An automatic positioning device for high-altitude tower cylinder hoisting butt joint

Abstract

The application discloses a kind of automatic positioning equipment of high-altitude tower cylinder hoisting butt joint, including chassis, the positioning device, the centering device and traction device are equipped on the chassis;Centering slide rail is fixedly connected at the chassis, the centering slide rail is arc-shaped, the moving part of the centering slide rail is fixedly connected with vertical support, the other side of vertical support is fixedly connected with fixed frame, the position of the side of fixed frame away from vertical support is fixedly connected with arc-shaped electromagnetic chuck, the arc-shaped structure of arc-shaped electromagnetic chuck is common chord with standard tower cylinder inner diameter.By the cooperation of positioning device, centering device, traction device, angle measuring assembly, distance measuring assembly and antiskid component, the positioning process when high-level tower cylinder butts low-level tower cylinder can be fast and accurate, the degree of automation is high, frequent communication between personnel is not needed, the position difference between tower cylinder has the advantage of visual quantization output, personnel can be assisted to butt tower cylinder.

Description

Technical Field

[0001] This invention relates to the field of wind turbine installation, and more particularly to an automatic positioning device for high-altitude tower hoisting and docking. Background Technology

[0002] In the field of wind turbine hoisting and installation, especially when connecting first- and second-level and higher-level towers, hoisting machinery is required for construction. When connecting higher-level towers to lower-level towers, it is difficult for personnel to observe from outside the towers; observation can only be done from an internal platform. This results in a significant amount of time being spent on fine-tuning during the connection process. Specifically, the tower centers must be aligned on the same vertical installation line, and the flange threaded holes must correspond before the bolts can be installed. This requires frequent communication between the platform personnel and the hoisting personnel. However, the hoisting personnel cannot accurately fine-tune the towers because they cannot know the positional differences between them, leading to slow construction speed, low communication efficiency, and low positioning accuracy between the towers. This results in long hang time during tower connection, increasing the risk of accidents.

[0003] Therefore, it is necessary to design an automatic positioning device for high-altitude tower hoisting and docking to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic positioning device for high-altitude tower hoisting and docking. Through the cooperation of a positioning device, a centering device, a traction device, an angle measuring component, a distance measuring component, and an anti-slip component, the positioning process of docking a high-level tower with a low-level tower can be fast and accurate, with a high degree of automation. It does not require frequent communication between personnel, and the position difference between the towers has the advantage of being visually quantified, which can assist personnel in tower docking.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic positioning device for hoisting and docking high-altitude towers, comprising a base frame, wherein the base frame is provided with a positioning device, a centering device and a traction device; A radial slide rail is fixedly connected to the base frame. The radial slide rail is arc-shaped. A vertical frame is fixedly connected to the moving part of the radial slide rail. A fixed frame is fixedly connected to the other side of the vertical frame. An arc-shaped electromagnetic chuck is fixedly connected to the fixed frame at a position away from the vertical frame. The arc-shaped structure of the electromagnetic chuck is chordally consistent with the inner diameter of the standard tower. The track of the radial slide rail is concentric with the arc-shaped electromagnetic chuck. A sliding sleeve is provided on the other side of the fixed frame. A lifting frame is slidably placed inside the sliding sleeve. The fixing frame is equipped with a positioning device, which is used to position the frame relative to the tower bolt holes. The fixing frame is provided with a centering device on the side away from the arc-shaped electromagnetic chuck, and the sliding sleeve is fixedly connected to the centering device. The centering device is used to drive the sliding sleeve to rotate. The lifting frame is equipped with a traction device, which is used to pull the tower section that needs to be docked for fine-tuning of its position.

[0006] As a further improvement of the present invention, the positioning device includes a first movable pair, which is fixedly connected to the fixed frame. An elastic element is fixedly connected to the first movable pair. A first positioning plate is fixedly connected to the movable part of the first movable pair on the side away from the upright frame. The first positioning plate is arc-shaped, and the arc structure of the first positioning plate is equal in chord to the arc structure of the arc-shaped electromagnetic chuck. Positioning seats are evenly distributed on the side of the first positioning plate away from the first movable pair. The spacing between the positioning seats is consistent with the spacing of the flange threaded holes of the standard tower. The traction device cooperates with the first positioning plate.

