Automatic laying device and method for magnetic levitation long stator coil

Abstract

The present invention discloses an automatic installation device for a magnetic levitation long stator coil, comprising: a moving mechanism comprising a moving trolley, a hanger, and a hanger plate, the hanger plate being located below a cable fixing mechanism provided on the lower surface of a track beam; a lifting mechanism comprising a box body, multiple sets of coil lifting assemblies, each set of the coil lifting assemblies comprising a coil lifting cylinder and a coil lifting bracket, the coil lifting bracket comprising a vertical lifting bracket and a horizontal lifting bracket; a transmission mechanism comprising a transmission base plate, a support member, a driving wheel assembly, a driven wheel assembly, a transmission belt or transmission chain, and a transmission claw; and a control mechanism comprising a main controller and a hydraulic controller and a motor controller connected thereto, the motor controller being connected to the motor of the transmission mechanism, and the hydraulic controller being connected to the coil lifting cylinder of the lifting mechanism. The present invention can realize the automation and intelligent installation of the laying of magnetic levitation long stator coils, thereby improving installation efficiency and quality and reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation rail transportation, and in particular to a device and method for automatically laying a magnetic levitation long stator coil. Background Art

[0002] Long stator coils are an important component of high-speed magnetic levitation rail transit systems and need to be laid and installed on the magnetic levitation track. Chinese Patent Publication No. CN112688505A discloses a magnetic levitation long stator coil laying vehicle system. The cable reel on car No. 1 delivers cable to car No. 2. Car No. 2 bends the cable to form a long stator coil and delivers it to the external operating platform of car No. 3. Construction workers can complete the installation of the long stator coil on the magnetic levitation track using equipment. Its disadvantage is that the laying of the long stator coil requires manual installation by construction workers, which not only increases installation efficiency and construction costs, but is also easily limited by the technical capabilities of the construction workers, resulting in quality defects such as improper jacking and installation of the long stator coil. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a device and method for automatically laying a magnetic levitation long stator coil with low construction cost, high installation efficiency and reliable installation quality.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: an automatic laying device for a magnetically suspended long stator coil, comprising:

[0005] The moving mechanism includes a moving trolley disposed on the track beam and located below the body of the third car, a hanger disposed on both sides of the moving trolley vertically downwardly, and a hanger plate vertically disposed on each side of the hanger, wherein the hanger plate is located below a cable fixing mechanism disposed on the lower surface of the track beam;

[0006] A lifting mechanism, comprising a box body disposed on the hanging plate of the moving mechanism, wherein a plurality of coil lifting assemblies are arranged in the box body along the X direction, each coil lifting assembly comprising a coil lifting cylinder moving in the Z direction, wherein the coil lifting cylinder is disposed on the box body or the hanging plate, and upwardly connected to a coil lifting bracket, wherein the coil lifting bracket comprises a vertical lifting frame arranged in the Z direction and a horizontal lifting frame vertically connected to the vertical lifting frame and arranged in the Y direction;

[0007] The transmission mechanism is arranged upstream of the lifting mechanism and includes:

[0008] A transmission bottom plate is arranged between the coil conveying device and the hanging plate of the mobile vehicle along the X direction, and the transmission bottom plate is provided with a sinking groove along the X direction;

[0009] Support members are arranged on both sides of the sink of the transmission bottom plate along the X direction;

[0010] A driving wheel assembly, comprising a motor disposed at one end of one of the supports, the shaft of the motor being arranged along the Y direction, a driving wheel connected to the shaft of the motor, the driving wheel being located between the supports and rotating about the Y direction;

[0011] A driven wheel assembly includes a wheel seat provided at one end of each support member, the wheel seat being located on an opposite side of the motor, a driven shaft connected between the wheel seats and arranged along the Y direction, and a driven wheel provided on the driven shaft, the driven wheel being located between the support members;

[0012] A conveyor belt or a conveyor chain is disposed between the driving wheel and the driven wheel, wherein the conveying length of the conveyor belt or the conveyor chain is less than the length of the sink of the conveyor bottom plate;

[0013] a transmission claw, arranged at intervals on the transmission belt or transmission chain and supported between the two support members;

[0014] The control mechanism includes a main controller and a hydraulic controller and a motor controller connected thereto. The motor controller is connected to the motor of the transmission mechanism, and the hydraulic controller is connected to the coil lifting cylinder of the lifting mechanism.

[0015] Furthermore, in the automatic laying device for the magnetic levitation long stator coil provided by the present invention, the hanger of the moving mechanism includes:

[0016] A horizontal frame is hoisted and arranged on the mobile trolley, and the horizontal frame is arranged along the X direction;

[0017] There are at least two vertical frames that are arranged in parallel and spaced apart between the horizontal frame and the hanging plate, and the vertical frames are arranged along the Z direction.

[0018] Furthermore, in the automatic laying device for the magnetic levitation long stator coil provided by the present invention, the moving mechanism further comprises:

[0019] The side guide wheel assembly includes a fixed side frame arranged vertically downward on the outer side surfaces of both ends of the cross frame, a guide cylinder arranged vertically on each of the fixed side frames and connected to the hydraulic controller along the Y direction, and a movable side frame located on the inner side surface of the cross frame and parallel to the fixed side frame and arranged vertically on the guide cylinder. Each of the movable side frames is provided with at least one side guide wheel rotating around the Z direction.

[0020] Furthermore, in the automatic laying device for the magnetic levitation long stator coil provided by the present invention, the transmission mechanism further comprises:

[0021] A cushioning component, wherein one end of the transmission base plate of the transmission mechanism is arranged on the hanging plate of the moving mechanism through the cushioning component.

[0022] Furthermore, in the automatic laying device for the magnetic levitation long stator coil provided by the present invention, the lifting mechanism further comprises:

[0023] Baffle assemblies are multiple groups arranged corresponding to the coil lifting assemblies, including:

[0024] A driving rod is located below the transverse lifting frame of the coil lifting assembly and passes through the box body along the X direction and between the side plates arranged in the Y direction. The driving rod includes a first driving rod and a second driving rod arranged in parallel and spaced apart. The first driving rod and the second driving rod are both provided with a plurality of waist-shaped holes arranged along the Z direction. The first driving rod and the second driving rod move in opposite directions in the X direction.

[0025] A driving cylinder includes a first driving cylinder located outside the box and connected to one end of the first driving rod for movement in the X direction, and a second driving cylinder connected to one end of the second driving rod for movement in the X direction, wherein the driving directions of the first driving cylinder and the second driving cylinder are opposite, and both the first driving cylinder and the second driving cylinder are connected to the hydraulic controller;

[0026] The fixing rods include a first fixing rod and a second fixing rod which are arranged along the Y direction on both sides of the coil lifting bracket of each group of the coil lifting assembly and pass through the side plates of the box in the X direction;

[0027] The flip blocks are multiple groups arranged corresponding to the coil lifting assembly, and each group of flip blocks includes a first flip block, two second flip blocks and a third flip block. The first flip block and the third flip block are eccentrically provided with eccentric holes and eccentric columns arranged in a staggered manner along the Y direction, and the eccentric holes are located above the eccentric columns. The second flip block is provided with an eccentric hole corresponding to the position of the first flip block or the third flip block; the eccentric hole of the first flip block is arranged in a corresponding position to the eccentric hole of the third flip block, and the eccentric column of the first flip block is arranged in an opposite position to the eccentric column of the third flip block along the Y direction; the first flip block and one of the second flip blocks are fixedly arranged on the first fixed rod through the eccentric hole, and the first flip block is also rotated and slidably arranged on the waist-shaped hole of the first driving rod through its eccentric column; the third flip block and another second flip block are fixedly arranged on the second fixed rod through the eccentric hole, and the third flip block is rotated and slidably arranged on the waist-shaped hole of the second driving rod through its eccentric column;

[0028] The baffle includes a first baffle and a second baffle, wherein the first baffle is horizontally arranged on the upper surface of the first flip block and the second flip block located on the first fixed rod, and the second baffle is horizontally arranged on the upper surface of the third flip block and the second flip block located on the second fixed rod.

