Anti-overturning rail carrying and pulling trolley

Abstract

The application provides a overturn-preventing rail carrying and towing trolley, which comprises a trolley frame, a walking device, a folding mechanical arm and a clamping jaw; the walking device comprises a walking driving part and a walking part, the walking device is arranged below the trolley frame and is used for driving the trolley frame to walk along a track; the walking part comprises a walking wheel support, a walking wheel, a first overturn-preventing wheel and a second overturn-preventing wheel, one end of the folding mechanical arm is fixedly installed on the upper portion of the trolley frame; and the clamping jaw is fixedly installed on the other end of the folding mechanical arm and is used for clamping a rail to be carried or towed. The first overturn-preventing wheel and the second overturn-preventing wheel which are detachable are arranged in the walking part and a rail passing gap is reserved, and the flexible structural design of the folding mechanical arm is combined, so that the technical problems of equipment movement obstruction and high overturning risk in a narrow space are effectively solved, and the overturn-preventing trolley has the advantages of compact structure, reliable overturn-preventing performance, high operation safety and the like.

Description

Technical Field

[0001] This application relates to the field of rail transport equipment technology, and more specifically, to an anti-tipping rail handling and traction trolley. Background Technology

[0002] In railway track maintenance and construction, the handling and traction of rails often need to be carried out in confined environments such as wellheads, tunnels, or densely populated urban areas. In these scenarios, space is limited, and traditional handling equipment, due to its large and rigid structure, struggles to achieve flexible turning and precise positioning, hindering movement within confined spaces and significantly reducing operational efficiency. Furthermore, existing equipment generally lacks reliable anti-tipping mechanisms. When rails shift due to uneven weight distribution or uneven track surfaces during handling, the equipment is highly susceptible to loss of balance and tipping, causing severe equipment damage and potentially leading to injuries or fatalities. In addition, operators must manually control the equipment at close range, constantly exposed to high-risk environments such as accidental rail slippage and equipment malfunctions. This results in high labor intensity, insufficient safety protection, and cumbersome operation, failing to meet the stringent safety and efficiency requirements of modern track work.

[0003] To address the aforementioned issues, existing technologies urgently need improvement. Utility Model Content

[0004] The purpose of this application is to provide an anti-tipping rail handling and traction trolley, which solves the problems of traditional equipment being difficult to move and prone to tipping accidents in narrow and confined environments, and significantly improves operational safety and flexibility.

[0005] This application provides an anti-tipping rail handling and traction trolley, the technical solution of which is as follows:

[0006] The anti-tipping rail handling and traction trolley shown includes:

[0007] Frame;

[0008] A traveling device is located below the vehicle frame and is used to drive the vehicle frame to travel along the track. The traveling device includes a traveling drive component and a traveling component. The traveling drive component is installed at the bottom of the vehicle frame, and the output end of the traveling drive component is connected to the traveling component. The traveling component includes a traveling wheel bracket, a traveling wheel, a first anti-overturning wheel, and a second anti-overturning wheel. The upper end of the traveling wheel bracket is fixedly connected to the bottom of the vehicle frame. The traveling wheel is installed on the upper part of the traveling wheel bracket, and the wheel surface of the traveling wheel contacts the tread surface of the track head. The first anti-overturning wheel and the second anti-overturning wheel are detachably installed at the lower part of the traveling wheel bracket. The first anti-overturning wheel and the second anti-overturning wheel are arranged opposite to each other, and the first anti-overturning wheel is located below the lower jaw surface on one side of the track head, and the second anti-overturning wheel is located below the lower jaw surface on the other side of the track head. A clearance is reserved between the first anti-overturning wheel and the second anti-overturning wheel for the rail web to pass through the ground. A clearance is reserved between the first anti-overturning wheel and the traveling wheel for the rail head to pass through the ground. A clearance is reserved between the second anti-overturning wheel and the traveling wheel for the rail head to pass through the ground.

[0009] A folding robotic arm, with one end of which is fixedly mounted on the upper part of the vehicle frame;

[0010] The gripper is fixedly mounted on the other end of the folding robotic arm and is used to grip the rails to be transported or pulled.

[0011] Furthermore, this application also proposes that the walking wheel bracket includes a first support plate, a second support plate and a connecting plate. The first support plate and the second support plate are arranged parallel and spaced apart. The connecting plate is arranged on the upper part between the first support plate and the second support plate. One end of the connecting plate is fixedly connected to the upper end of the first support plate, and the other end of the connecting plate is fixedly connected to the upper end of the second support plate. An installation groove is provided on the side wall of the first support plate.

[0012] The walking device also includes an overturning wheel mounting assembly, wherein the first anti-overturning wheel is detachably mounted on the walking wheel bracket via the overturning wheel mounting assembly;

[0013] The overturning wheel mounting assembly includes a slide and a locking pin. The slide is slidably mounted in the mounting groove, and the locking pin is mounted on the wheel bracket and is used to lock the slide onto the wheel bracket.

[0014] Furthermore, this application also proposes that the second support plate has the same structure as the first support plate, and the second anti-tipping wheel is detachably mounted on the traveling wheel bracket via the overturning wheel mounting assembly.

[0015] Furthermore, this application also proposes that the walking drive component includes a drive motor, a first drive shaft, and a second drive shaft. The drive motor is fixedly mounted on the bottom of the vehicle frame, and the output end of the drive motor is connected to one end of the first drive shaft and one end of the second drive shaft, respectively. The other end of the first drive shaft and the other end of the second drive shaft are respectively connected to the corresponding walking wheels.

[0016] Furthermore, this application proposes a folding robotic arm comprising a base, a rotating platform, a first robotic arm joint, a first robotic arm, a second robotic arm joint, a second robotic arm, a third robotic arm joint, and a fourth robotic arm joint. The base is fixedly installed in the middle of the upper part of the vehicle frame. The rotating platform is rotatably installed on the base. The first robotic arm joint is installed on the rotating platform. The output end of the first robotic arm joint is fixedly connected to one end of the first robotic arm, and the output axis of the output end of the first robotic arm joint is perpendicular to the length direction of the first robotic arm. The other end of the first robotic arm is fixedly connected to the output end of the second robotic arm joint, and the output axis of the output end of the second robotic arm joint is perpendicular to the length direction of the first robotic arm. One end of the second robotic arm is fixedly connected to the middle of the second robotic arm joint, and the output axis of the output end of the second robotic arm joint is perpendicular to the length direction of the second robotic arm. The other end of the second robotic arm is fixedly connected to the output end of the third robotic arm joint, and the output axis of the output end of the third robotic arm joint is perpendicular to the length direction of the second robotic arm. The output ends of the third robotic arm joint and the fourth robotic arm joint are fixedly connected, and the output axis of the fourth robotic arm joint coincides with the length direction of the third robotic arm joint. The gripper is fixedly connected to the fourth robotic arm joint.

[0017] Furthermore, this application also proposes that the anti-tipping rail transport and traction trolley further includes an auxiliary structure, which includes a support arm, a support arm extension structure, and a support leg structure. The support arm extension structure is mounted on the frame and connected to the support arm, and is used to adjust the support arm to move away from the frame or to adjust the angle between the support arm and the forward direction of the frame. The support leg structure is connected to the end of the support arm away from the support arm extension structure and is used to support the track or ballast to provide support for the frame.

[0018] Furthermore, this application also proposes that the support arm extension structure includes a mounting base, a guide, an extension drive, and a rotation drive. The guide direction of the guide is the same as the sliding direction of the support arm. The guide is rotatably mounted on the mounting base. The support arm is slidably connected to the guide. The extension drive is connected to the support arm and is used to control the support arm to slide along the guide. The rotation drive is connected to the guide and is used to control the guide to rotate around the rotation center of the guide and the mounting base.

