A kind of grabber lifting installation device for subway tunnel evacuation platform

Abstract

The utility model provides a kind of for subway tunnel evacuation platform's gripper lifting installation device, including frame, lifting feeding mechanism, gripper feeding mechanism, material guiding mechanism and guiding mechanism.After auxiliary installation device reaches target place, material is placed at the below of gripper feeding mechanism, gripper feeding mechanism conveys material to lifting feeding mechanism, and lifting feeding mechanism conveys material to installation target point.This auxiliary installation device can also be cooperated with a variety of feeding equipment, and feeding equipment conveys material to first feeding mechanism, which can realize automatic feeding function and realize full-automatic seamless feeding.This auxiliary installation device has high degree of automation, and is convenient for staff to use in tunnel material conveying;At the same time, this auxiliary installation device is suitable for narrow environment in tunnel, improves the installation and transportation efficiency of tunnel evacuation platform steel beam and platform plate, and reduces the difficulty of material conveying.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction equipment technology, specifically to a grab lifting installation device for a subway tunnel evacuation platform. Background Technology

[0002] Urban rail transit systems refer to transportation systems that use vehicles running on fixed tracks in cities, primarily for urban passenger transport. Urban rail transit systems typically include subways, light rail, and modern trams. Subways are generally located in underground tunnels. To improve safety within tunnels and facilitate passenger evacuation in emergencies, evacuation platforms must be installed inside the tunnels. Construction of evacuation platforms within tunnels requires installing components onto the tunnel walls. Due to the large number of components—an average of 600 to 700 components per kilometer of tunnel—each steel beam component weighs approximately 36 kg, and the evacuation platform panels weigh 100-150 kg. If components are installed manually, workers would need to lift and hold them for extended periods, leading to fatigue. This not only makes the installation process cumbersome and inefficient but also time-consuming, labor-intensive, and results in high labor costs.

[0003] Utility model patent CN 220376183 U provides an auxiliary installation device for an evacuation platform, including at least one walking mechanism and at least one hoisting mechanism. The top of the walking mechanism is provided with a hoisting beam, which is set at an angle to the walking direction of the walking mechanism. The hoisting mechanism is slidably connected to the hoisting beam.

[0004] However, CN 220376183 U uses a hoisting mechanism for material feeding, which has a low degree of automation and requires workers to connect the components to the hoisting mechanism, making the process cumbersome. To improve the installation and transportation efficiency of the steel beams and platform panels of the tunnel evacuation platform, it is necessary to design and manufacture a small installation and transportation device that can operate inside the tunnel. Utility Model Content

[0005] According to one aspect of this utility model, a grab lifting and installation device for a subway tunnel evacuation platform is provided, which can cooperate with a track to transport materials, including... The frame has several track wheels at the bottom that mate with the track. The lifting and feeding mechanism is located on one side of the second conveying channel and is configured to lift and convey materials. The gripper feeding mechanism is equipped with a gripper assembly that is driven to move. The gripper feeding mechanism is configured to grip materials and move them to the lifting feeding mechanism.

[0006] This invention provides a liftable gripper auxiliary installation device specifically designed for use in tunnels. The device features a chassis with track wheels at the bottom and a lifting and feeding mechanism and a gripper feeding mechanism mounted on the chassis to transport materials. The track wheels drive the chassis to move along the track. After the auxiliary installation device reaches the target location, materials are placed below the gripper feeding mechanism, which then transports the materials to the lifting feeding mechanism, which in turn transports them to the installation target point. This auxiliary installation device can also work in conjunction with various feeding devices. The feeding devices transport materials to the first feeding mechanism, achieving automatic feeding and fully automatic seamless feeding. This auxiliary installation device has a high degree of automation, facilitating material transport for workers in tunnels. Furthermore, it is highly adaptable to the narrow environment of tunnels, improving the installation and transport efficiency of tunnel evacuation platform steel beams and platform panels, and reducing the difficulty of material transport.

[0007] In some embodiments, the gripper feeding mechanism further includes a gantry frame, a first drive module, a second drive module, and a third drive module; The gantry frame is mounted on the upper surface of the vehicle frame. The first drive module is mounted on the gantry frame. The second drive module is mounted on the drive end of the first drive module. The third drive module is mounted on the drive end of the second drive module. The gripper assembly is mounted on the drive end of the third drive module.

[0008] Therefore, in the gripper feeding mechanism, the first gantry frame is used for suspension installation; the first drive module, the second drive module, and the third drive module are responsible for driving the gripper assembly to move in three dimensions within space, enabling the gripper assembly to grasp and release workpieces. During the operation of the gripper feeding mechanism, the first drive module, the second drive module, and the third drive module jointly drive the gripper assembly to approach and grasp the workpiece; then, the first drive module, the second drive module, and the third drive module jointly drive the first suction cup assembly to approach the loading mold plate and release the workpiece.