[0029] Furthermore, in the automatic laying device for magnetic levitation long stator coils provided by the present invention, the coil lifting assembly further comprises a cylinder frame provided on the box body, and the coil lifting cylinder is provided on the box body through the cylinder frame.

[0030] Furthermore, in the automatic laying device for the magnetically suspended long stator coil provided by the present invention, the lifting mechanism further comprises:

[0031] The box lifting assembly includes a plurality of box lifting cylinders arranged on the hanging plate of the moving mechanism and the box along the Z direction, and the box lifting cylinders are connected to the hydraulic controller.

[0032] Furthermore, in the automatic laying device for magnetic levitation long stator coils provided by the present invention, the box lifting assembly also includes a transfer block arranged on the box, the cylinder seat of the box lifting cylinder located on at least one side of the X direction is fixedly arranged on the hanging plate, and the push rod is connected to the transfer block; the box lifting cylinder located on the other side of the X direction is a bidirectional lifting cylinder, the push rod of the bidirectional lifting cylinder is rotatably arranged on the box through the transfer block, and the cylinder seat of the bidirectional lifting cylinder is rotatably arranged on the hanging plate through the transfer block.

[0033] Furthermore, in the automatic laying device for the magnetic levitation long stator coil provided by the present invention, the control mechanism further comprises:

[0034] The video monitoring system includes a guide rod arranged along the X direction on the hanger, and a visual camera movably arranged on the guide rod and aligned with the jacking mechanism and the cable fixing mechanism, and the visual camera is connected to the main controller.

[0035] And / or a position monitoring system, including a position sensor arranged on the box body of the jacking mechanism, the position sensor is aligned with the slot at the installation position of the lateral jacking frame of at least one coil jacking bracket of the jacking mechanism and the cable clamp of the cable fixing mechanism, and the setting sensor is connected to the main controller.

[0036] In order to solve the above technical problems, another technical solution of the present invention is: a method for automatically laying a magnetic levitation long stator coil, using the above-mentioned automatic laying device for laying a magnetic levitation long stator coil, comprising:

[0037] The main controller of the control mechanism issues a control instruction to start the motor controller and the hydraulic controller;

[0038] The position sensor detects whether the transverse lifting frame of the coil lifting bracket of the coil lifting assembly of the lifting mechanism is aligned with the card slot of the cable fixing mechanism. When the transverse lifting frame is not aligned with the card slot of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller to align the transverse lifting frame with the card slot of the cable fixing mechanism.

[0039] After the transverse lifting frame is aligned with the card slot of the cable fixing mechanism, the main controller controls the rotation of the motor of the transmission mechanism through the motor controller, and the motor controls the transmission of the conveyor belt or transmission chain through the driving wheel and the driven wheel assembly of the driving wheel assembly. The conveyor belt or transmission chain transmits the long stator coil to the coil lifting bracket of the lifting mechanism through the transmission claws thereon;

[0040] The visual camera monitors whether the center line of the Y-direction segment of the long stator coil is aligned with the Y-direction center line of the coil lifting bracket of the coil lifting assembly on the lifting mechanism. When the center line of the Y-direction segment of the long stator coil is not aligned with the Y-direction center line of the transverse lifting frame, the main controller controls the transmission mechanism through the motor controller to adjust the transmission position of the long stator coil so as to align the center line of the Y-direction segment of the long stator coil with the Y-direction center line of the transverse lifting frame.

[0041] When the center line of the Y-direction section of the long stator coil is aligned with the Y-direction center line of the transverse jacking frame, the main controller controls the first baffle and the second baffle of the baffle assembly of the jacking mechanism through the hydraulic controller to flip from a horizontal position to a vertical position so as to enclose or clamp the Y-direction section of the long stator coil located on the transverse jacking frame of the coil jacking assembly through the first baffle and the second baffle;

[0042] The visual camera monitors whether the baffle assembly is flipped into place. If the baffle assembly is not flipped into place, the machine will be shut down for maintenance.

[0043] When the baffle assembly is flipped into place, the visual camera monitors whether the Y-direction segment of the long stator coil is aligned with the card slot of the cable fixing mechanism. When the Y-direction segment of the long stator coil is not aligned with the card slot of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller to align the Y-direction segment of the long stator coil with the card slot of the cable fixing mechanism.

[0044] After the Y-direction section of the long stator coil is aligned with the slot of the cable fixing mechanism, the main controller controls the coil lifting assembly of the lifting mechanism through the hydraulic controller to lift and install the long stator coil on the cable fixing mechanism;

[0045] The visual camera monitors whether the long stator coil is properly installed and whether the insulation layer of the long stator coil is damaged, and feeds back to the main controller;

[0046] When the long stator coil is not installed in place, the controller controls the box jacking assembly of the jacking mechanism through the hydraulic controller to jack up the box in the Z direction, so as to lift the long stator coil and install it on the cable fixing mechanism by jacking the box and the coil jacking assembly;

[0047] After the long stator coil is laid and installed in place, the main controller controls the box jacking assembly, coil jacking assembly and baffle assembly of the jacking mechanism through the hydraulic controller to reset.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The present invention provides an automatic laying device and method for a magnetic levitation long stator coil. The main controller of a control mechanism sends a control instruction to start a motor controller and a hydraulic controller. The motor controller controls the rotation of the motor, and the motor controls the transmission of a conveyor belt or a transmission chain through the driving wheel and the driven wheel assembly of the driving wheel assembly. The conveyor belt or the transmission chain transmits the long stator coil to the coil jacking bracket of the jacking mechanism through the transmission claws thereon. The hydraulic controller controls the jacking of the coil jacking cylinder, so as to control the coil jacking bracket through the coil jacking cylinder to automatically lay and install the long stator coil on the cable fixing mechanism. The automatic and intelligent laying and installation of the magnetic levitation long stator coil can be realized, the installation efficiency and quality are improved, the installation errors caused by manual installation and the situation of inadequate installation are avoided, it is not limited by the technical capabilities of the construction workers, the number of construction workers who install the long stator coil is reduced, and the cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a side view schematic diagram of the structure of the No. 3 vehicle of the magnetic levitation long stator coil laying vehicle system and the magnetic levitation long stator coil automatic laying device;

[0051] Figure 2 This is a side view of the structure of the automatic laying device for the magnetic levitation long stator coil on the track beam;

[0052] Figure 3 is a schematic structural diagram of a cable clamp of a cable fixing mechanism;

[0053] Figure 4 This is a schematic diagram of the three-dimensional combined structure of a magnetic suspension long stator coil automatic laying device without a moving trolley;

[0054] Figure 5 It is a three-dimensional exploded structural diagram of the transmission mechanism, part of the moving mechanism and part of the lifting mechanism of the automatic laying device of the magnetic levitation long stator coil;

[0055] Figure 6 It is a schematic diagram of the three-dimensional structure in which the transmission base plate of the transmission mechanism is set up on the coil conveying device;

[0056] Figure 7 It is a schematic diagram of the top view of the structure of the coil lifting assembly on which the long stator coil is transferred to the lifting mechanism;

[0057] Figure 8 This is a schematic diagram of the top view of the transmission mechanism's transmission claws driving the long stator coil to move;

[0058] Figure 9 It is a partial exploded structural diagram of a set of baffle assemblies;

[0059] Figure 10 It is a side structural diagram of the jacking mechanism;

