The invention discloses a tunnel hoisting robot. The tunnel hoisting robot comprises a machine body connecting frame, wherein at least two groups of hoisting door frames are arranged on the machine body connecting frame; a support leg telescopic driving device is arranged between an upper support leg and a lower support leg of each door frame; a cross beam of each door frame comprises a left halfcross beam and a right half cross beam; a cross beam telescopic driving device is connected between each left half cross beam and the corresponding right half cross beam; a multi-dimensional walking wheel support frame is fixedly arranged on the lower support leg of each door frame; a walking wheel swinging support frame is hinged and supported on each multi-dimensional walking wheel support frame; a swinging driving device is supported between each walking wheel swinging support frame and the corresponding multi-dimensional walking wheel support frame; a walking wheel support frame is rotationally supported on each walking wheel swinging support frame; a wheel frame rotation transmission device is arranged between each walking wheel swinging support frame and the corresponding walking wheel support frame; a walking wheel is rotationally supported on each walking wheel support frame; and each walking wheel is in transmission connection with the corresponding walking wheel driving device. The tunnel hoisting robot has the advantages that the structure is reasonable, the tunnel hoisting robot can be directly and stably supported on the arc surface of the inner wall of a circular pipe-shaped tunnel to walk, and in addition, the tunnel hoisting robot can automatically cross obstacles for operation.

    本发明公开了一种隧道吊运机器人,它包括机身连接架,该机身连接架上至少安装有两组起吊门架,在门架上支腿和门架下支腿间设置有支腿伸缩驱动装置,门架横梁包括左半横梁和右半横梁,在左半横梁和右半横梁之间连接有横梁伸缩驱动装置,在门架下支腿上固定安装有多维行轮支架,多维轮支架上铰支有行走轮摆动支架,行走轮摆动支架与多维轮支架之间支承有摆动驱动装置,在行走轮摆动支架上转动支承有行走轮支架,在行走轮摆动支架和行走轮支架之间设置有轮架回转传动装置,行走轮支架上转动支承有行走轮,该行走轮与行走轮驱动装置传动连接。本发明不仅结构合理,能直接稳固支撑在圆管状隧道内壁弧面上行走,而且能自行跨越障碍进行作业。


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    Title :

    Tunnel hoisting robot


    Additional title:

    隧道吊运机器人


    Contributors:
    PENG HONG (author)

    Publication date :

    2020-07-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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