[0019] Furthermore, this application also proposes that the support leg structure includes an adjustable height support leg, a foot bracket, a drive wheel, and a drive wheel motor. One end of the adjustable height support leg is connected to the end of the support arm away from the support arm extension structure, and the other end of the adjustable height support leg is hinged to the middle of one side of the foot bracket via a pin. The drive wheel is mounted on the foot bracket, and the drive wheel motor is fixedly mounted on the foot bracket. The output end of the drive wheel motor is connected to the drive wheel and is used to drive the drive wheel to rotate.

[0020] Furthermore, this application also proposes that the number of drive wheels is three, and the three drive wheels are sequentially mounted on the support leg. The support leg structure also includes drive wheel drive turbines and drive wheel drive worms. Drive wheel drive turbines are fixedly mounted on each of the three drive wheels. The output end of the drive wheel motor is connected to the drive wheel drive worm. The drive wheel drive worm meshes with the drive wheel drive turbines on the three drive wheels at the same time and is used to drive the three drive wheels to rotate synchronously and in the same direction.

[0021] Furthermore, this application also proposes that the anti-tipping rail transport and traction trolley also includes a control device, which includes a wireless signal transmission module. The wireless signal transmission module is used to receive user remote control signals to realize remote control of the anti-tipping rail transport and traction trolley.

[0022] As can be seen from the above, the anti-tipping rail handling and traction trolley provided in this application effectively solves the technical problems of obstructed equipment movement and high risk of tipping in narrow spaces by setting detachable first and second anti-tipping wheels in the walking components and reserving a gap for rail passage, combined with the flexible structural design of the folding robotic arm. It has the advantages of compact structure, reliable anti-tipping performance and high operational safety. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0024] Figure 1 This is a first-view three-dimensional structural diagram of the anti-tipping steel rail transport and traction trolley set on the track in an embodiment of this utility model.

[0025] Figure 2 This is a second-view three-dimensional structural diagram of the anti-tipping steel rail transport and traction trolley set on the track in an embodiment of this utility model.

[0026] Figure 3 This is a third-view perspective three-dimensional structural diagram of the anti-tipping rail transport and traction trolley in the embodiment of this utility model.

[0027] Figure 4 for Figure 3 Enlarged view of point A.

[0028] Figure 5 This is a three-dimensional structural diagram of the walking component in an embodiment of this utility model.

[0029] Figure 6 This is a three-dimensional structural diagram of the auxiliary structure in an embodiment of this utility model.

[0030] Figure 7This is a three-dimensional structural diagram of the support leg structure in an embodiment of this utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100—Frame; 200—Trampoline system; 210—Trampoline drive components;

[0033] 211—Drive motor; 212—First drive shaft; 213—Second drive shaft;

[0034] 220—Traveling components; 221—Traveling wheel bracket; 221-1—First support plate;

[0035] 221-11—Mounting slot; 221-2—Second support plate; 221-3—Connecting plate;

[0036] 222—Traveling wheel; 223—First anti-rollover wheel; 224—Second anti-rollover wheel;

[0037] 230—Overturning wheel mounting assembly; 231—Slide; 232—Locking pin;

[0038] 300—Folding robotic arm; 310—Base; 320—Rotating platform;

[0039] 330—First robotic arm joint; 340—First robotic arm;

[0040] 350—Second robotic arm joint; 360—Second robotic arm;

[0041] 370—Third robotic arm joint; 380—Fourth robotic arm joint;

[0042] 400—gripper; 500—auxiliary structure; 510—support arm;

[0043] 520—Support arm extension structure; 521—Mounting base; 522—Guide component;

[0044] 523—Extension drive; 524—Rotation drive; 530—Support leg structure;

[0045] 531—Adjustable height outrigger; 532—Outrigger bracket; 533—Drive wheel;

[0046] 534—Drive wheel motor. Detailed Implementation

[0047] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0048] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] In special environments such as narrow wellheads, traditional rail handling and traction equipment faces significant challenges due to insufficient structural stability. Specifically, the equipment is prone to tipping over during operation. Furthermore, the inconsistency between the overall size of the equipment and its spatial adaptability limits operational flexibility and necessitates close intervention by operators to clamp and adjust the rails, making it difficult to avoid safety risks. These problems directly weaken operational continuity and pose a potential threat to personnel safety.

[0050] For example, when carrying out rail handling operations in the narrow shaft opening area of ​​a subway tunnel, traditional handling equipment cannot fully deploy its structure due to the physical constraints of the manifold layout around the shaft opening. The contact stability between the traveling wheels and the rail head tread is reduced due to space compression. When the rail is clamped, the lateral force generated by the shift of its center of gravity acts on the equipment, causing an imbalance in the constraint relationship between the traveling components and the rail. Operators are forced to enter the area near the equipment for manual correction, increasing the risk of being affected by the overturned equipment.

[0051] If the above problems are not addressed, the risk of equipment tipping over will persist, potentially causing structural damage to critical components and disrupting operations. The safety hazards of close-range manual operation cannot be effectively mitigated, further increasing the probability of personnel being exposed to hazardous environments and ultimately affecting the reliability of the overall operating system.

[0052] like Figures 1 to 4 As shown, this application proposes an anti-tipping rail handling and traction trolley, which includes a frame 100, a traveling device 200, a folding robotic arm 300, and a gripper 400.

[0053] The traveling device 200 is located below the frame 100 and is used to drive the frame 100 to travel along the track. The traveling device 200 includes a traveling drive component 210 and a traveling component 220. The traveling drive component 210 is installed at the bottom of the frame 100, and its output end is connected to the traveling component 220. The traveling component 220 includes a traveling wheel bracket 221, a traveling wheel 222, a first anti-tipping wheel 223, and a second anti-tipping wheel 224. The upper end of the traveling wheel bracket 221 is fixedly connected to the bottom of the frame 100, and the traveling wheel 222 is installed on the upper part of the traveling wheel bracket 221, with the wheel surface of the traveling wheel 222 flush with the rail head. The tread contact is such that the first anti-tipping wheel 223 and the second anti-tipping wheel 224 are detachably mounted on the lower part of the traveling wheel bracket 221. The first anti-tipping wheel 223 and the second anti-tipping wheel 224 are arranged opposite to each other, with the first anti-tipping wheel 223 located below the lower jaw surface on one side of the rail head and the second anti-tipping wheel 224 located below the lower jaw surface on the other side of the rail head. A clearance is reserved between the first anti-tipping wheel 223 and the second anti-tipping wheel 224 for the rail web to pass through the ground. A clearance is reserved between the first anti-tipping wheel 223 and the traveling wheel 222 for the rail head to pass through the ground. A clearance is also reserved between the second anti-tipping wheel 224 and the traveling wheel 222 for the rail head to pass through the ground.

[0054] One end of the folding robotic arm 300 is fixedly mounted on the upper part of the frame 100.

[0055] The gripper 400 is fixedly installed at the other end of the folding robotic arm 300 and is used to grip the rail to be transported or pulled.