[0060] Figures 11 to 12 It is a side view structural schematic diagram of the process state of the coil lifting assembly lifting the long stator coil and the flipping state of the baffle assembly;

[0061] Figure 13 It is a structural diagram of the adjustment relationship between the box tilt and the box lifting assembly;

[0062] As shown in the figure:

[0063] 270. Coil conveying device;

[0064] 300, car number three, 360, cable fixing mechanism, 361, cable bracket, 362, dovetail plate, 363, cable clamp, 3631, slot;

[0065] 800. Automatic laying device for magnetic levitation long stator coils;

[0066] 810, moving mechanism, 811, moving trolley, 812, hanger, 8121, horizontal frame, 8122, vertical frame, 813, hanging plate, 8131-sink hole, 814, side guide wheel assembly, 8141, fixed side frame, 8142, guide cylinder, 8143, mobile side frame, 8144, side guide wheel;

[0067] 820, transmission mechanism, 821, transmission base plate, 8211, sink, 822, support member, 823, driving wheel assembly, 8231, motor, 8232, driving wheel, 824, driven wheel assembly, 8241, wheel seat, 8242, driven shaft, 8243, driven wheel, 825, transmission belt / transmission chain, 826, transmission claw, 827, spacer assembly, 8271, first pad, 8272, second pad, 8273, pin;

[0068] 830, lifting mechanism, 831, box, 8311, side plate, 8312, lower hole, 8313, upper hole, 832, baffle assembly, 8321, drive rod, 8321-1, first drive rod, 8321-2, second drive rod, 8321-3, waist-shaped hole, 8322, drive cylinder, 8322-1, first drive cylinder, 8322-2, second drive cylinder, 8323, flip block, 8323-1, first flip block, 8323-2, second flip block, 8323-3, third flip block, 8323-4, eccentric Hole, 8323-5, eccentric column, 8324, fixing rod, 8324-1, first fixing rod, 8324-2, second fixing rod, 8325, baffle, 8325-1, first baffle, 8325-2, second baffle, 833, coil lifting assembly, 8331, cylinder frame, 8332, coil lifting cylinder, 8333, coil lifting bracket, 8333-1, vertical lifting frame, 8333-2, horizontal lifting frame, 834, box lifting assembly, 8341, box lifting cylinder, 8342, adapter block, 8343, connecting shaft;

[0069] 840. Control mechanism, 841. Main controller, 842. Hydraulic controller, 843. Motor controller, 844. Video monitoring system, 8441. Visual camera, 8442. Guide rod, 845. Position sensor;

[0070] 900. Track beam, 910. Track beam side plate, 920. Long stator coil. DETAILED DESCRIPTION

[0071] The present invention will be described in detail below with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are all in a very simplified form and are not accurately scaled, and are only used to facilitate and clearly illustrate the embodiments of the present invention.

[0072] Special note: The embodiment of the present invention is an improvement on a magnetic levitation long stator coil laying vehicle system disclosed in Chinese Patent Publication No. CN112688505A. It mainly improves car No. 3 so that car No. 2 can be bent and formed into long stator coils and transported to car No. 3, and the long stator coils can be automatically laid by car No. 3. The technical solutions for car No. 1, car No. 2, and car No. 3 of the magnetic levitation long stator coil laying vehicle system shall be based on the patent document of Chinese Patent Publication No. CN112688505A. For the technical solutions for car No. 3 that are not disclosed or that are inconsistent with the embodiment of the present invention, the embodiment of the present invention shall prevail. For ease of understanding, the embodiment of the present invention follows the figure marks of the magnetic levitation long stator coil laying vehicle system and is numbered sequentially based on its figure marks.

[0073] Please refer to Figures 1 to 13The embodiment of the present invention provides a magnetic levitation long stator coil automatic laying device 800, comprising a moving mechanism 810, a transmission mechanism 820, a lifting mechanism 830 and a control mechanism 840. Among them:

[0074] Please refer to Figures 1 to 4 The mobile mechanism 810 includes a mobile trolley 811 mounted on the track beam 900 and positioned below the body of the third vehicle 300. Hangers 812 are vertically suspended downwardly from both sides of the mobile trolley 811. A hanger plate 813 is vertically mounted on each side of the hanger plate 812. The hanger plate 813 is positioned below the cable fixing mechanism 360 mounted on the lower surface of the track beam 900. The hanger plate 813 is located inside the external operating platform of the third vehicle 300. To increase the effective usable area of the hanger plate 813, the hanger plate 813 is eccentrically positioned relative to the hanger plate 812, and the outer side surface of the hanger plate 813 in the X direction is connected to the hanger plate 812. The cable securing mechanism 360 may include a dovetail plate 362 secured to the lower surface of the track beam 900 via a cable support 361, and a cable clamp 363 mounted on the dovetail plate 362. The cable clamp 363 is provided with a slot 3631 for installing the long stator coil 920, with the long stator coil 920 forming an interference fit within the slot 3631. The connection structure and method of the cable clamp 363 on the lower surface of the track beam 900 are not limited to the specific configuration of the dovetail plate 362 and cable support 361, but may also be conventionally known in the art. For the technical solution of vehicle No. 300, reference may be made to the specification and drawings of CN112688505A. The moving mechanism 810 is used to drive the lifting mechanism 830 and the transport mechanism 820 to move on the track beam 900, aligning and installing the long stator coil 900 in sections. The mobile cart 811 may include a drive motor 8231 connected to the main controller 841 and a drive box connected to the drive motor 8231, and the drive box is connected to the wheels of the mobile cart 811. The drive box may adopt a well-known technology in the art.

[0075] Please refer to Figure 4 In order to improve the stability of the mobile mechanism 810 during movement, the hanger 812 of the mobile mechanism 810 may include:

[0076] The horizontal frame 8121 is hoisted on the mobile trolley 811 and arranged along the X direction.

[0077] At least two vertical frames 8122 are arranged in parallel and spaced apart between the horizontal frame 8121 and the hanging plate 813, and the vertical frames 8122 are arranged along the Z direction. The two or more vertical frames 8122 and the horizontal frame 8121 can improve the reliability and stability of the connection between the hanging frame 812 and the hanging plate 813, and can also ensure the horizontal position stability of the horizontal frame 8121 and prevent it from shaking.

[0078] Please refer to Figure 4 In order to improve the stability during the movement and prevent shaking, the moving mechanism 810 may further include:

[0079] The side guide wheel assembly 814 includes a fixed side frame 8141 vertically downwardly arranged on the outer side surfaces of both ends of the cross frame 8121, a guide cylinder 8142 vertically arranged on each of the fixed side frames 8141 and connected to the hydraulic controller 842 along the Y direction, and a movable side frame 8143 located on the inner side surface of the cross frame 8121 and parallel to the fixed side frame 8141 and vertically arranged on the guide cylinder 8142. Each of the movable side frames 8143 is provided with at least one side guide wheel 8144 that rotates around the Z direction. Figure 4 The example shows that three side guide wheels 8144 are provided on each movable side frame 8143.