[0009] In some embodiments, the gripper assembly includes a gripper drive and two grippers, the two grippers being disposed at the drive end of the gripper drive.

[0010] Thus, by driving the two grippers to move closer or further apart through the gripper drive, the gripping or releasing is achieved.

[0011] In some embodiments, the gripper includes a mounting portion and a hook portion, the hook portion being located at the lower end of the mounting portion.

[0012] Therefore, the workpiece is grasped and positioned by the hook and claw.

[0013] In some embodiments, a gripper lifting and installation device for a subway tunnel evacuation platform further includes a material guiding mechanism, which is mounted on the frame and located below the gripper feeding mechanism.

[0014] Thus, the workpiece is released through the material guiding mechanism.

[0015] In some embodiments, the material guiding mechanism includes a storage rack, a material guiding slide rail, and a blocking component. The material guiding slide rail is located on one side of the storage rack, the storage rack has a discharge port communicating with the material guiding slide rail, and the blocking component is located at the discharge port.

[0016] Thus, the workpiece is stored in the storage rack, released on the guide rail, and the conveying of the workpiece is interrupted by the blocking component; when the workpiece is released to the end of the guide rail away from the storage rack, the gripper feeding mechanism grabs the workpiece.

[0017] In some embodiments, a grab lifting installation device for a subway tunnel evacuation platform further includes a guide mechanism located at the bottom of the frame, on one side of one of the track wheels, and the guide mechanism abutting against the track.

[0018] Therefore, the guiding mechanism can guide the movement direction of the auxiliary installation device, ensuring that the auxiliary installation device can move along the track.

[0019] In some embodiments, the guiding mechanism includes a swing plate, a swing guide wheel, a mounting base, and two symmetrically distributed guide wheel assemblies. The swing plate is mounted to the side of the frame via a hinge assembly. The swing guide wheel is located at the lower end of the swing plate. The mounting base is located at the bottom of the swing plate. The two guide wheel assemblies are respectively located on both sides of the bottom of the mounting base. The swing guide wheel abuts against the upper surface of the track, and the working ends of the two guide wheel assemblies abut against the two sides of the track respectively.

[0020] Therefore, the oscillating guide wheel abuts against the upper surface of the track, and the vertical gravity of the oscillating guide wheel allows the mechanism to make adaptive deflection in the horizontal plane, ensuring constant contact between the guide wheel assembly and the side of the track, thereby ensuring the guiding operation of the guide wheel assembly; the symmetrically distributed guide wheel assembly forms a two-way constraint mechanism, and when there is a lateral offset from the track, this structure can ensure that the guiding mechanism can achieve self-correction in a powerless state, ensuring the stable operation of the guiding mechanism.

[0021] In some embodiments, the guide wheel assembly includes a mounting block, a mounting rod, a buffer spring, and a guide wheel. The mounting block is disposed on a mounting base, the mounting rod is disposed on the mounting block, the buffer spring is sleeved on the mounting rod and acts between the mounting block and the mounting rod, and the guide wheel is rotatably disposed at the lower end of the mounting rod, with the guide wheel abutting against the side of the track.

[0022] Therefore, the guide wheel assembly adopts an elastic connection design, and the dynamic compensation mechanism of the buffer spring can adaptively adjust the undulation of the contact surface, effectively maintaining the operational stability of the guiding mechanism under complex working conditions. This structural design absorbs impact energy through multi-directional buffering, significantly reducing the dynamic load caused by track irregularities and ensuring that the guiding mechanism always maintains precise alignment. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of a grab lifting installation device for a subway tunnel evacuation platform according to one embodiment of the present invention.

[0024] Figure 2 for Figure 1 The diagram shows a top view of a grab handle lifting installation device for a subway tunnel evacuation platform.

[0025] Figure 3 for Figure 1 The diagram shows a three-dimensional structural schematic of the gripper feeding mechanism in a gripper lifting and installation device for a subway tunnel evacuation platform.

[0026] Figure 4 for Figure 1 The diagram shows a three-dimensional structural schematic of a grab lifting installation device for a subway tunnel evacuation platform.

[0027] Figure 5 for Figure 4 A magnified structural diagram of part A in the middle.

