Assembly type station high-precision hydraulic mechanical arm hoisting system and method

Abstract

The invention discloses an assembly type station high-precision hydraulic mechanical arm assembly system. Comprising two supports, the supports are erected on a beam transporting table, the lower end of the beam transporting table is rotationally connected with a plurality of rollers, and the rollers are erected on a guide rail; a cross arm is movably connected between the two supports in the vertical direction, and a climbing assembly used for driving the cross arm to move is arranged on the cross arm. The cross arm is slidably connected with a mechanical arm in the horizontal direction, and a driving assembly used for driving the mechanical arm to slide is arranged on the cross arm. The mechanical arm is rotationally connected with a grabbing hook used for hoisting a hoisting piece, the rotating axis of the grabbing hook is arranged in the horizontal direction, and the mechanical arm is further provided with an adjusting assembly used for driving a grabbing hook assembly to rotate. Through the arrangement of the grabbing hook, the adjusting assembly and the climbing assembly, when the lifting piece is lifted, the lifting piece can be stably controlled by the grabbing hook, the posture cannot be changed at will, meanwhile, the climbing assembly replaces a conventional steel rope for lifting, and disturbance caused by stretching and swinging of the steel rope is avoided; meanwhile, the posture of the hanging piece in the air can be changed through the arrangement of the adjusting assembly, and the hanging piece can be conveniently and accurately assembled.

Description

Technical Field

[0001] The present invention relates to the field of high-voltage power transmission, and in particular to a high-precision hydraulic mechanical arm hoisting system and method for an assembled station. Background Art

[0002] As a major energy consumer, the construction industry has long been the focus of national attention. At the same time, with the climax of infrastructure construction receding, the construction industry is transforming towards high-quality development driven by greening, industrialization and informatization. In response to the transformation and upgrading of the construction industry, prefabricated buildings have become the focus of the construction industry's development due to their high efficiency, high quality, low consumption and low emissions.

[0003] Compared with traditional buildings, prefabricated buildings have two major characteristics: one is factory prefabrication of standard components, and the other is high-precision on-site assembly. High-precision assembly is the difficulty of prefabricated buildings. It not only determines the quality of the construction project, but also ensures the safety of the construction site and directly affects the construction efficiency of prefabricated construction projects. However, with the continuous increase in the scale and quality requirements of construction projects, the various limitations of existing assembly equipment have gradually become a bottleneck in the development of prefabricated construction projects.

[0004] In assembly engineering, the influence of hoisting equipment on assembly accuracy and efficiency is very significant. Especially in the case of rope hoisting, when the mass of the component is large, the hoisting rope will inevitably be stretched and twisted, making the operation cumbersome and the accuracy control difficult. Summary of the invention

[0005] In order to facilitate the control of the posture of the hanging parts during hoisting and to complete the assembly of the hanging parts more accurately, the present application provides a high-precision hydraulic mechanical arm hoisting system and method for an assembled station.

[0006] The present application provides a prefabricated station high-precision hydraulic mechanical arm lifting system, which adopts the following technical solutions:

[0007] A high-precision hydraulic mechanical arm lifting system for an assembled station comprises two supports, which are mounted on a beam transport platform, and the lower end of the beam transport platform is rotatably connected to a plurality of rollers, which are mounted on guide rails; a cross arm is movably connected between the two supports in a vertical direction, and the cross arm is provided with a climbing component for driving its own movement; the cross arm is slidably connected to a mechanical arm in a horizontal direction, and the cross arm is provided with a driving component for driving the mechanical arm to slide; a grab hook for lifting hanging parts is rotatably connected to the mechanical arm, and the rotation axis of the grab hook is arranged in a horizontal direction, and the mechanical arm is also provided with an adjustment component for driving the grab hook component to rotate.

[0008] Optionally, a mounting base is rotatably connected to the robotic arm, the grab hook is fixedly connected to the mounting base, the adjustment component is used to drive the mounting base to rotate, and a plurality of hooks are provided on the grab hook, which are used to connect with assembly holes on the hanging piece.