[0080] Please refer to Figures 1 to 4 The control method for the mobile mechanism 810 is as follows: the main controller 841 controls the rotation of the drive motor 8231 of the mobile mechanism 810 through the motor controller 843. The drive motor 8231 controls the rotation of the wheels through the drive box to control the movement of the mobile trolley 811 on the track beam 900. The mobile trolley 811 controls the movement of the hanging plate 813 in the X direction through the hanger 812. To improve the stability of the mobile mechanism 810 during movement, the main controller 841 controls the guide cylinder 8142 through the hydraulic controller 842 to adjust the mobile side frame 8143 of the side guide wheel assembly 814 in the direction of the track beam side plate 910 of the track beam 900. This allows the side guide wheels 8144 on the mobile side frame 8143 to be in close contact with the track beam 900. As the mobile trolley 811 moves on the track beam 900, the hanger 812 and the hanging plate 813 can maintain stable tracking movement. The fixed side frame 8141 serves as the support base for the guide cylinder 8142. The side guide wheel assemblies 814 also prevent Y-direction deviation during the lifting, installation, and installation of the long stator coil 920, as well as accommodate track beams of varying widths. Specifically, the side guide wheel assemblies 814 on either side of the track beam 900 can be controlled in either the same or opposite directions. When controlled in the same direction, they prevent Y-direction deviation during the lifting, installation, and installation of the long stator coil 920. When controlled in opposite directions, they abut against the track beam 900, locking the two assemblies when the moving mechanism 810 stops, thereby enhancing stability.

[0081] Please refer to Figures 1 to 5 、 Figures 10 to 12The lifting mechanism 830 includes a box 831 mounted on the hanging plate 813 of the moving mechanism 810. Multiple coil lifting assemblies 833 are arranged in the box 831 along the X direction, for receiving and lifting the long stator coil 920 transmitted by the transmission mechanism 820, so as to lift the long stator coil 920 for automatic installation on the cable fixing mechanism 360. Each set of coil lifting assemblies 833 includes a coil lifting cylinder 8332 that moves in the Z direction. The coil lifting cylinder 8332 is mounted on the box 831 or the hanging plate 813. A coil lifting bracket 8333 is connected upward to the coil lifting cylinder 8332. The coil lifting bracket 8333 includes a vertical lifting frame 8333-1 arranged along the Z direction and a horizontal lifting frame 8333-2 perpendicularly connected to the vertical lifting frame 8333-1 and arranged along the Y direction. The box body 831 may be a cube without an upper cover, or, in order to save costs, a rectangular frame without upper and lower covers. Figure 4 The example shows a box body 831 with a rectangular frame formed by four side panels 8311 without upper and lower covers. Figure 4 The example shows the situation where the coil lifting cylinder 8332 is set on the hanging plate 813. When the coil lifting cylinder 8332 is set on the hanging plate 813, the cylinder seat of the coil lifting cylinder 8332 can be directly set on the hanging plate 813, or it can be set on the sinking bottom hole (unmarked) of the hanging plate 813 to improve stability. By fixing the cylinder seat of the coil lifting cylinder 8332 to the sinking bottom hole of the hanging plate 813, on the one hand, the stroke length of the coil lifting cylinder 8332 is increased, and on the other hand, the reliability connection of the coil lifting cylinder 8332 is improved.

[0082] Figures 10 and 11 The coil lifting cylinder 8332 is shown as an example of being disposed on the box 831. The coil lifting bracket 8333 is not limited to the above-mentioned specific structure. In order to lay long stator coils 920 of different specifications, coil lifting brackets 8333 of different specifications and structures can be matched.

[0083] Please refer to Figures 10 to 12 To position the coil lifting assembly 833 on the housing 831 of the lifting mechanism 830, the automatic magnetic levitation long stator coil laying device 800 provided in this embodiment of the present invention includes a cylinder frame 8331 disposed on the housing 831, through which the coil lifting cylinder 8332 is mounted on the housing 831. The cylinder frame 8331 improves the reliability and stability of the coil lifting cylinder 8332 when mounted on the housing 831.

[0084] Please refer to Figures 4 and 5 , 10 to Figure 13In order to ensure that the lifting mechanism 830 and the transmission mechanism 820 are at the same level, the magnetic levitation long stator coil automatic laying device 800 provided in the embodiment of the present invention may further include:

[0085] The box lifting assembly 834 includes a plurality of box lifting cylinders 8341 arranged on the hanging plate 813 of the moving mechanism 810 and the box 831 along the Z direction. The box lifting cylinders 8341 are connected to the hydraulic controller 842 .

[0086] Please refer to Figure 5 、 Figure 10 and Figure 13 To prevent tilting of the box 831 during height adjustment, the automatic installation device 800 for laying long magnetically suspended stator coils provided in an embodiment of the present invention includes a box lifting assembly 834 further comprising an adapter block 8342 disposed on the box 831. The cylinder seat of the box lifting cylinder 8341 located on one side in the X-direction is fixedly mounted on the hanging plate 813, and the ejector rod is connected to the adapter block 8342. The box lifting cylinder 8341 located on at least one side in the X-direction is a bidirectional lifting cylinder. The ejector rod of the bidirectional lifting cylinder is pivotally mounted on the box 831 via the adapter block 8342, and the cylinder seat of the bidirectional lifting cylinder is pivotally mounted on the hanging plate 813 via the adapter block 8342. The adapter block 8342 may be a rectangular block with a central through-hole. The adapter block 8342 may be mounted on the lower hole 8312 of the X-direction side panel 8311 of the box 831 via a connecting shaft 8343 arranged along the Y-direction.

[0087] Please refer to Figure 13 The control method when the box jacking assembly 834 tilts is as follows:

[0088] When the lifting heights of the box jacking cylinders 8341 on both sides are inconsistent, Figure 13 The box-lifting cylinder 8341 on the left side and the two-way lifting cylinder on the right side both rotate around the connecting shaft 8343 to tilt the box 831. By adjusting the telescopic length of the top rod of the two-way lifting cylinder on the right side, the top rod and the cylinder seat of the two-way lifting cylinder are rotated around the upper and lower connecting shafts 8343 to adjust the two-way lifting cylinder from an inclined state to a vertical state, thereby adjusting the lifting heights of the box-lifting cylinders 8341 on both sides of the box to be consistent, thereby adjusting the box 831 from a tilted state to a horizontal state.

[0089] Please refer to Figure 4 and Figure 10In order to facilitate the adjustment of the tilt angle of the box body 831, the embodiment of the present invention provides a magnetic levitation long stator coil automatic laying device 800, in which the cylinder seat of the bidirectional jacking cylinder is arranged in the countersunk hole 8131 provided on the hanging plate 813. By increasing the stroke length of the bidirectional jacking cylinder arranged in the countersunk hole 8131 of the hanging plate 813, the tilt angle of the box body 831 is controlled and adjusted, thereby adjusting the box body 831 to a horizontal state. One side of the box body jacking assembly 834 is a bidirectional jacking cylinder, which can prevent the box body 831 from being subjected to tension due to inconsistent lifting heights of the box body jacking cylinders on both sides. The box body 831 can be tilted by rotating the bidirectional jacking cylinder in the countersunk hole 8131 of the hanging plate to ensure that the box body 831 is not moved due to the tension in the X direction.

[0090] Please refer to Figures 4 and 5 、 Figures 9 to 12 In order to prevent the coil lifting mechanism 833 from positional deviation during lifting, the magnetic levitation long stator coil automatic laying device 800 provided by the embodiment of the present invention may further include a baffle assembly 832, which is a plurality of groups arranged corresponding to the coil lifting assembly 833. The baffle assembly 832 may include:

[0091] The driving rod 8321 is located below the horizontal lifting frame 8333-2 of the coil lifting assembly 833 and passes through the box 831 along the X direction and is arranged between the side plates 8311 in the Y direction. The driving rod 8321 includes a first driving rod 8321-1 and a second driving rod 8321-2 arranged in parallel and spaced apart. The first driving rod 8321-1 and the second driving rod 8321-2 are both provided with a plurality of waist-shaped holes 8321-3 arranged along the Z direction. The first driving rod 8321-1 and the second driving rod 8321-2 have opposite movement directions in the X direction.