[0007] As a further improvement of the present invention, the centering device includes an annular slide rail, which is fixedly connected to the fixed frame at a position away from the first movable pair. The sliding sleeve is fixedly connected to the movable part of the annular slide rail. A connecting frame is fixedly connected to the fixed frame at the position of the fixed part of the first movable pair. A first servo motor is fixedly connected to the connecting frame. A transmission assembly is provided between the first servo motor and the sliding sleeve. The transmission assembly is a bevel gear transmission.

[0008] As a further improvement of the present invention, the traction device includes a mounting frame, which is fixedly connected to the lifting frame. A second movable pair is fixedly connected to the mounting frame. An interconnecting frame is fixedly connected between the two ends of the movable part of the second movable pair. A second positioning plate is fixedly connected to the interconnecting frame near the first positioning plate. The second positioning plate is arc-shaped, and the arc structure of the second positioning plate is equal in chord to the arc structure of the first positioning plate. Traction seats are evenly distributed near the second positioning plate. The spacing between the traction seats is consistent with the spacing of the flange threaded holes of the standard tower. The traction seats and the positioning seats are staggered. The traction seats have a mating relationship with the first positioning plate, and the positioning seats have a mating relationship with the second positioning plate. A toothed belt is fixedly connected to the interconnecting frame. A second servo motor is fixedly connected to the fixing part of the second movable pair. A drive gear is fixedly connected to the output shaft of the second servo motor. The drive gear meshes with the toothed belt.

[0009] As a further improvement of the present invention, it also includes an angle measuring component. The arc-shaped patch switch is fixedly connected to the sliding sleeve near the connecting frame. There are two arc-shaped patch switches, which are symmetrically distributed with the connecting frame as the center. An arc-shaped resistor strip is also fixedly connected to this position of the sliding sleeve. A first protrusion and a first sensing head are fixedly connected to the connecting frame. The first protrusion has a cooperating relationship with the arc-shaped patch switch, and the first sensing head is in contact with the arc-shaped resistor strip.

[0010] As a further improvement of the present invention, a ranging component is also included. The linear patch switch is fixedly connected to the interconnect frame. There are two sets of linear patch switches, which are symmetrically distributed around the rotation axis of the sliding sleeve. A linear resistor strip is fixedly connected at this position on the interconnect frame. A second protrusion and a second sensing head are fixedly connected at the fixing part of the second moving pair near the linear patch switch and the linear resistor strip. The second protrusion has a cooperating relationship with the linear patch switch, and the second sensing head contacts the linear resistor strip.

[0011] As a further improvement of the present invention, it also includes an anti-slip component, which is disposed on the side of the base frame away from the upright frame. A bracket is fixedly connected to the side of the base frame away from the upright frame, and a rubber base is fixedly connected to the other side of the bracket.

[0012] As a further improvement of the invention, a proximity switch sensor is also included, which is disposed at one of the positioning seats.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention employs a positioning device and an arc-shaped electromagnetic chuck to position the automatic positioning equipment for hoisting and docking the high-altitude tower on the primary tower. By altering the height, angle, and relative distance of the traction device, the traction device is connected to the secondary tower, thus establishing a positional difference between the primary and secondary towers. Through the action of the traction device and the centering device, the primary and secondary towers are positioned and fine-tuned. This method eliminates the need for frequent communication and operation between the hoisting personnel and the hoisting personnel during the positioning process, resulting in a fast positioning and fine-tuning process for the primary and secondary towers.

[0014] 2. By employing ranging and angle measuring components, this invention can quantify the angular and distance differences between the first and second stage towers, assisting hoisting personnel in making precise fine adjustments. It can also further control the automatic operation of the first and second servo motors, thereby further improving the accuracy of positioning and fine-tuning of the first and second stage towers.

[0015] 3. By employing anti-slip components, this invention enables the automatic positioning equipment for high-altitude tower hoisting and docking to prevent slippage due to increased moisture content at high altitudes during high-altitude operations.

