High-precision hydraulic mechanical arm lifting system and method for assembled station

Abstract

Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

Description

Technical Field

[0001] The present invention relates to the field of hoisting mechanical equipment, 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 decline of the peak of infrastructure construction, the construction industry is transforming towards high-quality development driven by greening, industrialization and informatization.

[0003] Prefabricated buildings possess two key characteristics compared to traditional construction: factory-fabricated standard components and high-precision on-site assembly. High-precision assembly is a key challenge in prefabricated construction, not only determining the quality of the construction project but also ensuring site safety and directly impacting the efficiency of prefabricated construction. However, as construction projects continue to grow in scale and quality requirements, the limitations of existing assembly equipment are becoming a bottleneck in the development of prefabricated construction.

[0004] In assembly projects, the impact of hoisting equipment on assembly accuracy and efficiency is significant. This is especially true in rope hoisting, where heavy components inevitably experience stretching and twisting, making the hoisting ropes complex and difficult to control. 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] This application provides a high-precision hydraulic mechanical arm lifting system for an assembled station, which adopts the following technical solutions:

[0007] A high-precision hydraulic mechanical arm lifting system for an assembled station includes two supports, which are mounted on a beam transport platform. 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 connected between the two supports for movement in the vertical direction, and the cross arm is provided with a climbing component for driving its own movement; the cross arm is connected to a mechanical arm for sliding in the 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 set in the horizontal direction. 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 oppositely arranged L-shaped plates, which 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 robotic arm via a rotating shaft, and the adjusting assembly includes an adjusting motor, which is fixedly connected to the robotic arm, and an output shaft of the adjusting motor is coaxially and fixedly connected to the rotating shaft.

[0011] Optionally, the adjustment assembly further 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 slots 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 and a drive motor, the crawler is arranged around the cross arm, the mechanical arm is fixedly connected to the crawler, and the drive motor is used to drive the crawler to rotate.

[0015] In a 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 delivery of equipment and hanging parts and inspect the equipment;

[0018] S2. Lay the guide rails, erect the supports, and install the climbing components on the cross arms;

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

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

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

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

[0023] The present application uses the setting of a grab hook, an adjustment component and a climbing component to ensure that the hanging component can be firmly 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 for the prefabricated station in this application;

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

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

[0027] Figure 4 It is a schematic diagram of the connection between the grab hook and the hanging piece 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. Pawl; 44. Adjustment 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, which works in the form of on-site assembly and includes two supports 11, both of which are mounted on a beam transport platform 12, and 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; both supports 11 are provided with a mounting seat 21, and the mounting seat 21 is provided with a climbing assembly, and 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, and 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 set in the horizontal direction, and 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 component, and then the support 11 is pushed to move the hanging part to the predetermined position, and then it is lowered, and the posture of the hanging part is adjusted in the air by the adjustment component to achieve a high-precision assembly effect.

[0033] In the embodiment of the present application, the climbing assembly 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 a plug-in hydraulic cylinder 23, and the support 11 is provided with a plurality of plug-in slots 14 for inserting the plug-in hydraulic cylinder 23 at intervals along the vertical direction; the two plug-in hydraulic cylinders 23 are one up and one down, one rising and one shrinking, and when the plug-in hydraulic cylinder 23 at the upper end is inserted into the plug-in slot 14, the plug-in hydraulic cylinder 23 at the lower end is disengaged from the plug-in slot 14, and rises under the action of the climbing hydraulic cylinder 22, thereby inserting into the plug-in slot 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 slot 14; so as to gradually lift the erection seat 21 and the cross arm 31.

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

[0035] The mechanical arm 32 is rotatably connected to a mounting base 33, and 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 oppositely arranged L-shaped plates, which 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 on the hanger; it should be noted that the assembly hole here is provided by the hanger itself, which is a characteristic of the assembled structure itself, and two wing plates are provided at the vacant position of the assembly hole; after the two L-shaped plates are inserted into the assembly hole, they move away from each other to complete the connection with the wing plates of the assembly hole, so that they will not fall out of the assembly hole; after the L-shaped plates are connected to the assembly hole, the hanger and the grab hook 34 form a rigid whole, so the posture of the hanger can be changed subsequently by only changing the posture of the mounting base 33 by adjusting the component.