[0028] The diagram labels are as follows: a-material, 100-frame, 110-track wheel, 300-gripper feeding mechanism, 310-gantry frame, 320-first drive module, 330-second drive module, 340-third drive module, 350-gripper assembly, 351-gripper drive component, 352-gripper, 400-guide mechanism, 410-storage rack, 420-guide rail, 430-blocking assembly, 500-guide mechanism, 510-swing plate, 520-swing guide wheel, 530-mounting base, 540-guide wheel assembly, 541-mounting block, 542-mounting rod, 543-buffer spring, 544-guide wheel, 550-hinged assembly. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] Figure 1 , Figure 2This illustration schematically shows a lifting and auxiliary installation device for a subway tunnel evacuation platform according to one embodiment of the present invention. It is a mechanism specifically designed for lifting and auxiliary installation within tunnels. The auxiliary installation device includes a frame 100, a lifting and feeding mechanism 200, a gripper feeding mechanism 300, a guiding mechanism 400, and a guiding mechanism 500. The bottom of the frame 100 is provided with several track wheels 110 that cooperate with rails. The lifting and feeding mechanism 200 is located on the upper surface of the frame 100 and is configured to lift and transport material a. The gripper feeding mechanism 300 is mounted on the frame 100 and is located to one side of the lifting and feeding mechanism 200. The gripper feeding mechanism 300 is equipped with a driven gripper assembly 310 and is configured to grip material a and move it to the lifting and feeding mechanism 200. The material guiding mechanism 400 is mounted on the frame 100 and is located below the gripper feeding mechanism 300; the workpiece is released through the material guiding mechanism 400.

[0031] The guide mechanism 500 is located at the bottom of the frame 100 and is situated on one side of one of the track wheels 110. The guide mechanism 500 abuts against the track. The guide mechanism 500 is configured to guide the movement direction of the auxiliary installation device.

[0032] The frame 100 of this auxiliary installation device is equipped with track wheels 110 at the bottom, and a lifting and feeding mechanism 200 and a gripper feeding mechanism 300 are installed on the base frame to transport material a. The track wheels 110 drive the frame 100 to move on the track. After the auxiliary installation device arrives at the target location, material a is placed below the gripper feeding mechanism 300, which then transports material a to the lifting and feeding mechanism 200, which in turn transports material a to the installation target point.

[0033] In this embodiment, the frame 100 is provided with a panel, and the surface of the panel is covered with anti-slip material to ensure that the material does not slip during transportation.

[0034] Combination Figure 3 The gripper feeding mechanism 300 further includes a gantry frame 310, a first drive module 320, a second drive module 330, and a third drive module 340; the gantry frame 310 is disposed on the upper end surface of the frame 100, the first drive module 320 is disposed on the gantry frame 310, the second drive module 330 is disposed at the drive end of the first drive module 320, the third drive module 340 is disposed at the drive end of the second drive module 330, and the gripper assembly 350 is disposed at the drive end of the third drive module 340.

[0035] In the gripper feeding mechanism 300, the first gantry frame 310 is used for suspension installation; the first drive module 320, the second drive module 330, and the third drive module 340 are responsible for driving the gripper assembly 350 to move in three dimensions within space, enabling the gripper assembly 350 to grasp and release workpieces. During the operation of the gripper feeding mechanism 300, after the first drive module 320, the second drive module 330, and the third drive module 340 jointly drive the gripper assembly 350 to approach and grasp the workpiece, the first drive module 320, the second drive module 330, and the third drive module 340 jointly drive the first suction cup assembly to approach the loading mold plate and release the workpiece.

[0036] Among them, the first drive module 320 and the second drive module 330 are linear motors, and the third drive module 340 is a direct-drive electric cylinder.

[0037] Combination Figure 3 The gripper assembly 350 includes a gripper drive 351 and two grippers 352, with the two grippers 352 located at the drive end of the gripper drive 351. The gripper drive 351 drives the two grippers 352 to move closer or further apart, thereby achieving gripping or releasing.

[0038] Combination Figure 3 The gripper 352 includes a mounting portion and a hook portion, with the hook portion located at the lower end of the mounting portion. The hook portion is used to limit and grip the workpiece.

[0039] Combination Figure 4 The material guiding mechanism 400 includes a storage rack 410, a material guiding slide rail 420, and a blocking component 430. The material guiding slide rail 420 is located on one side of the storage rack 410. The storage rack 410 is provided with a discharge port that communicates with the material guiding slide rail 420. The blocking component 430 is located at the discharge port.

[0040] The workpiece is stored in the storage rack 410 and released on the guide rail 420. The conveying of the workpiece is blocked by the blocking component 430. When the workpiece is released to the end of the guide rail 420 away from the storage rack 410, the gripper feeding mechanism 300 grips the workpiece.