[0016] 4. By using a proximity switch sensor mounted on a positioning base, this invention can accelerate the positioning process, further improving the speed and automation of the automatic positioning equipment for high-altitude tower hoisting and docking for positioning and docking primary and secondary towers. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the third three-dimensional structure of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the base frame portion of the present invention.

[0021] Figure 5 This is a schematic diagram of the first partial three-dimensional structure of the present invention.

[0022] Figure 6 This is a schematic diagram of the second partial three-dimensional structure of the present invention.

[0023] Figure 7 This is a three-dimensional structural diagram of the centering device part of the present invention.

[0024] Figure 8 This is a three-dimensional structural diagram of the positioning device part of the present invention.

[0025] Figure 9 This is a first three-dimensional structural diagram of the traction device part of the present invention.

[0026] Figure 10 This is a schematic diagram of a second three-dimensional structure of the traction device part of the present invention.

[0027] Figure 11 This is a schematic diagram of the third three-dimensional structure of the traction device part of the present invention.

[0028] Figure 12 This is a schematic diagram of the fourth three-dimensional structure of the traction device part of the present invention.

[0029] Figure 13 This is a schematic diagram of the fifth three-dimensional structure of the traction device part of the present invention.

[0030] Figure 14 This is an assembly diagram of the present invention.

[0031] In the diagram: 1. Base frame, 2. Centripetal slide rail, 3. Upright frame, 4. Fixed frame, 5. Arc-shaped electromagnetic chuck, 6. Sliding sleeve, 7. Lifting frame, 8. Positioning device, 9. Alignment device, 10. Traction device, 81. First moving pair, 82. Elastic element, 83. First positioning plate, 84. Positioning seat, 91. Circular slide rail, 92. Connecting frame, 93. First servo motor, 94. Transmission assembly, 101. Mounting frame, 102. Second moving pair, 103. Interconnecting frame, 1031. Second positioning... 104. Plate, 105. Traction seat, 106. Toothed belt, 107. Second servo motor, 108. Drive gear, 11. Angle measuring assembly, 111. Arc-shaped patch switch, 112. Arc-shaped resistor strip, 113. First protrusion, 114. First sensing head, 12. Distance measuring assembly, 121. Linear patch switch, 122. Linear resistor strip, 123. Second protrusion, 124. Second sensing head, 13. Anti-slip assembly, 131. Bracket, 132. Rubber base, 14. Proximity switch sensor. Detailed Implementation

[0032] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0033] Example 1 like Figure 1-6 and Figure 14 As shown, an automatic positioning device for hoisting and docking high-altitude towers includes a base frame 1, a centripetal slide rail 2, a vertical frame 3, a fixed frame 4, an arc-shaped electromagnetic chuck 5, a sliding sleeve 6, a lifting frame 7, a positioning device 8, a centering device 9, and a traction device 10. The centripetal slide rail 2 is fixedly connected to the base frame 1. The centripetal slide rail 2 is arc-shaped. The vertical frame 3 is fixedly connected to the moving part of the centripetal slide rail 2. The fixed frame 4 is fixedly connected to the other side of the vertical frame 3. The arc-shaped electromagnetic chuck 5 is fixedly connected to the side of the fixed frame 4 away from the vertical frame 3. The arc-shaped structure of the electromagnetic chuck 5 is cochordally similar to the inner diameter of a standard tower. The track of the centripetal slide rail 2 is concentric with the arc-shaped electromagnetic chuck 5. A sliding sleeve 6 is provided on the other side of the fixed frame 4. A lifting frame 7 is slidably placed inside the sliding sleeve 6. A positioning device 8 is provided at the fixed frame 4. The positioning device 8 is used to position the fixed frame 4 relative to the bolt holes of the tower. A centering device 9 is provided on the side of the fixed frame 4 away from the arc-shaped electromagnetic chuck 5. The sliding sleeve 6 is fixedly connected to the centering device 9. The centering device 9 is used to drive the sliding sleeve 6 to rotate. A traction device 10 is provided at the lifting frame 7. The traction device 10 is used to pull the tower that needs to be docked for fine-tuning of its position.

