0047] A self-propelled vehicle for tunnels, such as Figures 1 to 10 As shown, the device includes several wheel sets 2 connected to the trolley frame 1. Each wheel set 2 includes a wheel 2-1 located below a wheel box 2-2. The wheel box 2-2 is connected to a drive mechanism for driving the wheel 2-1. The wheel box 2-2 includes an upper part and a lower part that rotate together. The upper part is hinged to the trolley frame 1, and the lower part is used to connect the wheel 2-1 and the drive mechanism. A steering device 2-4 is provided between the upper part and the lower part to drive the two parts to rotate relative to each other.

[0048] The beneficial effects of this embodiment are: ① Breaking track dependence—The upper and lower components of the wheel box can rotate and cooperate, and with the steering device, the wheels can be driven to adjust their steering angle autonomously. With the drive mechanism, the wheels can be driven to move, achieving forward, backward, and turning without the need for tracks. It is also suitable for both tracked and trackless working conditions, solving the limitation of existing battery-powered vehicles that can only travel on tracks; ② Adapting to complex tunnel terrain—The upper component of the wheel box is hinged to the trolley frame, so the wheel set 2 can adaptively change its radial angle relative to the trolley frame 1. This not only adapts to different terrains and tunnels of different diameters, such as subway tunnels and connecting passages, improving the adaptability of working conditions, but also buffers the vibration caused by the undulation of the tunnel ground, preventing the wheel set from detaching from the ground and ensuring walking stability; ③ Direct power transmission—The wheel box integrates the drive mechanism and wheels, reducing power loss and ensuring stable power output during transportation, meeting the heavy-load transportation needs of tunnels.

[0049] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the wheel boxes 2-2 of each wheel set are respectively hinged to both sides of the bottom of the trolley frame 1.

[0050] The beneficial effects of this embodiment are: ① Balanced force distribution - the wheel sets are symmetrically distributed on both sides of the frame, which can evenly transfer the weight of materials / equipment to the wheel sets on both sides, avoiding wear or failure caused by overload of one side wheel set; ② Flexible steering - the wheel sets on both sides can be adjusted independently or synchronously, and small-radius steering can be achieved when driving without tracks, which is suitable for steering operations in narrow spaces such as tunnels.

[0051] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, each wheel set 2 includes a plurality of wheels 2-1, and the axles of each wheel 2-1 are parallel to each other.

[0052] The beneficial effects of this embodiment are: ① Increased load-bearing capacity – Multiple wheels, such as 2-4 wheels, simultaneously contact the ground, increasing the contact area between the wheel assembly and the ground, dispersing the pressure of a single wheel, and enabling the transport of heavier materials, such as tunnel segments and launching units, avoiding wheel sinking or ground damage caused by excessive ground pressure; ② Reduced risk of slippage – Multiple wheels with parallel axles can enhance the friction between the wheel assembly and the ground or track, especially on rough tunnel surfaces in trackless conditions, effectively preventing slippage during travel and ensuring transportation safety; ③ Improved stability – The synchronous rotation of multiple wheels can offset the bumps caused by uneven ground on a single wheel, reducing shaking or damage during material transportation.

[0053] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the driving mechanism includes a driving device 2-3, and a driving gear 2-5 and a driven gear 2-6 that mesh with each other are provided in the wheel box 2-2. The driving device 2-3 is used to drive the driving gear 2-5, and the driven gear 2-6 is connected to the wheel 2-1.

[0054] The beneficial effects of this embodiment are: ① High transmission efficiency—the gear meshing transmission has no slippage or freewheeling, and the power transmission loss is lower than that of belt and chain transmission methods, ensuring that the power of the drive device is efficiently transmitted to the wheels and improving the stability of the walking speed; ② Reliable and durable structure—the gear transmission has strong impact resistance and can adapt to the dust and vibration environment in tunnel construction, reducing the failure rate of transmission components and reducing the maintenance frequency; ③ Precise control—the gear transmission ratio is fixed, and the wheel speed can be precisely controlled by adjusting the speed of the drive device, so as to achieve smooth adjustment of the walking speed and avoid material displacement caused by rapid acceleration / deceleration.

[0055] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the driving gear 2-5 is a small gear and the driven gear 2-6 is a large gear.