[0092] The driving cylinder 8322 includes a first driving cylinder 8322-1 located outside the box 831 and connected to one end of the first driving rod 8321-1 and moving along the X direction, and a second driving cylinder 8322-2 connected to one end of the second driving rod 8321-2 and moving along the X direction. The driving directions of the first driving cylinder 8322-1 and the second driving cylinder 8322-2 are opposite, and the first driving cylinder 8322-1 and the second driving cylinder 8322-2 are both connected to the hydraulic controller 842.

[0093] The fixing rods 8324 include a first fixing rod 8324-1 and a second fixing rod 8324-2, which extend between the side panels 8311 of the box 831 in the X direction and are arranged along the Y direction on both sides of the coil lifting bracket 8333 of each set of the coil lifting assembly 833. The first fixing rod 8324-1 and the second fixing rod 8324-2 are both installed on the box 8311 through upper holes 8313 on the side panels 8311 of the box 831 in the X direction.

[0094] The flip blocks 8323 are multiple groups arranged corresponding to the coil lifting components 833, and each group of the flip blocks 8323 includes a first flip block 8323-1, two second flip blocks 8323-2 and a third flip block 8323-3. The first flip block 8323-1 and the third flip block 8323-3 are eccentrically provided with eccentric holes 8323-4 and eccentric columns 8323-5 that are staggered and arranged along the Y direction. The eccentric holes 8323-4 are located above the eccentric columns 8323-5. The second flip block 8323-2 is provided with an eccentric hole 8323-4 corresponding to the position of the first flip block 8323-1 or the third flip block 8323-3; the eccentric hole 8323-4 of the first flip block 8323-1 and the eccentric hole 8323-4 of the third flip block 8323-3 are arranged correspondingly, and the first flip block 8323-1 is provided with an eccentric hole 8323-4 corresponding to the position of the first flip block 8323-1 or the third flip block 8323-3. The eccentric column 8323-5 of the block 8323-1 is arranged in an opposite position along the Y direction to the eccentric column 8323-5 of the third flip block 8323-3; the first flip block 8323-1 and one of the second flip blocks 8323-2 are fixedly arranged on the first fixed rod 8324-1 through the eccentric hole 8323-4, and the first flip block 8323-1 is also rotated and slidably arranged on the waist-shaped hole 8321-3 of the first driving rod 8321-1 through its eccentric column 8323-5; the third flip block 8323-3 and another of the second flip block 8323-2 are fixedly arranged on the second fixed rod 8324-2 through the eccentric hole 8323-4, and the third flip block 8323-3 is rotated and slidably arranged on the waist-shaped hole 8321-3 of the second driving rod 8321-2 through its eccentric column 8323-5.

[0095] The baffle 8325 includes a first baffle 8325-1 and a second baffle 8325-2. The first baffle 8325-1 is horizontally arranged on the upper surface of the first flip block 8323-1 and the second flip block 8323-2 located on the first fixed rod 8324-1, and the second baffle 8325-2 is horizontally arranged on the upper surface of the third flip block 8323-3 and the second flip block 8323-2 located on the second fixed rod 8324-2.

[0096] Please refer to Figures 4 and 5 、 Figures 9 to 12 , the control method of the baffle assembly 832 is as follows:

[0097] The main controller 841 controls the first driving cylinder 8322-1 and the second driving cylinder 8322-2 to move in the X direction through the hydraulic controller 842. The first driving cylinder 8322-1 drives the first flip block 8323-1, the second flip block 8323-2, and the first baffle 8325-1 on the first fixed rod 8324-1 to rotate clockwise 90 degrees through the first driving rod 8321-1, thereby flipping the first baffle 8325-1 from a horizontal position to a vertical position. The second driving cylinder 8322-2 drives the third flip block on the second fixed rod 8324-2 through the second driving rod 8321-2. 8323-3, the second flip block 8323-2 and the second baffle 8325-2 thereon are rotated counterclockwise 90 degrees to flip the second baffle 8325-2 from a horizontal position to a vertical position; the vertical position of the first baffle 8325-1 and the second baffle 8325-2 encloses or clamps the Y-direction segment of the long stator coil 920 located on the coil lifting bracket 8333 to prevent position displacement when the coil lifting bracket 8333 lifts the long stator coil 920.

[0098] The baffle assembly 832 can prevent the long stator coil 920 from being offset in the X direction during the lifting process. The spacing between the first baffle and the second baffle can adapt to the long stator coil 920 with a radius of 15mm-20mm. The flip block 8323 can be replaced to adapt to long stator coils of different specifications.

[0099] Please refer to Figures 4 to 6 The transmission mechanism 820 is provided upstream of the lifting mechanism 830 and is used to transport the formed long stator coil 920 to the lifting mechanism 830. The transmission mechanism 820 includes a transmission base plate 821, a support member 822, a driving wheel assembly 823, a driven wheel assembly 824, a transmission belt or transmission chain 825, and a transmission claw 826.

[0100] The transfer base plate 821 is positioned along the X-axis between the coil conveyor 270 and the suspension plate 813 of the mobile carriage 811. A recessed groove 8211 is provided along the X-axis. The recessed groove 8211 provides sufficient rotational space for the transfer claw 826 during its cyclical transfer. Referring to the specification and drawings of CN112688505A, the coil conveyor 270 is positioned on the second carriage and extends to the external operating platform of the third carriage 300.

[0101] The support members 822 are arranged on both sides of the sink 8211 of the transmission bottom plate 821 along the X direction, and are used to support the stable circular rotation of the transmission claw 826 to ensure that the transmission belt or transmission chain 825 drives the transmission claw 826 to stably transmit the long stator coil 920.

[0102] The driving wheel assembly 823 includes a motor 8231 arranged at one end of one of the support members 822, the axis of the motor 8231 is arranged along the Y direction, and a driving wheel 8232 connected to the axis of the motor 8231. The driving wheel 8232 is located between the support members 822 and rotates around the Y direction.

[0103] The driven wheel assembly 824 includes a wheel seat 8241 disposed at one end of each support member 822, the wheel seat 8241 being located on the opposite side of the motor 8231, a driven shaft 8242 connected to and arranged along the Y direction between the wheel seats 8241, and a driven wheel 8243 disposed on the driven shaft 8242, the driven wheel 8243 being located between the support members 822. The driven wheel assembly 824 is not limited to the above-described specific structure and can be a known structure in the art.

[0104] A transmission belt or chain 825 is disposed between the driving pulley 8232 and the driven pulley 8243. The conveying length of the transmission belt or chain 825 is shorter than the length of the trough 8211 of the transmission base plate 821. The driving pulley 8232 and the driven pulley 8243 can be pulleys or sprockets. If they are pulleys, a transmission belt is selected, and if they are sprockets, a transmission chain is selected.

[0105] Transmission claws 826 are spaced apart on the conveyor belt or chain 825 and supported between the two support members 822. There is at least one transmission claw 826, and to ensure transmission stability, at least three are preferably provided. By replacing transmission claws 826 with different sizes, different sizes of S-shaped long stator coils can be accommodated. For example, the transmission claws can be used for S-shaped long stator coils with a spacing of 230mm-250mm, a width of 400mm-420mm, and a radius of 15mm-20mm.

[0106] Please refer to Figures 4 and 5 , the control direction of the transmission mechanism 820 is as follows:

[0107] The main controller 841 controls the rotation of the motor 8231 of the transmission mechanism 820 through the motor controller 843. The motor 8231 controls the transmission of the conveyor belt or transmission chain through the driving wheel 8232 and the driven wheel 8243 assembly 824 of the driving wheel assembly 823. The conveyor belt or transmission chain transmits the long stator coil 920 to the coil lifting bracket 8333 of the lifting mechanism 830 through the transmission claw 826 thereon.