[0056] In special environments such as narrow wellheads, rail handling and traction operations face challenges such as equipment tipping, inconvenient operation, and safety hazards caused by close-range manual operation. This application provides an anti-tipping rail handling and traction trolley, which includes a frame 100, a traveling device 200, a folding robotic arm 300, and grippers 400. The first anti-tipping wheel 223 and the second anti-tipping wheel 224 are components installed on the lower part of the traveling wheel bracket 221 to prevent lateral tipping of the equipment. They are detachably mounted on the traveling wheel bracket 221, allowing for quick deployment of the anti-tipping rail handling and traction trolley on the rail track. The folding robotic arm 300 is a robotic arm structure capable of changing its shape to adapt to narrow spaces. It can achieve folding using a multi-section articulated arm, for example, by connecting the arm sections through rotary joints; or it can achieve folding using a telescopic linkage mechanism, such as a hydraulically driven telescopic arm structure, thereby adjusting the clamping position within a limited space. Therefore, this application incorporates a first anti-tipping wheel 223 and a second anti-tipping wheel 224 in the traveling component 220. These anti-tipping wheels are precisely positioned below the lower jaw surfaces on both sides of the rail head. When the rail is being moved, the shift in the center of gravity generates lateral force, and the anti-tipping wheels immediately abut against the lower jaw surfaces to form a constraint, preventing the equipment from tipping over. Simultaneously, the design of the folding robotic arm 300 allows for flexible extension, retraction, and steering in narrow areas, facilitating the adjustment of the gripper 400 position to adapt to different rail postures and eliminating the risks associated with close-range manual operation. Specifically, the wheel surface of the traveling wheel 222 contacts the rail head tread, with the contact point positioned based on the track's geometric characteristics to ensure the trolley moves smoothly along the track. The rail head clearance reserved between the first anti-tipping wheel 223 and the traveling wheel 222, and the rail web clearance reserved between the first anti-tipping wheel 223 and the second anti-tipping wheel 224, are designed based on the rail cross-sectional dimensions to prevent rail jamming during transport. As a preferred implementation, the trolley integrates an anti-tipping walking structure with a folding robotic arm system to achieve reliable handling and traction of steel rails in narrow spaces, thereby improving operational safety and ease of operation.

[0057] In special environments such as narrow wellheads, rail handling and traction operations face challenges such as equipment tipping, inconvenient operation, and safety hazards caused by close-range manual operation. To address these issues, this anti-tipping rail handling and traction trolley integrates a frame 100, a traveling device 200, a folding robotic arm 300, and grippers 400 into a complete technical solution. The frame 100, serving as the basic load-bearing platform, is designed with a compact structure. The frame 100 can be directly welded from shaped steel, which can be square steel. The traveling device 200 is installed below the frame 100, comprising a driving component 210 and a traveling component 220. The driving component 210 is fixedly installed at the bottom of the frame 100, and its output end is connected to the traveling component 220 to drive the trolley along the track. Figure 3As shown, in this embodiment, there are four traveling components 220. The four traveling components 220 are respectively set at the four corners of the bottom of the frame 100, and the distance between the left and right traveling components 220 along the forward direction matches the spacing of the two laid tracks, so that the anti-tipping rail transport and traction trolley can travel along the laid tracks. The traveling component 220 further includes a traveling wheel bracket 221, a traveling wheel 222, a first anti-tipping wheel 223, and a second anti-tipping wheel 224. The upper end of the traveling wheel bracket 221 is fixedly connected to the bottom of the frame 100. The traveling wheel 222 is installed on the upper part of the traveling wheel bracket 221 and contacts the rail head tread. The first anti-tipping wheel 223 and the second anti-tipping wheel 224 are detachably installed on the lower part of the traveling wheel bracket 221. They are arranged opposite each other and located below the lower jaw surface on both sides of the rail head. The reserved clearance between them and the reserved clearance between them and the traveling wheel 222 ensures that the rail web and rail head pass through without obstruction during the transportation process. One end of the folding robotic arm 300 is fixedly installed on the upper part of the frame 100, and the other end is fixedly connected to the gripper 400 for gripping the rail to be transported or pulled. In practical applications, when the trolley is running on the track, the traveling wheels 222 roll along the track head tread to move. If the anti-tipping rail causes a shift in the center of gravity of the trolley during transport and traction due to the rail, generating a lateral force, the first anti-tipping wheel 223 and the second anti-tipping wheel 224 immediately abut against the lower jaw surfaces on both sides of the track head to form a constraint, preventing the equipment from tipping over. At the same time, the folding robotic arm 300 flexibly adjusts the position of the gripper 400 in a narrow space through its folding structure, realizing automatic clamping and release of the rail. As a preferred embodiment, the traveling drive component 210 can specifically adopt a DC motor with a rated power of 500W. The output end of the motor is connected to the traveling component 220 through a coupling to ensure stable power transmission. This technical solution eliminates the risk of tipping over through the precise cooperation between the anti-tipping wheels and the lower jaw surfaces of the track. The flexible extension and retraction of the folding robotic arm avoids close-range manual operation, and the automatic clamping function of the gripper improves the convenience of operation, thereby effectively solving the problems of poor equipment stability, insufficient operational flexibility, and high safety risks in narrow environments. Specifically, the detachable design of the anti-tipping wheels facilitates quick adjustment according to track specifications, the reserved gap between the traveling wheels and the anti-tipping wheels ensures that there is no jamming during the rail handling process, and the compact layout of the folding robotic arm makes the overall size of the trolley adaptable to narrow well opening operations, ultimately improving the safety, stability and ease of operation of the rail handling and traction process.

[0058] In special environments such as narrow working well openings, the handling and traction of rails presents significant challenges and risks. Traditional rail handling equipment is typically large, making it difficult to operate flexibly in confined spaces. Furthermore, it lacks effective anti-tipping measures, making it prone to tipping over due to rail imbalance during handling, resulting in equipment damage and personnel injuries. In addition, traditional equipment often requires close-range manual operation, posing safety hazards and proving inconvenient. While some embodiments of this application propose detachable anti-tipping wheels mounted on the traveling wheel bracket, their implementation suffers from a lack of specific installation and adjustment mechanisms. This results in a rigid fixation method for the anti-tipping wheels, unable to adapt to variations in track width or rail dimensions. Moreover, the locking structure is unreliable, easily loosening during handling vibrations, leading to decreased equipment stability and increased risk of tipping, especially in confined working environments where rapid and precise installation and maintenance are difficult.

[0059] like Figure 4 and Figure 5 As shown, this application further proposes that the walking wheel bracket 221 includes a first support plate 221-1, a second support plate 221-2, and a connecting plate 221-3. The first support plate 221-1 and the second support plate 221-2 are parallel and spaced apart. The connecting plate 221-3 is disposed on the upper part between the first support plate 221-1 and the second support plate 221-2. One end of the connecting plate 221-3 is fixedly connected to the upper end of the first support plate 221-1, and the other end of the connecting plate 221-3 is fixedly connected to the upper end of the second support plate 221-2. An installation groove 22-111 is provided on the side wall of the first support plate 221-1. The walking device 200 also includes an overturning wheel mounting assembly 230. The first anti-overturning wheel 223 is detachably mounted on the walking wheel bracket 221 through the overturning wheel mounting assembly 230. The overturning wheel mounting assembly 230 includes a slide block 231 and a locking pin 232. The slide block 231 is slidably mounted in the mounting groove 22-111, and the locking pin 232 is mounted on the traveling wheel bracket 221 and is used to lock the slide block 231 on the traveling wheel bracket 22-1.

[0060] Among them, the first support plate 221-1, the second support plate 221-2 and the connecting plate 221-3 can be obtained directly by bending the plate; its structure is simple, the manufacturing cost is low, and it can provide a stable support foundation and distribute the force, avoiding the twisting of the bracket caused by stress concentration on one side; the mounting groove 22-111 refers to the guide groove opened on the side wall of the first support plate 221-1, which is intended to provide an installation path for the slide 231; to realize the quick installation of the anti-rollover wheel; the direction of its groove is perpendicular to the direction of the force when the anti-rollover wheel rolls over, that is, it is parallel to the plane where the frame (100) is located. The slide 231 refers to the component that carries the anti-rollover wheel, and the locking pin 232 can be understood as a locking mechanism used to fix the position of the slide 231. It can be implemented by using quick-release pins or threaded pins, which is intended to provide reliable locking and eliminate the risk of displacement caused by vibration.