[0056] The beneficial effects of this embodiment are: ① Speed ​​reduction and torque amplification – the small gear driving the large gear can achieve speed reduction transmission, and at the same time amplify the torque of the drive device. The torque amplification factor is proportional to the gear diameter ratio, which meets the heavy-load transportation needs of tunnels, such as transporting 10-20t shield tunnel segments, and avoids the drive device from stalling due to insufficient torque; ② Protection of the drive device – speed reduction transmission can reduce the output speed of drive devices such as motors, reduce high-speed wear of drive devices, and extend their service life; ③ Smoother travel – the amplified torque makes the power of the wheels more gradual when starting, avoiding wheel slippage or material shaking caused by instantaneous impact, which is especially suitable for heavy-load starting in trackless working conditions.

[0057] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the power source 3 of the drive device 2-3 is a battery or a generator and is mounted on the trolley frame 1.

[0058] The beneficial effects of this embodiment are: ① Strong power adaptability—battery power is suitable for short-distance, low-pollution tunnel scenarios, such as construction inside subway tunnels, with no exhaust emissions; generators, such as diesel generators, are suitable for long-distance tunnel scenarios without external power sources, such as temporary sections before tunnel breakthrough, solving the range problem; ② High space utilization—the power source is integrated on the frame, which does not occupy the space of the transportation platform and is easy to connect to the drive mechanism by wiring, reducing the risk of dragging external pipelines; ③ Convenient maintenance—the power source is centrally located, which allows for quick checking of power / fuel levels, and battery replacement or refueling does not require disassembling core components such as wheel sets, improving maintenance efficiency.

[0059] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the trolley frame 1 includes a bottom platform 1-1 connected to the wheel set 2 below, a column 1-2 connected above the bottom platform 1-1, and a top platform 1-5 connected to the column 1-2.

[0060] The beneficial effects of this embodiment are: ① Increased transport capacity – The top and bottom platforms form a double-layer transport space, allowing for the placement of different types of materials, such as heavy equipment at the bottom and light consumables at the top, or the stacking of neatly arranged materials, such as pipe segments, increasing transport efficiency by more than 50% compared to a single-layer platform; ② Material classification and management – ​​The double-layer structure avoids contamination or damage caused by mixing and stacking different materials, making it particularly suitable for construction scenarios that require the simultaneous transport of multiple materials; ③ Strong structural stability – The columns connect the bottom and top platforms, forming a frame structure, which has stronger resistance to lateral bending than a single-layer platform, reducing the risk of frame deformation during transport.

[0061] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the trolley frame 1 includes a bottom platform 1-1 connected to the wheel set 2 below, a column 1-2 connected above the bottom platform 1-1, and support boots 1-3 connected to the outer side and top of the column 1-2 through telescopic devices 1-4.

[0062] The beneficial effects of this embodiment are: ① Anti-rollover / Anti-swaying: The telescopic device drives the support shoe to press tightly against the tunnel sidewall or top, forming a stable support structure of "frame-support shoe-tunnel wall". Especially in trackless conditions, when turning or heavy-load transportation, it can offset lateral forces and prevent the vehicle from rolling over; ② Adaptable to different tunnel diameters: The support shoe can be adjusted in length by the telescopic device to adapt to circular tunnels or rectangular connecting passages with a diameter of 3-8m without replacing frame components; ③ Protects the tunnel wall: Rubber pads can be installed at the ends of the support shoe to prevent scratches caused by direct contact between the metal support shoe and the tunnel wall, while also increasing friction and improving support stability.

[0063] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the electrical control systems of the drive mechanism, steering device 2-4, and telescopic device 1-4 are all installed on the bottom platform 1-1.

[0064] The beneficial effects of this embodiment are: ① Centralized control – Centralized layout of the electrical control system reduces fault points caused by dispersed wiring, and facilitates the linkage control of walking, steering, and support boots through a unified controller, such as a PLC, such as synchronously adjusting the extension and retraction of the support boots on the same side when turning; ② Fast response speed – Shortening the wiring distance between the electrical control system and the actuators reduces signal delay and ensures precise synchronization of operations such as turning and starting / stopping; ③ Convenient maintenance – Centralized electrical control systems can be equipped with protective boxes to avoid corrosion from tunnel dust and moisture, and at the same time facilitate maintenance personnel to quickly troubleshoot wiring faults without having to check each dispersed component individually.