[0009] Optionally, the hook includes two L-shaped plates arranged opposite to each other, and the L-shaped plates are slidably connected to the grab hook in a horizontal direction. The grab hook is also provided with a hydraulic system for driving the L-shaped plates to slide, and the L-shaped plates slide to connect with the assembly holes.

[0010] Optionally, the mounting base is rotatably connected to the mechanical arm via a rotating shaft, and the adjusting component includes an adjusting motor, which is fixedly connected to the mechanical arm, and an output shaft of the adjusting motor is coaxially and fixedly connected to the rotating shaft.

[0011] Optionally, the adjustment assembly also includes a ratchet and a pawl, the ratchet is coaxially fixedly connected to the rotating shaft, the pawl is rotatably connected to the mechanical arm, and the mechanical arm is also provided with a torsion spring for limiting the rotation of the pawl. When the torsion spring is in a natural state, the pawl is inserted into the ratchet.

[0012] Optionally, both supports are provided with a mounting seat, both ends of the cross arm are overlapped on the mounting seat, and the mounting seat moves on the bracket through the climbing assembly.

[0013] Optionally, the climbing assembly includes a climbing hydraulic cylinder, which is arranged on the mounting seat and has its telescopic direction arranged along the vertical direction; plug-in hydraulic cylinders are provided at both ends of the climbing hydraulic cylinder, and a plurality of plug-in grooves for inserting the plug-in hydraulic cylinders are arranged at intervals along the vertical direction on the support.

[0014] Optionally, the driving assembly includes a crawler track and a driving motor, the crawler track is arranged around the cross arm, the mechanical arm is fixedly connected to the crawler track, and the driving motor is used to drive the crawler track to rotate.

[0015] In the second aspect, the present application also discloses a high-precision hoisting method for an assembled station, which adopts the following technical means:

[0016] A high-precision hoisting method for an assembled station comprises the following steps:

[0017] S1. Complete the equipment and hanging parts to enter the site and inspect the equipment;

[0018] S2, laying the guide rails, erecting the supports, and installing the climbing components on the cross arms;

[0019] S3, connecting the grab hook and the hanging piece;

[0020] S4. Raise the height of the cross arm through the climbing assembly, change the horizontal position of the support through the guide rail, and move the hanging piece to the predetermined position;

[0021] S5. Adjust the posture of the hanging part by adjusting the components and complete the installation of the hanging part.

[0022] In summary, this application includes the following beneficial technical effects:

[0023] The present application uses the settings of a grab hook, an adjustment component and a climbing component to ensure that the hanging component can be stably controlled by the grab hook when being lifted and will not change its posture at will. At the same time, the climbing component replaces the conventional steel rope lifting, and there is no disturbance caused by the extension and contraction and swing of the steel rope. At the same time, the setting of the adjustment component allows the posture of the hanging component in the air to be changed, which facilitates the precise assembly of the hanging component. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the overall structural diagram of the high-precision hydraulic mechanical arm lifting system of the prefabricated station of this application;

[0025] Figure 2 yes Figure 1 The overall structural diagram of the middle erection seat;

[0026] Figure 3 yes Figure 2 Schematic diagram of the overall structure of the middle grab hook;

[0027] Figure 4 It is a schematic diagram of the connection between the grab hook and the hanging part assembly hole.

[0028] Description of reference numerals:

[0029] 11. Support; 12. Beam transport platform; 13. Roller; 14. Plug-in slot; 15. Guide rail; 21. Erection seat; 22. Climbing hydraulic cylinder; 23. Plug-in hydraulic cylinder; 31. Cross arm; 32. Mechanical arm; 33. Mounting seat; 34. Grapple; 35. Hook; 41. Rotating shaft; 42. Ratchet; 43. Paw; 44. Adjusting motor. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-4 This application is described in further detail.