[0041] This auxiliary installation device is equipped with a manual system and a mechanical speed limiter to control the maximum speed of the trolley and ensure transportation safety. In other embodiments, this auxiliary installation device can also be equipped with an electric system, which is a variable speed motor that drives the track wheel 110 to rotate, thereby assisting the auxiliary installation device in providing speed selection under different working conditions.

[0042] In this embodiment, the lifting and feeding mechanism 200 is a lifting platform with translation function. This lifting platform is a common transportation machine in the field and will not be described in detail.

[0043] Combination Figure 4-5 The guiding mechanism 500 includes a swing plate 510, a swing guide wheel 520, a mounting base 530, and two symmetrically distributed guide wheel assemblies 540. The swing plate 510 is mounted to the side of the frame 100 via a hinge assembly 550. The swing guide wheel 520 is located at the lower end of the swing plate 510, and the mounting base 530 is located at the bottom of the swing plate 510. The two guide wheel assemblies 540 are respectively located on both sides of the bottom of the mounting base 530. The swing guide wheel 520 abuts against the upper surface of the track, and the working ends of the two guide wheel assemblies 540 abut against the two sides of the track. The guiding mechanism 500 can hold the track in place to prevent the trolley from tipping over when excessively heavy materials are placed on the right end.

[0044] Furthermore, the swing guide wheel 520 abuts against the upper surface of the track, and the vertical force of the swing guide wheel 520 allows the mechanism to make adaptive deflection in the horizontal plane, ensuring constant contact between the guide wheel assembly 540 and the side of the track, thereby ensuring the guiding operation of the guide wheel assembly 540; the symmetrically distributed guide wheel assemblies 540 form a two-way constraint mechanism, and when there is a lateral offset from the track, this structure can ensure that the guide mechanism 500 can achieve self-correction in a powerless state, ensuring the stable operation of the guide mechanism 500.

[0045] Combination Figure 4-5 The guide wheel assembly 540 includes a mounting block 541, a mounting rod 542, a buffer spring 543, and a guide wheel 544. The mounting block 541 is mounted on the mounting base 530, the mounting rod 542 is mounted on the mounting block 541, the buffer spring 543 is sleeved on the outside of the mounting rod 542, one end of the buffer spring 543 is fixed to the mounting block 541, and the other end of the buffer spring 543 acts on the end of the mounting rod 542. The guide wheel 544 is rotatably mounted on the lower end of the mounting rod 542, and the guide wheel 544 abuts against the side of the track.

[0046] The guide wheel assembly 540 adopts an elastic structure design, and through the dynamic compensation mechanism of the buffer spring 543, it can adaptively adjust the undulation of the contact surface, effectively maintaining the operational stability of the guide mechanism 500 under complex working conditions. This structural design absorbs impact energy through multi-directional buffering, significantly reducing the dynamic load caused by track irregularities and ensuring that the guide mechanism always maintains precise alignment.

[0047] In other embodiments, the auxiliary installation device may also be equipped with a lightweight mechanical braking mechanism and an adjustable limit mechanism to ensure good safety and stability during transportation and installation.

[0048] The braking system can be a lightweight mechanical braking mechanism, primarily mounted on the wheels, to ensure the trolley does not move unexpectedly when stationary. It features manual lever control with a self-locking function for easy and safe operation. In case of emergency, the worker can activate the emergency braking mechanism with a single button to immediately lock all wheels.

[0049] The chassis 100 is equipped with an adjustable limiting mechanism to ensure that the steel beams and platform plates do not slip or shift during transportation. The main structure of the limiting mechanism is a limiter, which can be adjusted according to the size of different materials to ensure that the loaded materials remain stable during transportation.

[0050] In other embodiments of this utility model, an energy recovery device may also be provided, including an energy recovery module, a central amplification module, and a terminal drive module. The energy recovery device can recover the energy loss of the power battery module by using electromagnetic induction between the solenoid and the fluctuating current around the power battery module to achieve energy recovery and reuse. The energy recovery module utilizes the electromagnetic induction between the solenoid and the power battery power device circuit to achieve initial energy recovery. The energy loss generates a changing magnetic flux, inducing an electromotive force inside the solenoid. The central amplification module further increases the energy level of the induced electromotive force at the energy recovery module, completing the core energy amplification. The terminal drive module further enhances the power supply capacity of the entire recovery device, improving its working efficiency.