[0108] Please refer to Figures 4 and 5In order to ensure that the transmission mechanism 820 is in a horizontal state and that the transmission mechanism 820 and the lifting mechanism 830 are at the same level, the magnetic levitation long stator coil automatic laying device 800 provided in the embodiment of the present invention may further include:

[0109] A raising component 827 , wherein one end of the transmission base plate 821 of the transmission mechanism 820 is set on the hanging plate 813 of the moving mechanism 810 through the raising component 827 .

[0110] Please refer to Figures 4 and 5 In order to facilitate maintenance, the automatic laying device 800 for laying long magnetic levitation stator coils provided in an embodiment of the present invention can have the raising component 827 configured as a detachable structure, including:

[0111] The first pads 8271 are arranged in parallel and at intervals on the lower surface of the transmission base plate 821 .

[0112] The second pad 8272 is arranged in parallel and at intervals on the upper surface of the hanging plate 813 , and the second pad 8272 is located on the outside or inside of the first pad 8271 .

[0113] The pin shaft 8273 is arranged to pass through the first pad 8271 and the second pad 8272 along the Y direction.

[0114] The first pad 8271 and the second pad 8272 can be detachably connected via the pin 8273 .

[0115] Please refer to Figure 4 The control mechanism 840 includes a main controller 841 and a hydraulic controller 842 and a motor controller 843 connected thereto. The motor controller 843 is connected to the motor 8231 of the transmission mechanism 820 , and the hydraulic controller 842 is connected to the coil lifting cylinder 8332 of the lifting mechanism 830 .

[0116] Please refer to Figure 4 In order to ensure the accuracy and quality of the installation of the long stator coil 920, the automatic installation device 800 for the magnetic levitation long stator coil provided by the embodiment of the present invention, the control mechanism 840 further includes:

[0117] The video monitoring system 844 includes guide rods 8442 arranged along the X-axis on the hanger 812, and a visual camera 8441 movably mounted on the guide rods 8442 and aligned with the lifting mechanism 830 and the cable fixing mechanism 360. The visual camera 8441 is connected to the main controller 841. The video monitoring system 844 is used to monitor the lifting mechanism 830, the long stator coil 920 thereon, the cable fixing mechanism 360, and possibly part of the transmission mechanism 820. The monitoring data includes, but is not limited to, parameter information such as the operating status, position, and alignment of each component. This monitoring data ensures the accuracy and quality of the installation of the long stator coil 920. For example: when the visual camera 8441 detects an abnormality, it can shut down the machine in time through the control panel. At the same time, it can observe whether the long stator coil 920 is lifted and installed in place, and whether its insulation layer is damaged when the long stator coil 920 is lifted; the visual camera 29 captures the position of the cable fixing mechanism 360 to identify its positioning error with the coil lifting assembly, etc., and the main controller 841 is used to make corresponding adjustments to the lifting mechanism 830, the transmission mechanism 820 and the moving mechanism 810.

[0118] Please refer to Figure 4 In order to ensure the accuracy of the installation of the long stator coil 920 and avoid installation deviation, the automatic installation device 800 for the magnetic levitation long stator coil provided by the embodiment of the present invention, the control mechanism 840 may further include:

[0119] The position monitoring system includes a position sensor 845 disposed on the housing 831 of the lifting mechanism 830. The position sensor 845 is aligned with a slot 3631 at a location where a lateral lifting frame 8333-2 of at least one coil lifting bracket 8333 of the lifting mechanism 830 is to be installed and a cable clamp 363 of the cable fixing mechanism 360. The position sensor 845 is connected to the main controller 841. The position sensor 845 is used to detect whether the lateral lifting frame 8333-2 of the lifting mechanism 830 and the slot 3631 of the cable clamp 363 of the cable fixing mechanism 360 are centrally aligned.

[0120] Please refer to Figures 1-13 The embodiment of the present invention further provides a method for automatically laying a magnetically suspended long stator coil 920. The method employing the above-mentioned automatic laying device 800 for laying a magnetically suspended long stator coil 920 may include the following steps:

[0121] In step 1001 , the main controller 841 of the control mechanism 840 issues a control instruction to start the motor controller 843 and the hydraulic controller 842 .

[0122] In step 1002, the position sensor 845 detects whether the lateral lifting frame 8333-2 of the coil lifting bracket 8333 of the coil lifting assembly 833 of the lifting mechanism 830 is aligned with the slot 3631 of the cable fixing mechanism 360. When the lateral lifting frame 8333-2 is not aligned with the slot 3631 of the cable fixing mechanism 360, the main controller 841 controls the moving mechanism 810 to move on the track beam 900 through the motor controller 843 to align the lateral lifting frame 8333-2 with the slot 3631 of the cable fixing mechanism 360.

[0123] In step 1003, after the horizontal lifting frame 8333-2 is aligned with the slot 3631 of the cable fixing mechanism 360, the main controller 841 controls the rotation of the motor 8231 of the transmission mechanism 820 through the motor controller 843. The motor 8231 controls the transmission of the conveyor belt or the transmission chain through the driving wheel 8232 and the driven wheel 8243 assembly 824 of the driving wheel assembly 823. The conveyor belt or the transmission chain transmits the long stator coil 920 to the coil lifting bracket 8333 of the lifting mechanism 830 through the transmission claw 826 thereon.

[0124] In step 1004, the visual camera 8441 monitors whether the center line of the Y-direction segment of the long stator coil 920 is aligned with the Y-direction center line of the coil lifting bracket 8333 of the coil lifting assembly 833 on the lifting mechanism 830. When the center line of the Y-direction segment of the long stator coil 920 is not aligned with the Y-direction center line of the transverse lifting frame 8333-2, the main controller 841 controls the transmission mechanism 820 through the motor controller 843 to adjust the transmission position of the long stator coil 920 so as to align the center line of the Y-direction segment of the long stator coil 920 with the Y-direction center line of the transverse lifting frame 8333-2.

[0125] Step 1005, when the center line of the Y-direction segment of the long stator coil 920 is aligned with the Y-direction center line of the transverse lifting frame 8333-2, the main controller 841 controls the first baffle 8325-1 and the second baffle 8325-2 of the baffle 8325 assembly 832 of the lifting mechanism 830 through the hydraulic controller 842 to flip from a horizontal position to a vertical position so as to enclose or clamp the Y-direction segment of the long stator coil 920 located on the transverse lifting frame 8333-2 of the coil lifting assembly 833 through the first baffle 8325-1 and the second baffle 8325-2.

[0126] Step 1006, the visual camera 8441 monitors whether the baffle 8325 assembly 832 is flipped into place, and when the baffle 8325 assembly 832 is not flipped into place, the machine is shut down for maintenance.

[0127] Step 1007, when the baffle 8325 assembly 832 is flipped into place, the visual camera 8441 monitors whether the Y-direction segment of the long stator coil 920 is aligned with the slot 3631 of the cable fixing mechanism 360. When the Y-direction segment of the long stator coil 920 is not aligned with the slot 3631 of the cable fixing mechanism 360, the main controller 841 controls the moving mechanism 810 to move on the track beam 900 through the motor controller 843 to align the Y-direction segment of the long stator coil 920 with the slot 3631 of the cable fixing mechanism 360.

[0128] In step 1008 , after the Y-direction section of the long stator coil 920 is aligned with the slot 3631 of the cable fixing mechanism 360 , the main controller 841 controls the coil lifting assembly 833 of the lifting mechanism 830 through the hydraulic controller 842 to lift and install the long stator coil 920 on the cable fixing mechanism 360 .

[0129] In step 1009 , the visual camera 8441 monitors whether the long stator coil 920 is installed in place and whether the insulation layer of the long stator coil 920 is damaged, and feeds back to the main controller 841 .

[0130] Step 1010, when the long stator coil 920 is not installed in place, the controller controls the box lifting assembly 834 of the lifting mechanism 830 through the hydraulic controller 842 to lift the box 831 upward along the Z direction, so as to lift the long stator coil 920 and install it on the cable fixing mechanism 360 by lifting the box 831 and the coil lifting assembly 833.