[0031] The embodiment of the present application discloses a high-precision hydraulic mechanical arm lifting system for an assembled station. The system works in the form of on-site assembly, and includes two supports 11. The supports 11 are both mounted on a beam transport platform 12. A roller 13 is provided at the lower end of the beam transport platform 12. During construction, the roller 13 is mounted on a guide rail 15; a mounting seat 21 is provided on the two supports 11, and a climbing assembly is provided on the mounting seat 21. The mounting seat 21 can be moved on the bracket through the climbing assembly; a cross arm 31 is mounted on the two mounting seats 21, and a slide rail is provided on the cross arm 31 in the horizontal direction. A mechanical arm 32 is slidably connected to the slide rail, and a driving assembly for driving the mechanical arm 32 to slide is also provided; a grab hook 34 for lifting hanging parts is rotatably connected to the mechanical arm 32, and the rotation axis of the grab hook 34 is arranged in the horizontal direction. The mechanical arm 32 is also provided with an adjustment assembly for driving the grab hook 34 assembly to rotate.

[0032] After the hook 34 grabs the hanging part, the cross arm 31 is lifted by the climbing assembly, and then the support 11 is pushed to move the hanging part to a predetermined position, and then it is lowered, and the posture of the hanging part is adjusted in the air by the adjustment assembly to achieve a high-precision assembly effect.

[0033] In the embodiment of the present application, the climbing component includes a climbing hydraulic cylinder 22, which is arranged on the erection seat 21, and its telescopic direction is arranged along the vertical direction; both ends of the climbing hydraulic cylinder 22 are provided with plug-in hydraulic cylinders 23, and a plurality of plug-in grooves 14 for inserting the plug-in hydraulic cylinders 23 are arranged at intervals along the vertical direction on the support 11; the two plug-in hydraulic cylinders 23 are one up and one down, one rises and one shrinks, and when the plug-in hydraulic cylinder 23 at the upper end is inserted into the plug-in groove 14, the plug-in hydraulic cylinder 23 at the lower end is disengaged from the plug-in groove 14, and rises under the action of the climbing hydraulic cylinder 22, thereby inserting into the plug-in groove 14 at the upper end, and then the plug-in hydraulic cylinder 23 at the upper end is disengaged, rises, and inserted into the plug-in groove 14; so as to gradually lift the erection seat 21 and the cross arm 31.

[0034] In the embodiment of the present application, the driving assembly includes a driving motor and a track. The track is wrapped around the cross arm 31 , and the mechanical arm 32 is fixed to a certain point of the track. The driving motor is used to drive the track to move around the cross arm 31 .

[0035] The mechanical arm 32 is rotatably connected to a mounting base 33, a grab hook 34 is fixedly connected to the mounting base 33, and an adjustment component is used to drive the mounting base 33 to rotate; a plurality of hooks 35 are provided on the grab hook 34, and the hook 35 includes two relatively arranged L-shaped plates, and the L-shaped plates are slidably connected to the grab hook 34 along a horizontal direction. The grab hook 34 is also provided with a hydraulic system for driving the L-shaped plates to slide, and the L-shaped plates slide to connect with the assembly holes on the hanging parts; it should be noted that the assembly holes here are possessed by the hanging parts themselves, which is a feature of the assembled structure itself, and two wing plates are provided at the vacant parts of the assembly holes; after the two L-shaped plates are inserted into the assembly holes, they are separated from each other to complete the connection with the wing plates of the assembly holes, so that they will not fall out of the assembly holes; after the L-shaped plates are connected to the assembly holes, the hanging parts and the grab hook 34 form a rigid whole, so the posture of the hanging parts can be changed later by only changing the posture of the mounting base 33 through the adjustment component.