[0061] Specifically, the solution in this application achieves rapid assembly and disassembly of the anti-tipping wheel position through the cooperation of the mounting slot 22-111 and the slide 231, enabling the rapid deployment of the anti-tipping rail transport and traction trolley. This design avoids the rigid constraints of traditional fixed installation, significantly shortens the deployment time of the anti-tipping rail transport and traction trolley, and eliminates the risk of anti-tipping wheel displacement caused by vibration through a reliable locking mechanism, thereby improving the flexibility and safety of the equipment in confined spaces.

[0062] As a specific implementation method, the solution of this application is implemented as follows: Before the anti-tipping rail transport and traction trolley are placed on the track, the locking pin 232 is loosened to remove all anti-tipping wheels. Then, on the track where the anti-tipping rail transport and traction trolley is placed, the anti-tipping wheel slide block 231 with the wheels installed is inserted into the mounting groove 221-11 from the side of the track, and the slide block 231 is pushed so that it slides to the bottom of the mounting groove 221-11. The locking tongue of the locking pin 232 pops out and locks on the sliding path of the slide block 231, preventing the slide block 231 from sliding out of the mounting groove 221-11. The locking pin 232 can be a manual locking pin or an automatic locking pin. The manual locking pin includes a pin and a sleeve. The pin is slidably mounted inside the sleeve, which is fixedly mounted on the wheel bracket 221. The direction of the sleeve is perpendicular to the sliding direction of the slide block 231. The pin slides along the sleeve, and at least a portion of the pin can extend into the sliding path of the slide block 231 to prevent the slide block 231 from sliding along the mounting groove 221-11. The automatic locking pin includes a latch, a lock body, and a latch button. The latch is mounted on the lock body, and a spring is installed inside the lock body. The spring pushes the latch to move. The latch is located on the sliding path of the slide block 231. The latch has an inclined surface. When the slide block 231 slides along the mounting groove 221-11, the slide block 231 abuts against the inclined surface of the latch, pushing the latch to compress the spring. The latch gradually moves away from the sliding path of the slide block 231. When the slide block 231 passes the position of the latch, the latch extends into the sliding path of the slide block 231 under the push of the spring, thereby preventing the slide block 231 from sliding out. When disassembling slide 231, press the locking tongue button. The locking tongue button will cause the locking tongue to retract, thus opening the sliding path of slide 231.

[0063] With the above solutions, anti-tipping wheels can be quickly installed and disassembled, improving work efficiency; the locking structure is reliable, effectively preventing loosening during handling vibrations, significantly improving equipment stability and anti-tipping ability, and enabling efficient and safe installation and maintenance, especially in narrow working environments.

[0064] In this embodiment, the second support plate 221-2 has the same structure as the first support plate 221-1, and the second anti-overturning wheel 224 is detachably mounted on the walking wheel bracket 221 through the overturning wheel mounting assembly 230.

[0065] In this embodiment, the walking drive component 210 includes a drive motor 211, a first drive shaft 212, and a second drive shaft 213. The drive motor 211 is fixedly installed at the bottom of the frame 100. The output end of the drive motor 211 is connected to one end of the first drive shaft 212 and one end of the second drive shaft 213, respectively. The other end of the first drive shaft 212 and the other end of the second drive shaft 213 are respectively connected to the corresponding walking wheels 222.

[0066] Specifically, the drive motor 211 refers to the core power source that provides rotational driving force. It can be implemented using a DC brushless motor, an AC servo motor, or a permanent magnet synchronous motor. Its purpose is to efficiently convert electrical energy into mechanical energy to drive the transmission shaft. The first transmission shaft 212 and the second transmission shaft 213 refer to rigid mechanical components that transmit rotational power. They can be implemented using a solid alloy steel shaft, a hollow lightweight shaft, or a spline shaft structure with surface hardening treatment. Their purpose is to ensure that the power is transmitted evenly and reliably from the drive motor 211 to the corresponding traveling wheel 222.

[0067] Specifically, the solution of this application uses a drive motor 211 with two output ends, which are connected to the first drive shaft 212 and the second drive shaft 213 respectively. The two output ends use the two ends of a single shaft to output synchronously, so that the two drive shafts obtain completely synchronized rotational power output, thereby ensuring that the two walking wheels 222 connected to it maintain a consistent rotational state on the track. The drive motor 211 is fixedly installed at the bottom of the frame 100, providing a rigid support point to reduce vibration and displacement during operation and enhance the overall structural stability. The power is transmitted to the corresponding walking wheels 222 through the first drive shaft 212 and the second drive shaft 213 respectively, ensuring a balanced distribution of driving force, so that the frame 100 is subjected to symmetrical force when walking on the track, thereby forming a stable walking foundation in a narrow space.

[0068] Through the above solution, this application effectively avoids the synchronous control problem caused by independent drive of multiple motors, significantly improves the stability and structural reliability of anti-tipping rail handling and traction trolley in narrow working environments, and reduces the risk of equipment overturning caused by uncoordinated drive.

[0069] Specifically, in some of the embodiments described above in this application, a folding robotic arm is proposed to clamp and transport rails. However, in the process of its implementation, due to the simple structure and insufficient degree of freedom of the robotic arm, it is difficult to flexibly adjust the position of the gripper in special environments such as narrow working well openings, resulting in limited operating range and insufficient positioning accuracy when transporting rails, which can easily lead to equipment overturning risk and operational safety hazards.

[0070] like Figures 1 to 3As shown, this application further proposes a folding robotic arm 300 including a base 310, a rotating platform 320, a first robotic arm joint 330, a first robotic arm 340, a second robotic arm joint 350, a second robotic arm 360, a third robotic arm joint 370, and a fourth robotic arm joint 380. The base 310 is fixedly installed in the middle of the upper part of the frame 100. The rotating platform 320 is rotatably installed on the base 310. The first robotic arm joint 330 is installed on the rotating platform 320. The output end of the first robotic arm joint 330 is fixedly connected to one end of the first robotic arm 340, and the output axis of the output end of the first robotic arm joint is perpendicular to the length direction of the first robotic arm 340. The other end of the first robotic arm 340 is connected to the output of the second robotic arm joint 350. The first robotic arm 340 is fixedly connected to the second robotic arm 360, and the output axis of the second robotic arm joint output end is perpendicular to the length direction of the first robotic arm 340. One end of the second robotic arm 360 is fixedly connected to the middle of the second robotic arm joint 350, and the output axis of the second robotic arm joint output end is perpendicular to the length direction of the second robotic arm 360. The other end of the second robotic arm 360 is fixedly connected to the output end of the third robotic arm joint 370, and the output axis of the third robotic arm joint output end is perpendicular to the length direction of the second robotic arm 360. The third robotic arm joint 370 is fixedly connected to the output end of the fourth robotic arm joint 380, and the output axis of the fourth robotic arm joint 380 coincides with the length direction of the third robotic arm joint 370. The gripper 400 is fixedly connected to the fourth robotic arm joint 380.

[0071] The base 310 refers to the basic support structure of the robotic arm, which can be made of cast steel or high-strength aluminum alloy. Its purpose is to provide a stable mounting foundation for the entire robotic arm and prevent structural instability due to vibration or uneven load during handling. The rotating platform 320 can be understood as the mechanism that enables horizontal rotation. It can be implemented using a slewing bearing or bearings in conjunction with a rotary drive device. Its purpose is to enable the entire robotic arm to rotate 360 ​​degrees in the horizontal plane, expanding the working coverage area. The first robotic arm joint 330 refers to the joint that drives the first robotic arm 340 to move in the vertical plane. The joint, which can be implemented using a servo motor in conjunction with a reducer or a hydraulic cylinder, aims to achieve height adjustment in the vertical plane, facilitating obstacle avoidance in narrow environments. The second robotic arm joint 350 is installed at one end of the first robotic arm 340 to drive the second robotic arm 360, and it can adopt the same structure as the first robotic arm joint. The fourth robotic arm joint 380 can be understood as the end joint that controls the posture of the gripper 400. It can be implemented using a stepper motor in conjunction with a harmonic reducer, and its purpose is to perform precise rotational alignment and improve the posture control accuracy of the gripper when holding the rail.