[0034] When connecting wind turbine towers at high altitudes, an automatic positioning device for high-altitude tower hoisting and docking can be used. This device is transported upwards through the interior of the first-stage tower, passing through the through-hole at the top platform of the first-stage tower, and then placed on the top platform. Subsequently, the device is moved until the arc-shaped electromagnetic chuck 5 contacts the inner wall of the top of the first-stage tower. At this point, the rotation center of the centripetal slide rail 2 is aligned with the center of the top of the first-stage tower, thus determining the position of the automatic positioning device relative to the first-stage tower. The device can then be rotated via the centripetal slide rail 2. Erect frame 3, aligning the positioning device 8 with the bolt hole at the top of the first-stage tower. Then pull the traction device 10 to the left. At this point, the traction device 10 will not obstruct the positioning device 8, which will then spring upwards and extend into the bolt hole of the flange at the top of the first-stage tower to engage with it. This completes the positioning of the automatic positioning equipment for the high-altitude tower hoisting and docking. Subsequently, the second-stage tower can be hoisted and docked with the first-stage tower at high altitude. When the second-stage tower is above the first-stage tower, the crane operator has difficulty making precise operations and requires personnel guidance. The micro-operation process of docking the second-stage tower with the first-stage tower requires a significant amount of communication and operational time. The longer the dwell time, the higher the risk. At this point, the lifting frame 7 can be raised, which will move the traction device 10 upwards, positioning it at the bottom of the secondary tower. The traction device 10 can then be pushed and pulled left and right until it is above the bolt holes of the secondary tower. The angle of the traction device 10 can be adjusted using the centering device 9, allowing it to engage with the bolt holes of the flange at the bottom of the secondary tower. The relative distance and angle between the traction device 10 and the positioning device 8 are then the values ​​required for fine-tuning. Afterwards, the power to the traction device 10 and the centering device 9 can be turned on, and the traction device 10 and the positioning device 8 can be... The centering device 9 is controlled to move the traction device 10 first, causing the traction device 10 to reset. After the traction device 10 resets, the center of the bottom end of the second-stage tower will be on the same vertical line as the center of the first-stage tower, thus completing the centering of the first and second-stage towers. Then, the centering device 9 is controlled to reset, causing the sliding sleeve 6 and the lifting frame 7 to rotate, thereby rotating the traction device 10 and the second-stage tower, so that the relative angle between the first and second-stage towers returns to zero, thus completing the angle fine-tuning of the first and second-stage towers. In this way, the positioning and fine-tuning of the first and second-stage towers during docking can be completed quickly and automatically.After completing the positioning and docking of the first and second stage tower sections, the traction device 10 can be withdrawn from the second stage tower section, and the positioning device 8 can be pressed down to withdraw from the first stage tower section. After resetting the automatic positioning equipment for the high-altitude tower section hoisting and docking, the automatic positioning equipment can be transported upward through the second stage tower section to position and fine-tune the second and third stage tower sections as described above.

[0035] By employing a positioning device and an arc-shaped electromagnetic chuck to position the automatic positioning equipment for hoisting and docking the high-altitude tower on the primary tower, and by altering the height, angle, and relative distance of the traction device to connect it with the secondary tower, a positional difference between the primary and secondary towers is established. Through the action of the traction device and the centering device, the primary and secondary towers are positioned and fine-tuned. This method eliminates the need for frequent communication and operation between the primary and secondary towers and the hoisting personnel, resulting in a fast positioning and fine-tuning process.

[0036] Example 2 like Figure 8 As shown, the positioning device 8 includes a first movable pair 81, an elastic element 82, a first positioning plate 83, and positioning seats 84. The first movable pair 81 is fixedly connected to the fixed frame 4. The elastic element 82 is fixedly connected to the first movable pair 81. The first positioning plate 83 is fixedly connected to the movable part of the first movable pair 81 away from the upright frame 3. The first positioning plate 83 is arc-shaped, and the arc structure of the first positioning plate 83 is equal in chord to the arc structure of the arc-shaped electromagnetic chuck 5. Positioning seats 84 are evenly distributed on the side of the first positioning plate 83 away from the first movable pair 81. The spacing of the positioning seats 84 is consistent with the spacing of the flange threaded holes of the standard tower. The traction device 10 cooperates with the first positioning plate 83.