[0036] In the embodiment of the present application, the mounting base 33 is rotatably connected to the mechanical arm 32 via a rotating shaft 41, and the adjusting component includes an adjusting motor 44. The output shaft of the adjusting motor 44 is coaxially fixedly connected to the rotating shaft 41, and the adjusting motor 44 can drive the mounting base 33 to rotate; in order to make the angle after rotation more precise, a ratchet 42 is also coaxially fixedly connected to the rotating shaft 41, and a pawl 43 is also rotatably connected to the mechanical arm 32. The pawl 43 rotates to insert into or disengage from the mechanical arm 32. At the same time, a torsion spring for limiting the rotation of the pawl 43 is also provided on the mechanical arm 32. When the torsion spring is in a natural state, the pawl 43 is inserted into the ratchet 42; therefore, when the mounting base 33 is rotated to a predetermined angle, the adjusting motor 44 reverses to fix the posture of the hanger.

[0037] The present application also discloses a high-precision hoisting method for an assembled station, comprising the following steps:

[0038] Step 1: Preparation

[0039] 1. Site preparation:

[0040] Clean the assembly site and ensure that the ground is flat and free of obstacles.

[0041] Install the rail system on site, ensuring it is level and secure.

[0042] 2. Equipment inspection:

[0043] Check the various components of the robotic arm, cross arm, erection base and beam transport platform to ensure that they function properly and are not damaged.

[0044] Pressure test the hydraulic system to ensure that the hydraulic locks of the mounting base and the robotic arm are functioning properly.

[0045] 3. Component preparation:

[0046] The prefabricated components are transported to the site and stacked in the order of assembly.

[0047] Check the size and quality of components to ensure they meet design requirements.

[0048] Step 2: Cross arm installation

[0049] Cross arm installation:

[0050] Place the cross arm on the mounting base of the support and secure it.

[0051] Use the erection feet to raise the cross arm to the working height, making sure the cross arm is level.

[0052] Robotic arm installation:

[0053] Fix the robot arm to the track of the cross arm to ensure that it can move stably on the slide rail.

[0054] Connect the hydraulic system of the robot arm to ensure that the hydraulic and electric rotating equipment function properly.

[0055] Robotic arm debugging:

[0056] The locking function of the robotic arm is controlled by a hydraulic system to ensure that it can lock the component smoothly.

[0057] Check the electric rotation and hydraulic retraction functions of the robotic arm to ensure that it can accurately adjust the component position.

[0058] Step 4: Component hoisting and preliminary positioning

[0059] 1. Component locking:

[0060] Use the hydraulic lock of the robotic arm to firmly lock the prefabricated components to ensure that the components do not shake during the movement.

[0061] 2. Component improvement:

[0062] The horizontal arm is lifted by the climbing assembly, driving the hanging piece to move toward the plumb bob to the required height.

[0063] The hanging part is moved along the direction of the cross arm to a rough installation position through the driving assembly on the cross arm.

[0064] Step 5: Accurate positioning and installation of hanging parts

[0065] 1. Fine-tune positioning:

[0066] Use the robot arm's adjustment assembly to make precise fine adjustments to the hanger.

[0067] Ensure that the position and angle of the hanging parts in all directions meet the design requirements.

[0068] 2. Fixing of hanging parts:

[0069] After the hanging part reaches the precise position, the component is fixed in the target position by means of locking devices.

[0070] Double-check the fixings to ensure that all connections are secure and reliable.

[0071] Step 6: Preparation before assembling the next component

[0072] 1. Check the assembly to ensure that all functions are functioning properly

[0073] 2. Unlock the robot arm

[0074] After ensuring that the installed components are stable, release the installed hanging parts from the mechanical arm lock.

[0075] 3. Return the assembly device to its original position

[0076] First, start the climbing component to move the cross arm to above the height of the next component, and then start the beam transport platform to move the assembly device as a whole to the next component position.

[0077] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A high-precision hydraulic mechanical arm lifting system for an assembled station, characterized by: The invention comprises two supports (11), wherein the supports (11) are mounted on a beam transport platform (12), wherein the lower end of the beam transport platform (12) is rotatably connected to a plurality of rollers (13), wherein the rollers (13) are mounted on a guide rail (15); a cross arm (31) is movably connected between the two supports (11) in a vertical direction, wherein the cross arm (31) is provided with a climbing component for driving the cross arm to move itself; a mechanical arm (32) is slidably connected to the cross arm (31) in a horizontal direction, wherein the cross arm (31) is provided with a driving component for driving the mechanical arm (32) to slide; a grab hook (34) for hoisting a hanging part is rotatably connected to the mechanical arm (32), wherein the rotation axis of the grab hook (34) is arranged in a horizontal direction, and the mechanical arm (32) is also provided with an adjusting component for driving the grab hook (34) component to rotate.