[0072] Specifically, the solution of this application provides a stable support base by fixing the base 310 to the middle of the frame 100. The rotating platform 320 is rotatably mounted on the base 310 to achieve 360-degree horizontal rotation to expand the working coverage. The first robotic arm joint 330 is mounted on the rotating platform 320 and connected to the vertical axis to drive the first robotic arm 340 to swing in the vertical plane to achieve height adjustment. The other end of the first robotic arm 340 is vertically connected to the output end of the second robotic arm joint 350, so that the first robotic arm 340 can bend in another plane to enhance the folding ability. One end of the second robotic arm 360 is vertically connected to the middle of the second robotic arm joint 350 to provide an independent rotation fulcrum to achieve fine trajectory planning. The other end of the second robotic arm 360 is vertically connected to the third robotic arm joint 370 to ensure smooth motion transmission. The third robotic arm joint 370 and the fourth robotic arm joint 380 are coaxially connected to achieve precise end rotation. Finally, the gripper 400 is fixedly connected to the fourth robotic arm joint 380, so that the gripper can be flexibly positioned in three-dimensional space, thereby stably gripping the rail in a narrow environment and reducing the risk of overturning.

[0073] As a preferred embodiment, the solution of this application is specifically implemented as follows: the base 310 adopts an integral casting structure of ductile iron; the rotating platform 320 adopts a cross roller bearing and a rotary drive device to achieve the rotation function; the first robotic arm joint 330 adopts a servo motor and an RV reducer for drive; the first robotic arm 340 is made of aluminum alloy tubing to balance strength and lightweight; the second robotic arm joint 350 adopts a dual-output shaft servo motor to drive the first robotic arm 340 and the second robotic arm 360 respectively; the second robotic arm 360 is made of carbon fiber composite material to reduce motion inertia; the third robotic arm joint 370 adopts a high-precision rotary encoder to monitor position; the fourth robotic arm joint 380 adopts a harmonic reducer and a stepper motor to achieve precise angle control; and the gripper 400 adopts an adaptive gripping mechanism to ensure reliable gripping of rails of different specifications.

[0074] Through the above solution, this application enables flexible adjustment of the gripper position during rail handling in special environments such as narrow working well openings, significantly expanding the operating range and improving positioning accuracy, effectively reducing the risk of equipment overturning and operational safety hazards.

[0075] In special environments such as narrow wellheads, the handling and traction of rails presents significant challenges and risks. Traditional rail handling equipment is typically large, making it difficult to operate flexibly in confined spaces. Furthermore, it lacks effective anti-tipping measures, making it prone to tipping over during handling due to rail imbalance, resulting in equipment damage and personnel injuries. In addition, traditional equipment often requires close-range manual operation, posing safety hazards and proving inconvenient. While some embodiments of this application propose auxiliary structures to enhance trolley stability, in practice, when the trolley is handling rails, the uneven weight distribution of the rails and the lack of additional support points make it susceptible to tipping over due to uneven tracks or limited operating space, leading to safety hazards and equipment damage.

[0076] like Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown, this application further proposes that the anti-tipping rail transport and traction trolley also includes an auxiliary structure 500. The auxiliary structure 500 includes a support arm 510, a support arm extension structure 520, and a support leg structure 530. The support arm extension structure 520 is mounted on the frame 100 and is connected to the support arm 510. It is used to adjust the support arm 510 to move away from the frame 100 or to adjust the angle between the support arm 510 and the forward direction of the frame 100. The support leg structure 530 is connected to the end of the support arm 510 away from the support arm extension structure 520 and is used to support the frame 100 on the rail or track bed.

[0077] In practical applications, the support arm 510 refers to a rigid structural component used to extend the support point. It can be implemented using a frame structure welded from metal tubing or sheet metal. Its purpose is to extend the support point outward from the frame 100 to expand the support range and adapt to different track spacings. The support arm extension structure 520 can be understood as a mechanism for dynamically adjusting the position and angle of the support arm 510. It can be implemented using a hydraulic cylinder, electric push rod, or gear and rack transmission device. Its purpose is to flexibly adjust the extension distance and direction of the support arm 510 according to the working environment, avoiding the inability to effectively deploy the support point due to space limitations. Specifically, the support leg structure 530 refers to a component that provides ground or track contact support. It can be implemented using telescopic outriggers in conjunction with elastic pads or wheeled bracket structures. Its purpose is to reliably share the load of the frame 100 and form additional support points, effectively offsetting unbalanced torques during transportation.

[0078] Specifically, the support arm extension structure 520, through its adjustment function, enables the support arm 510 to be dynamically positioned away from the frame 100 or adjusted to the angle with the direction of travel according to track conditions and space constraints, thereby ensuring that the support point can be effectively deployed in narrow environments. The support leg structure 530 is then connected to the far end of the support arm 510 and supported on the track or ballast bed, forming a stable support system by sharing the load of the frame 100, effectively offsetting the lateral moment caused by uneven weight distribution during rail handling, and preventing the trolley from tipping over. This design enables the auxiliary structure 500 to form an overall stable frame with the frame 100 and the traveling device 200, strengthening the rigidity of the equipment during dynamic operations and ensuring smooth operation of the equipment in special environments such as narrow well openings.

[0079] As a specific implementation, the support arm 510 can be a telescopic frame structure made of high-strength aluminum alloy, the length of which can be flexibly adjusted according to the track width; the support arm extension structure 520 can be a combination mechanism including an electric push rod and a rotary motor, the electric push rod controlling the extension distance of the support arm 510, and the rotary motor controlling the angle between it and the forward direction of the frame 100; the support leg structure 530 can be an adjustable height support leg with a rubber buffer pad to ensure stable contact on the track bed and adapt to uneven surfaces.

[0080] Through the above solution, this application effectively solves the risk of overturning caused by uneven weight distribution or uneven track when the trolley is transporting steel rails, significantly improves the stability of equipment and operational safety in narrow working environments, and avoids equipment damage and personnel safety hazards caused by lack of support points.

[0081] In special environments such as narrow working well openings, the handling and traction of rails presents significant challenges and risks. Traditional rail handling equipment is typically large, making it difficult to operate flexibly in confined spaces. Furthermore, it lacks effective anti-tipping measures, making it prone to tipping over due to rail imbalance during handling, leading to equipment damage and personnel injuries. In addition, traditional equipment often requires close-range manual operation, posing safety hazards and proving inconvenient. While some embodiments of this application propose a support arm extension structure to adjust the movement of the support arm away from the chassis or to adjust the angle between the support arm and the chassis's forward direction, its implementation suffers from a lack of precise extension and rotation control mechanisms. This results in an inability to flexibly adapt to track changes in confined working environments, leading to unstable support and impacting the overall stability and operational safety of the equipment.

[0082] To address this, this application further proposes a support arm extension structure 520 including a mounting base 521, a guide member 522, an extension drive 523, and a rotation drive 524. The guide member 522 has the same guiding direction as the sliding direction of the support arm 510. The guide member 522 is rotatably mounted on the mounting base 521. The support arm 510 is slidably connected to the guide member 522. The extension drive 523 is connected to the support arm 510 and is used to control the support arm 510 to slide along the guide member 522. The rotation drive 524 is connected to the guide member 522 and is used to control the guide member 522 to rotate around the rotation center of the guide member 522 and the mounting base 521. The rotation drive can be a worm gear drive.