[0051] In other embodiments of this utility model, a positioning system can be provided, including a positioning base station, a switch, a positioning tag system placed inside the target vehicle, an inertial navigation module, and an integrated management platform. The positioning method involves the positioning base station sending ultra-wideband signals and transmitting its own location information to the switch and the target vehicle. A wireless communication module receives information from the positioning base station and surrounding vehicles, and transmits the signals to an information processing module. The information processing module estimates the vehicle's position. The target vehicle then sends its own information to the positioning base station, thereby achieving positioning.

[0052] This auxiliary installation device can also work in conjunction with various feeding devices. The feeding device transports material 'a' to the first feeding mechanism 300, thus achieving automatic feeding and fully automatic seamless feeding. This auxiliary installation device facilitates the transportation of material 'a' in tunnels and has a high degree of automation. At the same time, this auxiliary installation device is highly adaptable to the narrow environment of tunnels, improving the installation and transportation efficiency of the tunnel evacuation platform steel beams and platform panels, and reducing the difficulty of transporting material 'a'.

[0053] The above are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and these all fall within the protection scope of this utility model.

Claims

1. A gripper lifting and installation device for a subway tunnel evacuation platform, capable of transporting materials (a) in conjunction with a track, characterized in that, include: The frame (100) has several track wheels (110) at the bottom that cooperate with the track; A lifting and feeding mechanism (200) is provided on one side of the second conveying channel (130), and the lifting and feeding mechanism (200) is configured to lift and convey the material (a); The gripper feeding mechanism (300) is provided with a gripper assembly (350) that is driven to move. The gripper feeding mechanism (300) is configured to grip material (a) and move it to the lifting feeding mechanism (200).

2. The grab lifting and installation device for a subway tunnel evacuation platform according to claim 1, characterized in that, The gripper feeding mechanism also includes a gantry (310), a first drive module (320), a second drive module (330), and a third drive module (340); The gantry (310) is located on the upper surface of the frame (100), the first drive module (320) is located on the gantry (310), the second drive module (330) is located at the drive end of the first drive module (320), the third drive module (340) is located at the drive end of the second drive module (330), and the gripper assembly (350) is located at the drive end of the third drive module (340).

3. The grab lifting and installation device for a subway tunnel evacuation platform according to claim 2, characterized in that, The gripper assembly (350) includes a gripper drive (351) and two grippers (352), the two grippers (352) being located at the drive end of the gripper drive (351).

4. The grab lifting and installation device for a subway tunnel evacuation platform according to claim 3, characterized in that, The gripper (352) includes a mounting part and a hook part, wherein the hook part is located at the lower end of the mounting part.

5. A gripper lifting and installation device for a subway tunnel evacuation platform according to claim 1, characterized in that, It also includes a material guiding mechanism (400), which is mounted on the frame (100) and located below the gripper feeding mechanism (300).

6. A gripper lifting and installation device for a subway tunnel evacuation platform according to claim 5, characterized in that, The material guiding mechanism (400) includes a storage rack (410), a material guiding slide rail (420), and a blocking component (430). The material guiding slide rail (420) is located on one side of the storage rack (410). The storage rack (410) is provided with a discharge port that communicates with the material guiding slide rail (420). The blocking component (430) is located at the discharge port.

7. A gripper lifting and installation device for a subway tunnel evacuation platform according to any one of claims 1-6, characterized in that, It also includes a guide mechanism (500), which is located at the bottom of the frame (100) and is situated on one side of one of the track wheels (110). The guide mechanism (500) is in contact with the track.

8. A gripper lifting and installation device for a subway tunnel evacuation platform according to claim 7, characterized in that, The guiding mechanism (500) includes a swing plate (510), a swing guide wheel (520), a mounting base (530), and two symmetrically distributed guide wheel assemblies (540). The swing plate (510) is mounted to the side of the frame (100) via a hinge assembly (550). The swing guide wheel (520) is located at the lower end of the swing plate (510). The mounting base (530) is located at the bottom of the swing plate (510). The two guide wheel assemblies (540) are respectively located on both sides of the bottom of the mounting base (530). The swing guide wheel (520) abuts against the upper end face of the track, and the working ends of the two guide wheel assemblies (540) abut against the two sides of the track respectively.

9. A gripper lifting and installation device for a subway tunnel evacuation platform according to claim 8, characterized in that, The guide wheel assembly (540) includes a mounting block (541), a mounting rod (542), a buffer spring (543), and a guide wheel (544). The mounting block (541) is mounted on the mounting base (530), the mounting rod (542) is mounted on the mounting block (541), the buffer spring (543) is sleeved on the mounting rod (542) and acts between the mounting block (541) and the mounting rod (542), and the guide wheel (544) is rotatably mounted on the lower end of the mounting rod (542). The guide wheel (544) abuts against the side of the track.

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