[0037] In the initial state of the automatic positioning equipment for high-altitude tower hoisting and docking, after lifting the lifting frame 7 and the traction device 10, the traction device 10 will disengage from the structure of the first positioning plate 83. At this time, the elastic element 82 will spring up, causing the first moving pair 81 to drive the first positioning plate 83 and the positioning seat 84 to move upward, so that the positioning seat 84 enters the flange thread hole of the first-stage tower, thereby completing the positioning process of the automatic positioning equipment for high-altitude tower hoisting and docking.

[0038] like Figure 7As shown, the centering device 9 includes an annular slide rail 91, a connecting frame 92, a first servo motor 93, and a transmission assembly 94. The annular slide rail 91 is fixedly connected to the fixed frame 4 at a position away from the first movable pair 81. The sliding sleeve 6 is fixedly connected to the movable part of the annular slide rail 91. The fixed frame 4 is fixedly connected to the connecting frame 92 at the position of the fixed part of the first movable pair 81. The first servo motor 93 is fixedly connected to the connecting frame 92. A transmission assembly 94 is provided between the first servo motor 93 and the sliding sleeve 6. The transmission assembly 94 is a bevel gear transmission.

[0039] When the first servo motor 93 is not turned on, the traction device 10 can be rotated to make the lifting frame 7 drive the sliding sleeve 6 to rotate. The sliding sleeve 6 will rotate at the annular slide rail 91, so that the traction device 10 can be matched with the flange threaded hole of the secondary tower. When fine-tuning the angle of the secondary tower, the first servo motor 93 can be started. The first servo motor 93 will drive the sliding sleeve 6 to rotate through the transmission component 94, thereby driving the lifting frame 7 and the traction device 10 to rotate, so that the traction device 10 drives the secondary tower to rotate, so that the flange threaded hole of the secondary tower corresponds to the flange threaded hole of the primary tower.

[0040] like Figure 9-13 As shown, the traction device 10 includes a mounting frame 101, a second sliding pair 102, an interconnecting frame 103, a second positioning plate 1031, a traction seat 104, a toothed belt 105, a second servo motor 106, and a drive gear 107. The mounting frame 101 is fixedly connected to the lifting frame 7. The second sliding pair 102 is fixedly connected to the mounting frame 101. The interconnecting frame 103 is fixedly connected between the two ends of the moving part of the second sliding pair 102. The second positioning plate 1031 is fixedly connected to the interconnecting frame 103 near the first positioning plate 83. The second positioning plate 1031 is arc-shaped, and the arc-shaped structure of the second positioning plate 1031 is similar to the arc-shaped structure of the first positioning plate. The second positioning plate 1031 has traction seats 104 evenly distributed near the first positioning plate 83. The spacing of the traction seats 104 is consistent with the spacing of the flange threaded holes of the standard tower. The traction seats 104 are staggered from the positioning seats 84. The traction seats 104 have a mating relationship with the first positioning plate 83, and the positioning seats 84 have a mating relationship with the second positioning plate 1031. A toothed belt 105 is fixedly connected to the interconnecting frame 103. A second servo motor 106 is fixedly connected to the fixing part of the second moving pair 102. A drive gear 107 is fixedly connected to the output shaft of the second servo motor 106. The drive gear 107 and the toothed belt 105 are mated.

[0041] When the second servo motor 106 is not started, the moving part of the second moving pair 102 can be moved, so that the interconnecting frame 103 drives the second positioning plate 1031 and the traction seat 104 to move, so that the traction seat 104 enters the flange thread hole of the secondary tower. When fine-tuning the planar position of the secondary tower, the second servo motor 106 can be started. The second servo motor 106 will drive the interconnecting frame 103 to move through the cooperation of the drive gear 107 and the toothed belt 105, thereby driving the second positioning plate 1031 and the traction seat 104 to move, so that the traction seat 104 drives the center of the secondary tower to be on the same vertical line as the center of the primary tower.