[0036] In an embodiment of the present application, the mounting base 33 is rotatably connected to the robotic arm 32 via a rotating shaft 41, and the adjustment 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 robotic arm 32. The pawl 43 rotates to insert into or disengage from the robotic arm 32. At the same time, a torsion spring for limiting the rotation of the pawl 43 is also provided on the robotic 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 rotates to a predetermined angle, the adjusting motor 44 reverses to fix the posture of the hanger.

[0037] This 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 are functioning properly and without damage.

[0044] Perform pressure test on the hydraulic system to ensure that the hydraulic locks of the erection base and the robotic arm are functioning properly.

[0045] 3. Component preparation:

[0046] The prefabricated components are delivered 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 mounting bracket to raise the cross arm to the working height, ensuring that 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 are functioning 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 position of the component.

[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] On the cross arm, the driving assembly is used to move the hanging piece along the cross arm direction to the approximate installation position.

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

[0065] 1. Fine-tune positioning:

[0066] Use the robot arm's adjustment assembly to precisely fine-tune the hanging parts.

[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 through devices such as locks.

[0070] Perform a secondary check on the fixings to ensure that all connections are firm and reliable.

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

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

[0073] 2. Unlock the robotic 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 are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection 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), the supports (11) are mounted on a beam transport platform (12), the lower end of the beam transport platform (12) is rotatably connected to a plurality of rollers (13), and the rollers (13) are mounted on a guide rail (15); a cross arm (31) is connected between the two supports (11) for movement in the vertical direction, and the cross arm (31) is provided with a climbing component for driving its own movement; the cross arm (31) is connected to a mechanical arm (32) for sliding in the horizontal direction, and 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), the rotation axis of the grab hook (34) is arranged in the horizontal direction, and the mechanical arm (32) is also provided with an adjusting component for driving the grab hook (34) to rotate; The mechanical arm (32) is rotatably connected to a mounting base (33), the grab hook (34) is fixedly connected to the mounting base (33), the adjustment assembly is used to drive the mounting base (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 the assembly holes on the hanging piece; 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 fixedly connected to the rotating shaft (41); The adjustment assembly further comprises a ratchet (42) and a pawl (43), wherein the ratchet (42) is coaxially fixedly connected to the rotating shaft (41), and the pawl (43) is rotatably connected to the mechanical arm (32). The mechanical arm (32) is further provided with a torsion spring for limiting the rotation of the pawl (43), and when the torsion spring is in a natural state, the pawl (43) is inserted into the ratchet (42).

2. The high-precision hydraulic mechanical arm lifting system for an assembled station according to claim 1 is characterized by: The hook (35) comprises two oppositely arranged L-shaped plates, which are slidably connected to the grab hook (34) in 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.

3. The high-precision hydraulic mechanical arm lifting system for an assembled station according to claim 2 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). The mounting seat (21) moves on the bracket through the climbing assembly.

4. The high-precision hydraulic mechanical arm lifting system for an assembled station according to claim 3 is characterized by: The climbing assembly comprises a climbing hydraulic cylinder (22), which is arranged on the mounting seat (21) and has a telescopic direction arranged in the vertical direction; plug-in hydraulic cylinders (23) are provided 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 provided on the support (11) at intervals in the vertical direction.

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

6. 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 4, characterized in that The steps include: S1. Complete the delivery of equipment and hanging parts and inspect the equipment; S2, laying the guide rail (15), setting up 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 the climbing assembly, changing the horizontal position of the support (11) by the guide rail (15), and moving the hanging member to a predetermined position; S5. Adjust the posture of the hanging piece by adjusting the components and complete the installation of the hanging piece.

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