[0065] Based on the above embodiments, as a preferred embodiment of the self-driving vehicle for tunnels, the telescopic device 1-4 and / or the steering device 2-4 are hydraulic cylinders, and the hydraulic system 5 of the hydraulic cylinder is set on the bottom platform 1-1.

[0066] The beneficial effects of this embodiment are: ① High thrust – The thrust of hydraulic cylinder transmission is much greater than that of electric push rods and other devices, which can drive the support shoe to press against the hard tunnel wall, such as the concrete wall, or drive the wheel box to achieve heavy-load steering, meeting the requirements of heavy-load tunnel working conditions; ② Strong stability – Hydraulic transmission has no rigid impact, and the action of the support shoe pressing or steering is smooth, avoiding structural damage caused by instantaneous impact force; ③ Centralized maintenance – The hydraulic system oil tank, oil pump, and valve group are concentrated on the bottom platform, which facilitates the inspection of hydraulic oil level and pressure, replacement of filter elements and other maintenance operations, reducing the risk of oil leakage from dispersed hydraulic components.

[0067] As a preferred embodiment, this system is used for transporting equipment and materials within tunnels. It can be used in both tracked and trackless tunnel conditions, is suitable for various working environments, and meets the needs of tunnel construction applications. The technical solution is as follows:

[0068] A self-propelled vehicle for tunnels, such as Figures 1 to 10 As shown, it includes a trolley frame 1, wheel set 2, power source 3, electrical control system 4, and hydraulic system 5. The wheel set 2 is installed on the lower part of the trolley frame 1, and the power source 3, electrical control system 4, and hydraulic system 5 are installed on the upper part of the trolley frame.

[0069] In some embodiments, the trolley frame 1 consists only of the bottom platform 1-1.

[0070] In some embodiments, the trolley frame may consist of a bottom platform 1-1, uprights 1-2, support shoes 1-3, and a telescopic device 1-4. The uprights 1-2 are installed above the bottom platform, and the support shoes 1-3 are connected to the uprights via the telescopic device 1-4.

[0071] In some embodiments, the trolley frame 1 consists of a bottom platform 1-1, a column 1-2, and an upper platform 1-5.

[0072] Wheelset 2 consists of wheel 2-1, wheel housing 2-2, drive unit 2-3, and steering device 2-4. Wheel 2-1 is installed inside wheel housing 2-2, and each wheel housing has at least one wheel. Drive unit 2-3 is installed on the wheel housing and connected to drive gear 2-5. Drive gear 2-5 meshes with driven gear 2-6, and driven gear 2-6 is connected to one wheel. The driving method is: drive unit 2-3 → drive gear 2-5 → driven gear 2-6 → wheel 2-1. Figure 7 As shown, the steering device is also installed on the wheel box to realize the rotational steering of the wheel.

[0073] When wheel set 2 does not use drive unit 2-3, such as Figure 8As shown, it consists of wheels 2-1, wheel boxes 2-2, and steering devices 2-4. Wheel sets 2 with drive devices 2-3 and wheel sets 2 without drive devices 2-3 can be used together according to actual needs, and it is necessary to ensure that there are at least two wheel sets 2 with drive devices 2-3.

[0074] In some cases, the power source 3 is a battery or generator, which provides power to the electronic control system 4 and the hydraulic system 5.

[0075] Example 1: See Figure 1-4 A self-propelled vehicle for tunnels includes a trolley frame 1, wheel sets 2, a power source 3, an electronic control system 4, and a hydraulic system 5. The wheel sets 2 are mounted on the lower part of the trolley frame 1, while the power source 3, electronic control system 4, and hydraulic system 5 are mounted on top of the trolley frame. The trolley frame can be composed of a bottom platform 1-1, a column 1-2, a support shoe 1-3, and a telescopic device 1-4. The column 1-2 is mounted above the bottom platform, and the support shoe 1-3 is connected to the column via the telescopic device 1-4. The wheel sets 2 consist of wheels 2-1, wheel boxes 2-2, a drive unit 2-3, and a steering device 2-4. The wheels 2-1 are installed inside the wheel boxes 2-2, with each wheel box containing at least one wheel. The drive unit 2-3 is mounted on the wheel box and connected to the wheel. The steering device is also mounted on the wheel box to achieve wheel rotation and steering. The power source 3 may be a battery or a generator in some cases, providing power to the electronic control system 4 and the hydraulic system 5.