[0131] Step 1011 , after the long stator coil 920 is laid and installed in place, the main controller 841 controls the box jacking assembly 834 , the coil jacking assembly 833 and the baffle assembly 832 of the jacking mechanism 830 through the hydraulic controller 842 to reset.

[0132] During reset, the guide cylinder 8142 of the side guide wheel assembly 814 of the moving mechanism 810 is reset and drives the moving side frame 8143 and the side guide wheel 8144 to reset to the initial state.

[0133] During reset, the box jacking assembly 834 and the coil jacking assembly 833 are reset. During reset, the height relationship between the jacking mechanism 830 and the transmission mechanism 820 is as follows: the main controller 841 controls the box jacking cylinder 8341 of the box jacking assembly 834 via the hydraulic controller 842 to adjust the height and inclination of the box 831, thereby aligning the upper surface height of the coil jacking assembly 833 of the jacking mechanism 830 with the height of the conveyor belt or conveyor chain 825 of the transmission mechanism 820. This ensures that the long stator coils 920 are transmitted at the same level.

[0134] When resetting, the baffle of the baffle assembly 832 flips from a vertical position to a horizontal position.

[0135] Please refer to Figure 7 and Figure 8 , the long stator coil 920 is S-shaped.

[0136] In the automatic laying device 800 and method for laying long magnetically suspended stator coils provided by an embodiment of the present invention, a main controller 841 of a control mechanism 840 issues a control instruction to activate a motor controller 843 and a hydraulic controller 842. The motor controller 843 controls the rotation of a motor 8231, which in turn controls a conveyor belt or chain through a driving wheel assembly 8232 and a driven wheel assembly 8243. The conveyor belt or chain transmits the long stator coil 920 to a coil lifting bracket 8333 of a lifting mechanism 830 via a transmission claw 826 thereon. On top; the hydraulic controller 842 controls the coil jacking cylinder 8332 to lift, so as to control the coil jacking bracket 8333 through the coil jacking cylinder 8332 to automatically lay and install the long stator coil 920 on the cable fixing mechanism 360, which can realize the automation and intelligence of the laying and installation of the magnetic levitation long stator coil 920, improve the installation efficiency and quality, avoid installation errors caused by manual installation and inadequate installation, is not limited by the technical capabilities of the construction workers, reduces the number of construction workers installing the long stator coil 920, and reduces costs.

[0137] The magnetic levitation long stator coil automatic laying device 800 and method provided in the embodiment of the present invention can realize intelligent construction, ensure the safety of construction workers, no longer rely on manual laying technology, reduce manpower consumption, and improve laying efficiency. The combination with a magnetic levitation long stator coil laying vehicle system disclosed in Chinese Patent Publication No. CN112688505A can realize the integrated automation and intelligence of the bending and forming of the cable to the S-shaped long stator coil 920 to the laying and installation of the long stator coil 920. It has considerable modification prospects, and has other advantages such as a wide range of applications, simple operation, labor saving, and no technical constraints.

[0138] Compared with the prior art, the automatic laying device 800 and method for magnetic levitation long stator coils provided in the embodiment of the present invention realize intelligent construction and improve manual jacking to automatic jacking, reducing the number of operators from at least 5 experienced construction workers to only 1 operator, reducing manpower loss by 80%, improving jacking efficiency by about 80%, and achieving a jacking qualification rate of about 98%. Compared with the traditional rate of about 80%, it greatly improves the success rate of lifting, improves safety performance, reduces the difficulty of coordination among various professions, is not bound by traditional technology, saves construction time, and has great prospects for modification to adapt to long stator coils with different requirements, thereby expanding the scope of adaptability.

[0139] The automatic laying device 800 and method for magnetic levitation long stator coils provided in the embodiments of the present invention solve the problem that long stator coils cannot be laid and installed automatically. No construction workers are required to intervene in the entire process, and the automation and intelligence of the laying and installation of long stator coils are realized. It has high integration and high degree of automation control, improves the quality of long stator coil laying, improves efficiency, reduces project rework rate, labor costs and material waste, and meets the industry development trend of green construction.

[0140] The embodiment of the present invention provides a magnetic levitation long stator coil automatic laying device 800 and method, wherein the arrangement relationship of each component includes but is not limited to arrangement methods such as bolt connection, welding and their combination.

[0141] The present invention is not limited to the specific embodiments described above. Obviously, the embodiments described above are only some embodiments of the embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention described, all other embodiments obtained by ordinary technicians in this field fall within the scope of protection of the present invention. Those skilled in the art can make other levels of modifications and changes to the present invention. In this way, if these modifications and changes of the present invention fall within the scope of the claims of the present invention, the present invention is also intended to include these changes and changes.

Claims

1. An automatic laying device for a magnetically suspended long stator coil, characterized in that: include: The moving mechanism includes a moving trolley disposed on the track beam and located below the body of the third car, a hanger disposed on both sides of the moving trolley vertically downwardly, and a hanger plate vertically disposed on each side of the hanger, wherein the hanger plate is located below a cable fixing mechanism disposed on the lower surface of the track beam; A lifting mechanism, comprising a box body disposed on the hanging plate of the moving mechanism, wherein a plurality of coil lifting assemblies are arranged in the box body along the X direction, each coil lifting assembly comprising a coil lifting cylinder moving in the Z direction, wherein the coil lifting cylinder is disposed on the box body or the hanging plate, and upwardly connected to a coil lifting bracket, wherein the coil lifting bracket comprises a vertical lifting frame arranged in the Z direction and a horizontal lifting frame vertically connected to the vertical lifting frame and arranged in the Y direction; The transmission mechanism is arranged upstream of the lifting mechanism and includes: A transmission bottom plate is arranged between the coil conveying device and the hanging plate of the mobile vehicle along the X direction, and the transmission bottom plate is provided with a sinking groove along the X direction; Support members are arranged on both sides of the sink of the transmission bottom plate along the X direction; A driving wheel assembly, comprising a motor disposed at one end of one of the supports, the shaft of the motor being arranged along the Y direction, a driving wheel connected to the shaft of the motor, the driving wheel being located between the supports and rotating about the Y direction; A driven wheel assembly includes a wheel seat provided at one end of each support member, the wheel seat being located on an opposite side of the motor, a driven shaft connected between the wheel seats and arranged along the Y direction, and a driven wheel provided on the driven shaft, the driven wheel being located between the support members; A conveyor belt or a conveyor chain is disposed between the driving wheel and the driven wheel, wherein the conveying length of the conveyor belt or the conveyor chain is less than the length of the sink of the conveyor bottom plate; a transmission claw, arranged at intervals on the transmission belt or transmission chain and supported between the two support members; The control mechanism includes a main controller and a hydraulic controller and a motor controller connected thereto. The motor controller is connected to the motor of the transmission mechanism, and the hydraulic controller is connected to the coil lifting cylinder of the lifting mechanism.

2. The automatic laying device for magnetic levitation long stator coil according to claim 1, characterized in that: The hanger of the mobile mechanism comprises: A horizontal frame is hoisted and arranged on the mobile trolley, and the horizontal frame is arranged along the X direction; There are at least two vertical frames that are parallel and spaced apart and arranged between the horizontal frame and the hanging plate, and the vertical frames are arranged along the Z direction.

3. The automatic laying device for magnetic levitation long stator coil according to claim 2, characterized in that: The moving mechanism further comprises: The side guide wheel assembly includes a fixed side frame arranged vertically downward on the outer side surfaces of both ends of the cross frame, a guide cylinder arranged vertically on each of the fixed side frames and connected to the hydraulic controller along the Y direction, and a movable side frame located on the inner side surface of the cross frame and parallel to the fixed side frame and arranged vertically on the guide cylinder. Each of the movable side frames is provided with at least one side guide wheel rotating around the Z direction.