[0042] Example 3 like Figure 8 As shown, it also includes an angle measuring component 11, which includes an arc-shaped patch switch 111, an arc-shaped resistor strip 112, a first protrusion 113, and a first sensing head 114. The arc-shaped patch switch 111 is fixedly connected to the sliding sleeve 6 near the connecting frame 92. There are two arc-shaped patch switches 111, which are symmetrically distributed with the connecting frame 92 as the center. The arc-shaped resistor strip 112 is also fixedly connected to this position of the sliding sleeve 6. The first protrusion 113 and the first sensing head 114 are fixedly connected to the connecting frame 92. The first protrusion 113 has a cooperating relationship with the arc-shaped patch switch 111, and the first sensing head 114 is in contact with the arc-shaped resistor strip 112.

[0043] After activating the power supply to the arc-shaped patch switch 111, the arc-shaped resistor strip 112, and the first sensing head 114, when the traction device 10 and the sliding sleeve 6 are manually rotated, and the traction device 10 is engaged with the threaded hole of the secondary tower flange, the sliding sleeve 6 will change its angle. One side of the arc-shaped patch switch 111 will be contacted by the first protrusion 113, triggering the arc-shaped patch switch 111 on that side. The first sensing head 114 will also change its relative position to the arc-shaped resistor strip 112, causing a change in the output current of the first sensing head 114. This change in output current indicates the relative angle difference between the primary and secondary towers. At this time, after starting the first servo motor 93, the first servo motor 93 will be contacted by the arc-shaped patch switch on that side. The first servo motor 93 drives the sliding sleeve 6 to rotate in the opposite direction, causing the sliding sleeve 6 to rotate the traction device 10 to a position directly above the positioning device 8. During the rotation of the sliding sleeve 6, the angle of the arc-shaped resistor bar 112 is gradually reset, so that the output current of the first sensing head 114 becomes the value of the initial state. At this time, it indicates that the angle adjustment of the secondary tower is completed, and the flange thread holes of the primary and secondary towers are in the corresponding state. At this time, the first sensing head 114 will control the first servo motor 93 to stop rotating. In this way, the automation level of the automatic positioning equipment for high-altitude tower hoisting and docking can be further improved in the positioning and fine-tuning of the primary and secondary towers, reducing manual operation steps, and improving the accuracy of positioning and fine-tuning the position of the primary and secondary towers.

[0044] like Figure 11-12 As shown, it also includes a ranging component 12, which includes a linear patch switch 121, a linear resistor strip 122, a second protrusion 123, and a second sensing head 124. The linear patch switch 121 is fixedly connected to the interconnect frame 103. There are two sets of linear patch switches 121, which are symmetrically distributed around the rotation axis of the sliding sleeve 6. The linear resistor strip 122 is fixedly connected at the position of the interconnect frame 103. The second protrusion 123 and the second sensing head 124 are fixedly connected at the fixing part of the second moving pair 102 near the linear patch switch 121 and the linear resistor strip 122. The second protrusion 123 has a cooperating relationship with the linear patch switch 121, and the second sensing head 124 is in contact with the linear resistor strip 122.

[0045] When the interconnecting frame 103 is manually pushed or pulled to move it, and the traction seat 104 engages with the threaded hole of the secondary tower flange, the relative positions of the linear patch switch 121 and the linear resistor strip 122 with the second protrusion 123 and the second sensing head 124 change. At this time, the second protrusion 123 will contact one side of the linear patch switch 121, and the relative position of the second sensing head 124 with the linear resistor strip 122 will also change, thereby causing a change in the output current of the second sensing head 124. From this change in output current, the relative distance between the primary and secondary towers can be determined. At this time, after the second servo motor 106 is started, the... The second servo motor 106 will be controlled by the linear patch switch 121 on this side to drive the interconnect frame 103 to move in the opposite direction, so that the interconnect frame 103 drives the traction seat 104 to move to the position directly above the positioning device 8. During the movement, the interconnect frame 103 will gradually reset the position of the linear resistor bar 122, so that the output current of the second sensor head 124 becomes the value of the initial state. At this time, it indicates that the fine adjustment distance of the secondary tower is completed and the centers of the primary and secondary towers are on the same vertical line. At this time, the second sensor head 124 will control the second servo motor 106 to stop rotating.