[0083] Among them, the mounting base 521 refers to the fixed foundation unit of the support arm extension structure, which can be made of cast steel or welded steel structure, and its purpose is to provide a stable mounting platform to resist displacement caused by external vibration; the guide 522 can be understood as the track assembly that guides the sliding of the support arm 510, which can be made of linear guide rail or dovetail groove structure, and its purpose is to ensure that the support arm 510 moves smoothly in a predetermined direction and prevent jamming; the extension drive 523 refers to the power unit that controls the extension action of the support arm 510, which can be made of hydraulic cylinder or electric push rod, and its purpose is to achieve automated and precise positioning of the support arm 510; the rotation drive 524 can be understood as the power unit that adjusts the angle of the support arm 510, which can be made of servo motor and gear transmission mechanism, and its purpose is to dynamically adjust the angle between the support arm 510 and the forward direction of the frame 100 to adapt to changes in track curvature and space constraints.

[0084] Specifically, the solution of this application anchors the entire structure to the frame 100 via the mounting base 521, providing stable support for subsequent components. The guide member 522 is rotatably mounted on the mounting base 521, forming a rotatable sliding reference surface. The sliding connection between the support arm 510 and the guide member 522 ensures that its movement trajectory strictly follows the guiding direction. The extension drive 523 acts directly on the support arm 510, driving it to slide linearly along the guide member 522 to achieve the extension function. The rotation drive 524 acts on the guide member 522, controlling the rotation of the guide member 522 around the rotation center, thereby driving the support arm 510 to adjust the angle between itself and the forward direction of the frame 100. The above components form a dual-degree-of-freedom control system. The independent control of the extension drive 523 and the rotation drive 524 enables the support arm 510 to simultaneously achieve radial extension and angular adjustment, thereby dynamically optimizing the support position and maintaining the stability of the equipment's center of gravity when the track surface is uneven or the track layout changes.

[0085] As a specific implementation method, the solution of this application is implemented as follows: The mounting base 521 is an integrally cast steel base, which is fixed to the side beam of the frame 100 by bolts; the guide member 522 is specifically a rectangular square tube, and its guide rail direction is consistent with the extension direction of the support arm 510; the support arm 510 is inserted into the rectangular square tube to form a sliding fit, and two racks are provided on the top of the support arm 510, which are opposite and parallel to each other; the extension drive 523 adopts a structure in which the motor drives the gear, and the gear meshes with the rack. In order to improve the force distribution, an auxiliary gear can be added. The auxiliary gear meshes with the gear driven by the motor, and at the same time, the auxiliary gear meshes with one of the two racks, and the gear driven by the motor meshes with the other of the two racks. The rotation drive 524 adopts a worm gear mechanism, in which the worm is driven by a servo motor, and the worm gear is fixedly connected to the rotation shaft of the guide member 522. The self-locking characteristic of the worm gear is used to ensure the stability after angle adjustment.

[0086] Through the above technical solution, the robotic arm of this application adopts a multi-degree-of-freedom robotic arm body mounted on the upper part of the flatbed, giving the robotic arm flexible multi-directional movement and rotation capabilities. In confined working environments, it achieves precise extension and angle adjustment of the support arm 510, effectively adapting to changes in track curvature and terrain undulations, significantly improving the support stability of the equipment during rail transport, avoiding the risk of equipment overturning due to unstable support, while reducing the need for manual intervention and ensuring the safety of operators. The end effector of the robotic arm is equipped with a gripping tool, including an openable gripper and a gripping cylinder. The gripping cylinder drives the gripper to precisely open and close, ensuring a firm grip or release of the rail. The drive unit includes a motor, a reducer, and a transmission mechanism. After the motor is increased in speed and reduced in torque by the reducer, the power is efficiently transmitted to the robotic arm body and gripping tool through the transmission mechanism, ensuring its precise and powerful operation.

[0087] Specifically, in some of the embodiments described above in this application, a support leg structure is proposed to support the frame. However, in its implementation, the support leg structure lacks high adaptability and autonomous movement capability, resulting in unstable support in narrow spaces or on uneven tracks. It is prone to the risk of equipment overturning due to local suspension. At the same time, it cannot assist the trolley in fine-tuning its position and requires manual intervention, which increases the complexity of operation and safety hazards.

[0088] like Figure 7As shown, this application further proposes a support leg structure 530 including an adjustable height support leg 531, a foot bracket 532, a drive wheel 533, and a drive wheel motor 534. One end of the adjustable height support leg 531 is connected to the end of the support arm 510 away from the support arm extension structure 520, and the other end of the adjustable height support leg 531 is hinged to the middle of one side of the foot bracket 532 by a pin. The drive wheel 533 is mounted on the foot bracket 532, and the drive wheel motor 534 is fixedly mounted on the foot bracket 532. The output end of the drive wheel motor 534 is connected to the drive wheel 533 and is used to drive the drive wheel 533 to rotate.

[0089] Among them, the adjustable height outrigger 531 refers to a support component that can dynamically adjust its effective length. It can be implemented using a hydraulic telescopic rod, a threaded adjusting rod, or a pneumatic telescopic rod. Its purpose is to adapt to changes in the height of the track surface and eliminate local suspension caused by uneven track. The pin hinge can be understood as a connection structure that allows relative rotation. It can be implemented using a ball joint, universal joint, or ordinary hinge. Its purpose is to enable the outrigger bracket 532 to automatically adjust the pitch angle according to the inclination of the track surface, ensuring that the outrigger bracket 532 is in close contact with the track surface. The drive wheel 533 is a moving wheel installed on the outrigger bracket 532. For example, it can be a rubber tire, a metal wheel, or a treaded drive wheel. Its purpose is to provide independent movement capability and assist the trolley in fine-tuning its position.

[0090] Specifically, the solution of this application extends the support point to the outside of the frame through the adjustable height support leg 531, optimizing the support range coverage and avoiding the risk of center of gravity shift due to the support points being too close; the pin hinge structure enables the support leg bracket 532 to automatically adapt to the unevenness of the track surface, eliminating local suspension and significantly improving support stability; the drive wheel 533 provides autonomous movement capability under the drive of the drive wheel motor 534, enabling the support leg structure 530 to assist the trolley in making precise position adjustments without relying on the main travel device, especially reducing the need for manual operation in narrow spaces; the drive wheel motor 534 is fixed to the support leg bracket 532 and directly connected to the drive wheel 533, simplifying the power transmission path and ensuring a smooth and reliable movement process.

[0091] As a specific implementation method, the solution of this application is implemented as follows: the adjustable height outrigger 531 can be a hydraulic telescopic rod, whose extension stroke can be automatically adjusted according to the height difference of the track; the pin hinge can be a ball joint connection, allowing the outrigger bracket 532 to rotate freely in multiple directions; the drive wheel 533 can be a rubber tire with anti-slip treads, installed at the bottom of the outrigger bracket 532, and the drive wheel motor 534 adopts a DC geared motor, which is directly connected to the drive wheel 533 through a coupling.

[0092] Through the above scheme, the support leg structure 530 can automatically adjust its height and angle on uneven tracks, significantly improving support stability; at the same time, the autonomous movement capability of the drive wheel 533 enables the trolley to make precise position adjustments in narrow spaces without human intervention, reducing operational complexity and safety hazards.

[0093] Specifically, in some of the embodiments described above in this application, a support leg structure is proposed to provide stable support and mobility on the track or ballast bed. However, in its implementation, when multiple drive wheels are driven by independent motors or lack a synchronization mechanism, asynchronous rotation is likely to occur, causing the trolley to move unsteadily in a narrow working environment, leading to the risk of vehicle body swaying or overturning. In particular, the problem of unstable support is exacerbated by load changes during rail handling.