[0076] Example 2, as Figure 5 , 6 As shown, a self-driving vehicle for tunnels, based on the above embodiment, can eliminate the columns, support shoes and telescopic devices, retaining only the bottom platform, and can travel inside the tunnel.

[0077] Example 3, in some embodiments, such as Figure 9 As shown, based on the above embodiment, two wheel sets 2 and two wheel sets 2 without drive devices 2-3 are used; in some embodiments, such as Figure 1 As shown, based on the above embodiment, a four-wheel drive is used for walking.

[0078] Example 4: A self-propelled vehicle for tunnels, such as... Figure 10 As shown, it consists of a bottom platform, wheel set, wheel system, column and top platform.

[0079] This utility model of a self-propelled vehicle for tunnels can transfer equipment and materials within tunnels through reasonable application methods, and has a wider range of applications. It is a major innovation in underground space construction and has high promotional value.

[0080] In the self-propelled tunnel vehicle of this utility model, as described above, during the movement, the wheel set can be attached to the inner wall of the tunnel. The power source provides power to the relevant electronic control system and hydraulic system. The electronic control system controls the drive device of the wheel set, thereby driving the wheels to rotate and realizing the forward and backward movement of the vehicle. The hydraulic system drives the wheel box to adjust the steering device, thereby realizing the rotation of the wheel set and realizing the steering of the vehicle.

[0081] Any aspects of this utility model that are not detailed herein are conventional technical means known to those skilled in the art.

[0082] The above content shows and describes the basic principles, main features, and beneficial effects of this utility model. The above description is merely a preferred embodiment of this utility model and is not intended to limit it. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A self-propelled vehicle for tunnels, comprising a plurality of wheel sets (2) connected to a trolley frame (1), characterized in that: The wheel set (2) includes a wheel (2-1) disposed below the wheel box (2-2). The wheel box (2-2) is connected to a drive mechanism for driving the wheel (2-1). The wheel box (2-2) includes an upper part and a lower part that rotate together. The upper part is hinged to the trolley frame (1). The lower part is used to connect the wheel (2-1) and the drive mechanism. A steering device (2-4) for driving the two parts to rotate relative to each other is provided between the upper part and the lower part.

2. The self-propelled vehicle for tunnels according to claim 1, characterized in that: The wheel boxes (2-2) of each wheel set are respectively hinged to both sides of the bottom of the trolley frame (1).

3. The self-propelled vehicle for tunnels according to claim 2, characterized in that: Each of the wheel sets (2) includes several wheels (2-1), and the axles of each wheel (2-1) are parallel to each other.

4. The self-propelled vehicle for tunnels according to any one of claims 1-3, characterized in that: The drive mechanism includes a drive unit (2-3), and a drive gear (2-5) and a driven gear (2-6) that mesh with each other are provided in the wheel box (2-2). The drive unit (2-3) is used to drive the drive gear (2-5), and the driven gear (2-6) is connected to the wheel (2-1).

5. The self-propelled vehicle for tunnels according to claim 4, characterized in that: The driving gear (2-5) is a small gear, and the driven gear (2-6) is a large gear.

6. The self-propelled vehicle for tunnels according to claim 5, characterized in that: The power source (3) of the drive device (2-3) is a battery or generator and is mounted on the trolley frame (1).

7. The self-propelled vehicle for tunnels according to any one of claims 1-3 and 5-6, characterized in that: The trolley frame (1) includes a bottom platform (1-1) connected to the wheel assembly (2) below, a column (1-2) connected above the bottom platform (1-1), and a top platform (1-5) connected to the column (1-2).

8. The self-propelled vehicle for tunnels according to any one of claims 1-3 and 5-6, characterized in that: The trolley frame (1) includes a bottom platform (1-1) connected to the wheel assembly (2) below, and a column (1-2) connected above the bottom platform (1-1). The outer side and top of the column (1-2) are connected to support shoes (1-3) through telescopic devices (1-4).

9. The self-propelled vehicle for tunnels according to claim 8, characterized in that: The electrical control systems of the drive mechanism, steering device (2-4), and telescopic device (1-4) are all located on the bottom platform (1-1).

10. The self-propelled vehicle for tunnels according to claim 9, characterized in that: The telescopic device (1-4) and / or the steering device (2-4) are hydraulic cylinders, and the hydraulic system (5) of the hydraulic cylinder is set on the bottom platform (1-1).

Images