[0046] By employing ranging and angle measuring components, the angular and distance differences between the first and second stage towers can be quantified, assisting hoisting personnel in making precise fine adjustments. Furthermore, it enables the automatic control of the first and second servo motors, further improving the accuracy of positioning and fine-tuning of the first and second stage towers.

[0047] like Figure 3 As shown, it also includes an anti-slip component 13, which includes a bracket 131 and a rubber base 132. The anti-slip component 13 is located on the side of the base frame 1 away from the upright frame 3. The bracket 131 is fixedly connected to the side of the base frame 1 away from the upright frame 3, and the rubber base 132 is fixedly connected to the other side of the bracket 131.

[0048] The rubber base 132 enables the automatic positioning equipment for hoisting and docking the high-altitude tower to maintain stability during operation, preventing slippage during the rainy season and when there is a high concentration of rain and fog at high altitudes.

[0049] By employing anti-slip components, the automatic positioning equipment for hoisting and docking high-altitude towers can be prevented from slipping due to increased moisture content at high altitudes during high-altitude operations.

[0050] like Figure 13 As shown, it also includes a proximity switch sensor 14, which is located at one of the positioning seats 84.

[0051] After the proximity switch sensor 14 is activated, when the automatic positioning equipment for hoisting and docking the high-altitude tower is pre-positioned, the position of the positioning seat 84 can be quickly located through the sensing action of the proximity switch sensor 14, so that the positioning seat 84 with the proximity switch sensor 14 can be quickly positioned below the threaded hole of the first-stage tower flange. This allows the positioning seat 84 to rise quickly and enter the threaded hole. The working principle of the proximity switch sensor 14 is as follows: it produces a buzzing effect when there is a metal object directly above it, and does not make a sound if there is no metal object directly above it.

[0052] By using a proximity switch sensor mounted on a positioning base, the positioning base can be moved more quickly during the positioning process, further improving the speed and automation of the automatic positioning equipment for high-altitude tower hoisting and docking for positioning and docking primary and secondary towers.

[0053] By combining positioning devices, centering devices, traction devices, angle measuring components, distance measuring components, and anti-slip components, the positioning process when connecting high-level towers to low-level towers can be fast and accurate, with a high degree of automation. It does not require frequent communication between personnel, and the positional difference between towers has the advantage of being visually quantified, which can assist personnel in tower docking.