4. The automatic laying device for magnetic levitation long stator coil according to claim 1, characterized in that: The transmission mechanism further comprises: A cushioning component, wherein one end of the transmission base plate of the transmission mechanism is arranged on the hanging plate of the moving mechanism through the cushioning component.

5. The automatic laying device for magnetic levitation long stator coil according to claim 1, characterized in that: The lifting mechanism also includes: Baffle assemblies are multiple groups arranged corresponding to the coil lifting assemblies, including: A driving rod is located below the transverse lifting frame of the coil lifting assembly and passes through the box body along the X direction and between the side plates arranged in the Y direction. The driving rod includes a first driving rod and a second driving rod arranged in parallel and spaced apart. The first driving rod and the second driving rod are both provided with a plurality of waist-shaped holes arranged along the Z direction. The first driving rod and the second driving rod move in opposite directions in the X direction. A driving cylinder includes a first driving cylinder located outside the box and connected to one end of the first driving rod for movement in the X direction, and a second driving cylinder connected to one end of the second driving rod for movement in the X direction, wherein the driving directions of the first driving cylinder and the second driving cylinder are opposite, and both the first driving cylinder and the second driving cylinder are connected to the hydraulic controller; The fixing rods include a first fixing rod and a second fixing rod which are arranged along the Y direction on both sides of the coil lifting bracket of each group of the coil lifting assembly and pass through the side plates of the box in the X direction; The flip blocks are multiple groups arranged corresponding to the coil lifting assembly, and each group of flip blocks includes a first flip block, two second flip blocks and a third flip block. The first flip block and the third flip block are eccentrically provided with eccentric holes and eccentric columns arranged in a staggered manner along the Y direction, and the eccentric holes are located above the eccentric columns. The second flip block is provided with an eccentric hole corresponding to the position of the first flip block or the third flip block; the eccentric hole of the first flip block is arranged in a corresponding position to the eccentric hole of the third flip block, and the eccentric column of the first flip block is arranged in an opposite position to the eccentric column of the third flip block along the Y direction; the first flip block and one of the second flip blocks are fixedly arranged on the first fixed rod through the eccentric hole, and the first flip block is also rotated and slidably arranged on the waist-shaped hole of the first driving rod through its eccentric column; the third flip block and another second flip block are fixedly arranged on the second fixed rod through the eccentric hole, and the third flip block is rotated and slidably arranged on the waist-shaped hole of the second driving rod through its eccentric column; The baffle includes a first baffle and a second baffle, wherein the first baffle is horizontally arranged on the upper surface of the first flip block and the second flip block located on the first fixed rod, and the second baffle is horizontally arranged on the upper surface of the third flip block and the second flip block located on the second fixed rod.

6. The automatic laying device for magnetic levitation long stator coil according to claim 1, characterized in that: The coil lifting assembly further comprises a cylinder frame arranged on the box body, and the coil lifting cylinder is arranged on the box body through the cylinder frame.

7. The automatic laying device for magnetic levitation long stator coils according to claim 1, characterized in that: The lifting mechanism also includes: The box lifting assembly includes a plurality of box lifting cylinders arranged on the hanging plate of the moving mechanism and the box along the Z direction, and the box lifting cylinders are connected to the hydraulic controller.

8. The automatic laying device for magnetic levitation long stator coils according to claim 7, characterized in that: The box lifting assembly also includes a transfer block arranged on the box, the cylinder seat of the box lifting cylinder located on at least one side in the X direction is fixedly arranged on the hanging plate, and the push rod is connected to the transfer block; the box lifting cylinder located on the other side in the X direction is a bidirectional lifting cylinder, the push rod of the bidirectional lifting cylinder is rotatably arranged on the box through the transfer block, and the cylinder seat of the bidirectional lifting cylinder is rotatably arranged on the hanging plate through the transfer block.

9. The automatic laying device for magnetic levitation long stator coils according to claim 1, characterized in that: The control mechanism further comprises: A video monitoring system, comprising a guide rod arranged along the X direction on the hanger, and a visual camera movably arranged on the guide rod and aligned with the jacking mechanism and the cable fixing mechanism, wherein the visual camera is connected to the main controller; and / or a position monitoring system, comprising a position sensor arranged on the box body of the jacking mechanism, the position sensor being aligned with the slot at the to-be-installed position of the lateral jacking frame of at least one coil jacking bracket of the jacking mechanism and the cable clamp of the cable fixing mechanism, and the position sensor being connected to the main controller.

10. A method for automatically laying a long magnetic levitation stator coil, characterized in that: The automatic laying device for magnetic levitation long stator coils according to any one of claims 5, 8, and 9 comprises: The main controller of the control mechanism issues a control instruction to start the motor controller and the hydraulic controller; The position sensor detects whether the transverse lifting frame of the coil lifting bracket of the coil lifting assembly of the lifting mechanism is aligned with the card slot of the cable fixing mechanism. When the transverse lifting frame is not aligned with the card slot of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller to align the transverse lifting frame with the card slot of the cable fixing mechanism. After the transverse lifting frame is aligned with the card slot of the cable fixing mechanism, the main controller controls the rotation of the motor of the transmission mechanism through the motor controller, and the motor controls the transmission of the conveyor belt or transmission chain through the driving wheel and the driven wheel assembly of the driving wheel assembly. The conveyor belt or transmission chain transmits the long stator coil to the coil lifting bracket of the lifting mechanism through the transmission claws thereon; The visual camera monitors whether the center line of the Y-direction segment of the long stator coil is aligned with the Y-direction center line of the coil lifting bracket of the coil lifting assembly on the lifting mechanism. When the center line of the Y-direction segment of the long stator coil is not aligned with the Y-direction center line of the transverse lifting frame, the main controller controls the transmission mechanism through the motor controller to adjust the transmission position of the long stator coil so as to align the center line of the Y-direction segment of the long stator coil with the Y-direction center line of the transverse lifting frame. When the center line of the Y-direction section of the long stator coil is aligned with the Y-direction center line of the transverse jacking frame, the main controller controls the first baffle and the second baffle of the baffle assembly of the jacking mechanism through the hydraulic controller to flip from a horizontal position to a vertical position so as to enclose or clamp the Y-direction section of the long stator coil located on the transverse jacking frame of the coil jacking assembly through the first baffle and the second baffle; The visual camera monitors whether the baffle assembly is flipped into place. If the baffle assembly is not flipped into place, the machine will be shut down for maintenance. When the baffle assembly is flipped into place, the visual camera monitors whether the Y-direction segment of the long stator coil is aligned with the card slot of the cable fixing mechanism. When the Y-direction segment of the long stator coil is not aligned with the card slot of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller to align the Y-direction segment of the long stator coil with the card slot of the cable fixing mechanism. After the Y-direction section of the long stator coil is aligned with the slot of the cable fixing mechanism, the main controller controls the coil lifting assembly of the lifting mechanism through the hydraulic controller to lift and install the long stator coil on the cable fixing mechanism; The visual camera monitors whether the long stator coil is properly installed and whether the insulation layer of the long stator coil is damaged, and feeds back to the main controller; When the long stator coil is not installed in place, the controller controls the box jacking assembly of the jacking mechanism through the hydraulic controller to jack up the box in the Z direction, so as to lift the long stator coil and install it on the cable fixing mechanism by jacking the box and the coil jacking assembly; After the long stator coil is laid and installed in place, the main controller controls the box jacking assembly, coil jacking assembly and baffle assembly of the jacking mechanism through the hydraulic controller to reset.

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