2. According to claim 1, a prefabricated station high-precision hydraulic mechanical arm lifting system is characterized by: The mechanical arm (32) is rotatably connected to a mounting seat (33), the grab hook (34) is fixedly connected to the mounting seat (33), the adjustment component is used to drive the mounting seat (33) to rotate, and the grab hook (34) is provided with a plurality of hooks (35), and the hooks (35) are used to be connected to assembly holes on the hanging parts.

3. According to claim 2, a prefabricated station high-precision hydraulic mechanical arm lifting system is characterized by: The hook (35) comprises two L-shaped plates arranged opposite to each other, the L-shaped plates are slidably connected to the grab hook (34) in a horizontal direction, and the grab hook (34) is also provided with a hydraulic system for driving the L-shaped plates to slide, and the L-shaped plates slide to connect with the assembly holes.

4. According to claim 2, a prefabricated station high-precision hydraulic mechanical arm lifting system is characterized by: The mounting seat (33) is rotatably connected to the mechanical arm (32) via a rotating shaft (41); the adjusting assembly comprises an adjusting motor (44); the adjusting motor (44) is fixedly connected to the mechanical arm (32); and an output shaft of the adjusting motor (44) is coaxially and fixedly connected to the rotating shaft (41).

5. According to claim 4, a prefabricated station high-precision hydraulic mechanical arm lifting system is characterized by: The regulating assembly further comprises a ratchet (42) and a pawl (43); the ratchet (42) is coaxially fixedly connected to the rotating shaft (41); the pawl (43) is rotatably connected to the mechanical arm (32); a torsion spring for limiting the rotation of the pawl (43) is also provided on the mechanical arm (32); when the torsion spring is in a natural state, the pawl (43) is inserted into the ratchet (42).

6. The high-precision hydraulic mechanical arm hoisting system for an assembled station according to claim 1 is characterized by: A mounting seat (21) is provided on each of the two supports (11), and both ends of the cross arm (31) are overlapped on the mounting seat (21), and the mounting seat (21) moves on the bracket through the climbing assembly.

7. The high-precision hydraulic mechanical arm hoisting system for an assembled station according to claim 6 is characterized by: The climbing assembly comprises a climbing hydraulic cylinder (22), which is arranged on the mounting seat (21) and whose telescopic direction is arranged along the vertical direction; plug-in hydraulic cylinders (23) are arranged at both ends of the climbing hydraulic cylinder (22), and a plurality of plug-in slots (14) for inserting the plug-in hydraulic cylinders (23) are arranged at intervals along the vertical direction on the support seat (11).

8. The high-precision hydraulic mechanical arm hoisting system for an assembled station according to claim 1 is characterized by: The driving assembly comprises a crawler track and a driving motor. The crawler track is arranged around the cross arm (31). The mechanical arm (32) is fixedly connected to the crawler track. The driving motor is used to drive the crawler track to rotate.

9. A method for high-precision lifting of an assembled station, using a high-precision hydraulic mechanical arm (32) lifting system for an assembled station as claimed in claim 5, characterized in that The steps include: S1. Complete the equipment and hanging parts to enter the site and inspect the equipment; S2, laying the guide rail (15), erecting the support (11), and installing the climbing assembly on the cross arm (31); S3, connecting the grab hook (34) to the hanging piece; S4, raising the height of the cross arm (31) by means of the climbing assembly, changing the horizontal position of the support (11) by means of the guide rail (15), and moving the hanging member to a predetermined position; S5. Adjust the posture of the hanging part by adjusting the components and complete the installation of the hanging part.

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