[0094] Such as 3 and Figure 7 As shown, this application further proposes that the number of drive wheels 533 is three, and the three drive wheels 533 are sequentially installed on the support bracket 532. The support leg structure 530 also includes drive wheel drive turbines and drive wheel drive worms. Drive wheel drive turbines are fixedly installed on each of the three drive wheels 533. The output end of the drive wheel motor 534 is connected to the drive wheel drive worm. The drive wheel drive worm meshes with the drive wheel drive turbines on the three drive wheels 533 at the same time and is used to drive the three drive wheels 533 to rotate synchronously and in the same direction.

[0095] Among them, the drive wheel 533 refers to the wheel component in the support leg structure that enables movement. It can be implemented using a rubber tire or a metal hub covered with wear-resistant material, and its purpose is to provide contact rolling capability with the track or track bed. The drive wheel drive turbine can be understood as a transmission element fixed to the end of the drive wheel shaft. It can be implemented using a turbine structure molded from bronze alloy or engineering plastic, and its purpose is to transmit rotational power to the drive wheel through meshing. The drive wheel drive worm refers to a helical transmission rod that cooperates with the turbine. It can be made of quenched alloy steel and has a single-start or multi-start helical tooth profile. Its purpose is to drive multiple output ends through a single input source and use self-locking characteristics to prevent reverse rotation. The drive wheel motor 534 can be understood as an electric drive unit that provides prime mover power. It can be implemented using a DC brushless motor or a stepper motor with a reduction mechanism, and its purpose is to convert electrical energy into precise and controllable rotational output.

[0096] Specifically, the solution of this application directly connects the output end of the drive wheel motor 534 to the drive wheel drive worm, so that the rotational motion of the worm is simultaneously transmitted to the drive wheel drive turbines fixedly installed on the three drive wheels 533. Due to the forced synchronization characteristic of the meshing relationship between the worm and multiple turbines, the three drive wheels 533 always maintain the same speed and direction of rotation during power transmission. At the same time, the inherent self-locking mechanism of the worm gear transmission prevents the drive wheels 533 from rotating unexpectedly due to external forces when stopped. The linear arrangement of the three drive wheels 533 along the support bracket 532 forms a triangular support surface, which evenly distributes the load pressure during rail handling to each contact point, effectively suppressing the local stress concentration phenomenon caused by track gap or sudden load changes, thereby ensuring that the support leg structure maintains a stable movement trajectory during extension or retraction.

[0097] As a preferred embodiment, the solution of this application is specifically implemented as follows: the drive wheel 533 is specifically a rubber composite wheel with annular anti-slip grooves, the drive wheel drive turbine is specifically a bronze module 2 turbine fixed to the shaft end of the drive wheel 533, the drive wheel drive worm is specifically a single-headed helical alloy steel worm, and the drive wheel motor 534 is specifically a DC brushless motor with an integrated planetary reducer. The output end of the motor is directly connected to the drive wheel drive worm through a coupling, so that the drive wheel drive worm can maintain a stable meshing state with the drive wheel drive turbines on the three drive wheels 533 at the same time.

[0098] Through the above solution, this application effectively eliminates the problem of vehicle body swaying caused by asynchronous wheel movement during the movement of the support leg structure in special environments such as narrow working well openings. It significantly improves the stability of the anti-tipping rail handling and traction trolley under conditions of uneven track or sudden load changes, avoids the risk of overturning caused by the difference in power at the support points, and thus ensures the dynamic balance and stability of the trolley as a whole in rail handling operations.

[0099] Specifically, in some of the embodiments described above in this application, a control device is proposed to realize remote operation. However, in the process of its implementation, manual close-range operation has safety hazards and inconvenience. Especially in special environments such as narrow working well openings, operators are easily exposed to dangerous areas where equipment may overturn or rails may move, which may increase the risk of personnel injury. At the same time, traditional equipment lacks remote control capabilities, which limits the flexibility and safety of operation in complex spaces.

[0100] In this regard, this application further proposes that the aforementioned anti-tipping rail transport and traction trolley also includes a control device, which includes a wireless signal transmission module. The wireless signal transmission module is used to receive user remote control signals to realize remote control of the anti-tipping rail transport and traction trolley.

[0101] Among them, the control device refers to the core control unit used for centralized processing and execution of operation instructions. It can be implemented using a programmable logic controller (PLC) or an embedded microcontroller. Its purpose is to coordinate the actions of various actuators of the vehicle. The wireless signal transmission module refers to the component that establishes a wireless communication link. It can be implemented using a Bluetooth communication module, a Wi-Fi transceiver, or a radio frequency signal transceiver unit. Its purpose is to ensure that operation instructions are transmitted stably within a safe distance and to avoid the limitation of physical connection on operation in narrow spaces.

[0102] Specifically, the solution of this application receives operation command signals from the user's remote control in real time through a wireless signal transmission module. The signal is decoded and logically processed by the control device. The control device generates corresponding drive signals based on the processing results, and then synchronously controls the movement of the walking drive components of the walking device, the joints of the folding robotic arm, and the gripper, thereby forming a complete closed-loop control process from command input to mechanical response. This allows the operator to complete the entire process of rail handling and traction from a safe location away from the rail operation area.

[0103] As a specific embodiment, the solution of this application is implemented as follows: the wireless signal transmission module specifically adopts a 2.4GHz frequency band radio frequency communication unit, and the control device specifically adopts a microcontroller based on the ARM Cortex-M4 core. The microcontroller is pre-loaded with a signal parsing algorithm and an action control program. When the operator operates the remote control at the wellhead platform 10 meters away from the trolley, the wireless signal transmission module captures the remote control command and transmits it to the control device. After parsing, the control device outputs a control signal to the drive motor of the walking drive component, and at the same time triggers the rotation platform of the folding robotic arm to rotate, so that the gripper accurately grips the rail and completes the traction action.

[0104] Through the above solution, in narrow working wellhead environments, operators can precisely control the anti-tipping rail transport and traction trolley without entering the track area, effectively avoiding the risk of personnel injury caused by equipment tipping or accidental rail movement, while significantly improving operational safety and convenience in confined spaces. Simultaneously, the electric remote control system provides the trolley with remote control capabilities. The remote controller is ergonomically designed, allowing operators to easily send various operating commands. The receiving device is equipped with an advanced signal receiving chip, capable of stably receiving remote controller signals and transmitting them to the control system in real time. The control system, as the trolley's intelligent hub, quickly analyzes commands and precisely controls the wheel assembly's speed and direction, the movement angles of each joint of the robotic arm, and the gripping force and opening / closing degree of the grasping tool, achieving automated and intelligent control of the trolley's overall movements.

[0105] This utility model of an anti-tipping rail traction trolley has multiple advantages. First, the anti-tipping device effectively prevents the trolley from tipping over in narrow working well openings, significantly improving operational safety and stability. Second, the robotic arm flexibly grasps the rails, achieving precise handling and traction, significantly improving operational efficiency. Third, the electric remote control design allows operators to remotely control the trolley from a safe location, avoiding the risks of close-range operation, and providing convenient and comfortable operation. Fourth, the entire set of equipment has a compact structure and integrated functions, is highly adaptable to special environments such as narrow working well openings, and has high practical value.

[0106] This utility model of an anti-tipping rail traction trolley, through its innovative structural design and advanced electric remote control technology, provides an efficient, safe, and convenient solution for rail handling and traction operations in narrow working well openings, and has significant technical advantages and broad application prospects.