[0054] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic positioning device for high-altitude tower hoisting and docking, comprising a base frame (1), characterized in that: The base frame (1) is equipped with a positioning device (8), a centering device (9) and a traction device (10). A radial slide rail (2) is fixedly connected to the base frame (1). The radial slide rail (2) is arc-shaped. A vertical frame (3) is fixedly connected to the moving part of the radial slide rail (2). A fixed frame (4) is fixedly connected to the other side of the vertical frame (3). An arc-shaped electromagnetic chuck (5) is fixedly connected to the side of the fixed frame (4) away from the vertical frame (3). The arc-shaped structure of the arc-shaped electromagnetic chuck (5) is cochord with the inner diameter of the standard tower. The track of the radial slide rail (2) is concentric with the arc-shaped electromagnetic chuck (5). A sliding sleeve (6) is provided on the other side of the fixed frame (4). A lifting frame (7) is slidably placed inside the sliding sleeve (6). The fixed frame (4) is provided with a positioning device (8), which is used to position and cooperate with the bolt holes of the tower. The positioning device (8) includes a first moving part (81), which is fixedly connected to the fixed frame (4). An elastic element (82) is fixedly connected to the first moving part (81). A first positioning plate (83) is fixedly connected to the moving part of the first moving part (81) away from the upright frame (3). The first positioning plate (83) is arc-shaped. The arc structure of the first positioning plate (83) is equal to the arc structure of the arc electromagnetic chuck (5). Positioning seats (84) are evenly distributed on the side of the first positioning plate (83) away from the first moving part (81). The spacing of the positioning seats (84) is consistent with the spacing of the flange thread holes of the standard tower. The traction device (10) cooperates with the first positioning plate (83). The fixing frame (4) is provided with a centering device (9) on the side away from the arc-shaped electromagnetic chuck (5). The sliding sleeve (6) is fixedly connected to the centering device (9). The centering device (9) is used to drive the sliding sleeve (6) to rotate. The centering device (9) includes an annular slide rail (91). The annular slide rail (91) is fixedly connected to the fixing frame (4) on the side away from the first moving pair (81). The sliding sleeve (6) is fixedly connected to the moving part of the annular slide rail (91). The fixing frame (4) is fixedly connected to a connecting frame (92) at the position of the fixing part of the first moving pair (81). The connecting frame (92) is fixedly connected to a first servo motor (93). A transmission assembly (94) is provided between the first servo motor (93) and the sliding sleeve (6). The transmission assembly (94) is a bevel gear transmission. A traction device (10) is provided at the lifting frame (7). The traction device (10) is used to pull the tower that needs to be docked for fine-tuning of its position. The traction device (10) includes a mounting frame (101). The mounting frame (101) is fixedly connected to the lifting frame (7). A second moving pair (102) is fixedly connected to the mounting frame (101). An interconnecting frame (103) is fixedly connected between the two ends of the moving part of the second moving pair (102). A second positioning plate (1031) is fixedly connected to the interconnecting frame (103) near the first positioning plate (83). The second positioning plate (1031) is arc-shaped. The arc structure of the second positioning plate (1031) is equal in chord to the arc structure of the first positioning plate. 1031) Traction seats (104) are evenly distributed near the first positioning plate (83). The spacing of the traction seats (104) is consistent with the spacing of the flange thread holes of the standard tower. The traction seats (104) are staggered from the positioning seats (84). The traction seats (104) have a mating relationship with the first positioning plate (83). The positioning seats (84) have a mating relationship with the second positioning plate (1031). A toothed belt (105) is fixedly connected to the interconnecting frame (103). A second servo motor (106) is fixedly connected to the fixing part of the second moving pair (102). A drive gear (107) is fixedly connected to the output shaft of the second servo motor (106). The drive gear (107) is mated with the toothed belt (105).

2. The automatic positioning equipment for high-altitude tower hoisting and docking according to claim 1, characterized in that: It also includes an angle measuring component (11), which includes an arc-shaped patch switch (111). The arc-shaped patch switch (111) is fixedly connected to the sliding sleeve (6) near the connecting frame (92). There are two arc-shaped patch switches (111) and they are symmetrically distributed with the connecting frame (92) as the center. An arc-shaped resistor strip (112) is also fixedly connected to this position of the sliding sleeve (6). A first protrusion (113) and a first sensing head (114) are fixedly connected to the connecting frame (92). The first protrusion (113) has a cooperating relationship with the arc-shaped patch switch (111), and the first sensing head (114) is in contact with the arc-shaped resistor strip (112).

3. The automatic positioning equipment for high-altitude tower hoisting and docking according to claim 2, characterized in that: It also includes a ranging component (12), which includes a linear patch switch (121). The linear patch switch (121) is fixedly connected to the interconnect frame (103). There are two sets of linear patch switches (121) and they are symmetrically distributed around the rotation axis of the sliding sleeve (6). A linear resistor strip (122) is fixedly connected at the position of the interconnect frame (103). A second protrusion (123) and a second sensing head (124) are fixedly connected at the fixing part of the second moving pair (102) near the linear patch switch (121) and the linear resistor strip (122). The second protrusion (123) has a cooperating relationship with the linear patch switch (121), and the second sensing head (124) is in contact with the linear resistor strip (122).

4. The automatic positioning equipment for high-altitude tower hoisting and docking according to claim 3, characterized in that: It also includes an anti-slip component (13), which is located on the side of the base frame (1) away from the upright frame (3). A bracket (131) is fixedly connected to the side of the base frame (1) away from the upright frame (3), and a rubber base (132) is fixedly connected to the other side of the bracket (131).

5. The automatic positioning equipment for high-altitude tower hoisting and docking according to claim 4, characterized in that: It also includes a proximity switch sensor (14) located at one of the positioning seats (84).

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