[0107] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A rail handling and traction trolley for preventing overturning, characterized in that, include: Frame (100); A traveling device (200); the traveling device (200) is located below the frame (100) and is used to drive the frame (100) to travel along the track. The traveling device (200) includes a traveling drive component (210) and a traveling component (220). The traveling drive component (210) is installed at the bottom of the frame (100). The output end of the traveling drive component (210) is connected to the traveling component (220). The traveling component (220) includes a traveling wheel bracket (221), a traveling wheel (222), a first anti-tipping wheel (223), and a second anti-tipping wheel (224). The upper end of the traveling wheel bracket (221) is fixedly connected to the bottom of the frame (100). The traveling wheel (222) is installed on the upper part of the traveling wheel bracket (221), and the traveling wheel (222) is mounted on the upper part of the traveling wheel bracket (221). 22) The wheel surface of the wheel is in contact with the tread surface of the rail head. The first anti-overturning wheel (223) and the second anti-overturning wheel (224) are detachably mounted on the lower part of the traveling wheel bracket (221). The first anti-overturning wheel (223) and the second anti-overturning wheel (224) are arranged opposite to each other. The first anti-overturning wheel (223) is located below the lower jaw surface on one side of the rail head, and the second anti-overturning wheel (224) is located below the lower jaw surface on the other side of the rail head. A clearance is reserved between the first anti-overturning wheel (223) and the second anti-overturning wheel (224) for the rail web to pass through the ground. A clearance is reserved between the first anti-overturning wheel (223) and the traveling wheel (222) for the rail head to pass through the ground. A clearance is reserved between the second anti-overturning wheel (224) and the traveling wheel (222) for the rail head to pass through the ground. A folding robotic arm (300), one end of which is fixedly mounted on the upper part of the frame (100); and gripper (400), which is fixedly mounted on the other end of the folding robotic arm (300) for gripping the rail to be transported or pulled.

2. The anti-tipping rail handling and traction trolley according to claim 1, characterized in that, The walking wheel bracket (221) includes a first support plate (221-1), a second support plate (221-2), and a connecting plate (221-3). The first support plate (221-1) and the second support plate (221-2) are parallel and spaced apart. The connecting plate (221-3) is disposed on the upper part between the first support plate (221-1) and the second support plate (221-2). One end of the connecting plate (221-3) is fixedly connected to the upper end of the first support plate (221-1), and the other end of the connecting plate (221-3) is fixedly connected to the upper end of the second support plate (221-2). An installation groove (221-11) is provided on the side wall of the first support plate (221-1). The walking device (200) also includes an overturning wheel mounting assembly (230), wherein the first anti-overturning wheel (223) is detachably mounted on the walking wheel bracket (221) via the overturning wheel mounting assembly (230); The overturning wheel mounting assembly (230) includes a slide (231) and a locking pin (232). The slide (231) is slidably mounted in the mounting groove (221-11), and the locking pin (232) is mounted on the traveling wheel bracket (221) and is used to lock the slide (231) on the traveling wheel bracket (22-1).

3. The anti-tipping rail handling and traction trolley according to claim 2, characterized in that, The second support plate (221-2) has the same structure as the first support plate (221-1), and the second anti-tipping wheel (224) is detachably mounted on the walking wheel bracket (221) via the overturning wheel mounting assembly (230).

4. The anti-tipping rail handling and traction trolley according to claim 1, characterized in that, The walking drive component (210) includes a drive motor (211), a first drive shaft (212), and a second drive shaft (213). The drive motor (211) is fixedly installed at the bottom of the frame (100). The output end of the drive motor (211) is connected to one end of the first drive shaft (212) and one end of the second drive shaft (213), respectively. The other end of the first drive shaft (212) and the other end of the second drive shaft (213) are respectively connected to the corresponding walking wheels (222).

5. The anti-tipping rail handling and traction trolley according to claim 1, characterized in that, The folding robotic arm (300) includes a base (310), a rotating platform (320), a first robotic arm joint (330), a first robotic arm (340), a second robotic arm joint (350), a second robotic arm (360), a third robotic arm joint (370), and a fourth robotic arm joint (380). The base (310) is fixedly installed in the middle of the frame (100). The rotating platform (320) is rotatably installed on the base (310). The first robotic arm joint (330) is installed on the rotating platform (320). The output end of the first robotic arm joint (330) is fixedly connected to one end of the first robotic arm (340), and the output axis of the output end of the first robotic arm joint is perpendicular to the length direction of the first robotic arm (340). The other end of the first robotic arm (340) is connected to the output end of the second robotic arm joint (350). The two robotic arms are fixedly connected, and the output axis of the output end of the second robotic arm joint is perpendicular to the length direction of the first robotic arm (340). One end of the second robotic arm (360) is fixedly connected to the middle part of the second robotic arm joint (350), and the output axis of the output end of the second robotic arm joint is perpendicular to the length direction of the second robotic arm (360). The other end of the second robotic arm (360) is fixedly connected to the output end of the third robotic arm joint (370), and the output axis of the output end of the third robotic arm joint is perpendicular to the length direction of the second robotic arm (360). The output end of the third robotic arm joint (370) is fixedly connected to the output end of the fourth robotic arm joint (380), and the output axis of the fourth robotic arm joint (380) coincides with the length direction of the third robotic arm joint (370). The gripper (400) is fixedly connected to the fourth robotic arm joint (380).

6. The anti-tipping rail handling and traction trolley according to claim 1, characterized in that, The rail transport and traction trolley also includes an auxiliary structure (500), which includes a support arm (510), a support arm extension structure (520), and a support leg structure (530). The support arm extension structure (520) is mounted on the frame (100) and connected to the support arm (510). It is used to adjust the support arm (510) to move away from the frame (100) or to adjust the angle between the support arm (510) and the forward direction of the frame (100). The support leg structure (530) is connected to the end of the support arm (510) away from the support arm extension structure (520) and is used to support the frame (100) on the rail or track bed.

7. The anti-tipping rail handling and traction trolley according to claim 6, characterized in that, The support arm extension structure (520) includes a mounting base (521), a guide (522), an extension drive (523), and a rotation drive (524). The guide direction of the guide (522) is the same as the sliding direction of the support arm (510). The guide (522) is rotatably mounted on the mounting base (521). The support arm (510) is slidably connected to the guide (522). The extension drive (523) is connected to the support arm (510) and is used to control the support arm (510) to slide along the guide (522). The rotation drive (524) is connected to the guide (522) and is used to control the guide (522) to rotate around the rotation center of the guide (522) and the mounting base (521).

8. The anti-tipping rail handling and traction trolley according to claim 6, characterized in that, The support leg structure (530) includes an adjustable height support leg (531), a foot bracket (532), a drive wheel (533), and a drive wheel motor (534). One end of the adjustable height support leg (531) is connected to the end of the support arm (510) away from the support arm extension structure (520). The other end of the adjustable height support leg (531) is hinged to the middle of one side of the foot bracket (532) by a pin. The drive wheel (533) is mounted on the foot bracket (532). The drive wheel motor (534) is fixedly mounted on the foot bracket (532). The output end of the drive wheel motor (534) is connected to the drive wheel (533) and is used to drive the drive wheel (533) to rotate.

9. The anti-tipping rail handling and traction trolley according to claim 8, characterized in that, The number of drive wheels (533) is three, and the three drive wheels (533) are sequentially mounted on the support bracket (532). The support leg structure (530) also includes a drive wheel drive turbine and a drive wheel drive worm. The drive wheel drive turbine is fixedly mounted on each of the three drive wheels (533). The output end of the drive wheel motor (534) is connected to the drive wheel drive worm. The drive wheel drive worm meshes with the drive wheel drive turbine on the three drive wheels (533) at the same time and is used to drive the three drive wheels (533) to rotate synchronously and in the same direction.

10. The anti-tipping rail handling and traction trolley according to claim 1, characterized in that, The anti-tipping rail transport and traction trolley also includes a control device, which includes a wireless signal transmission module. The wireless signal transmission module is used to receive signals from the user's remote control to realize remote control of the anti-tipping rail transport and traction trolley.

Images