Automated lifting equipment for disassembly and assembly of power equipment

Abstract

The present application relates to an automated lifting equipment for disassembling and assembling electric equipment, including a transport trolley, which is located on the left and right sides of the lifting equipment; a control platform is located on the transport trolley; a vertical lifting mechanical arm assembly is installed on the transport trolley, and is used for vertical lifting of the equipment when it is in use; an electric hoist is used for lifting the equipment, and is controlled by a remote control device; a first horizontal rail is installed on the upper end of the vertical lifting mechanical arm assembly, and is connected to the second horizontal rail on the same side, and the second horizontal rails on the left and right sides are connected to each other to form a walking track for the electric hoist; a connecting assembly is used for connecting the second horizontal rails on the left and right sides; a calibration assembly and a position coordinate component are used for position calibration when the second horizontal rails on the left and right sides are docked; a remote control device is used for wireless transport trolley movement control and vertical lifting mechanical arm lifting control. The present application meets the problem of mechanized lifting in places of different heights and widths, and has good versatility and scene adaptability.

Description

Technical Field

[0001] The present application relates to the field of disassembly and assembly of electric power equipment, and in particular to an automated lifting equipment for disassembly and assembly of electric power equipment. Background Art

[0002] With the development of the electric power industry, power grid construction faces severe challenges of "large scale, fast pace and high difficulty". Comprehensively promoting mechanized construction is a practical need to actively respond to the large-scale construction tasks of power grids.

[0003] In power grid construction, the installation and maintenance of power equipment usually require hoisting. The application scenarios of power equipment are divided into indoor and outdoor. Cranes are usually used for disassembly and assembly outdoors. Cranes cannot enter indoors due to the narrow space, resulting in the following problems:

[0004] 1. Lack of automated lifting equipment in narrow indoor spaces

[0005] Taking the construction cost into consideration, most substations are not equipped with electric cranes. Instead, they have lifting rings pre-installed on the roof. When in use, the lifting rings cannot be moved, and because they are on the roof and too high from the ground, their convenience is greatly reduced. Due to the small indoor space, large cranes cannot enter the room for lifting operations, resulting in a lack of automated lifting equipment indoors.

[0006] 2. The existing working method has poor safety

[0007] The installation and maintenance of some large electrical equipment, such as GIS, is usually carried out by temporarily building a scaffolding and using a hoist due to its large size and heavy weight. However, the equipment has a complex structure, making it difficult to find the center of gravity of the equipment and difficult to select the scaffolding support points. In addition, the scaffolding has a simple structure and is only temporarily built based on experience, so it is difficult to guarantee the load-bearing capacity, which poses a major safety hazard.

[0008] 3. The existing operation mode has high labor intensity

[0009] As power equipment is large in size and heavy in weight, and different products vary greatly, the installation and maintenance of indoor equipment still relies heavily on primitive methods such as manual lifting and carrying on shoulders due to the lack of lifting equipment, resulting in high labor intensity and low efficiency.

[0010] 4. Existing lifting equipment cannot meet the requirements of diversified scenarios

[0011] In order to improve the mechanization level of indoor operation of power equipment and reduce the labor intensity of personnel, some power stations use hand-pushed mobile gantry for hoisting in indoor construction. The equipment has a simple structure and a small size. It is manually pushed and moved. This equipment is basically only suitable for the hoisting construction of small products. For GIS electrical products with voltage levels of 110kV and above, the length of the equipment body is more than 6 meters, and the working range of the hand-pushed gantry cannot meet the actual needs. Summary of the invention

[0012] The purpose of the embodiments of the present application is to provide an automated lifting equipment for disassembly and assembly of power equipment, which can be spliced ​​according to the size of the indoor space to meet the mechanized lifting problems in places of different heights and widths, and has good versatility and scene adaptability.

[0013] To achieve the above objectives, this application provides the following technical solutions:

[0014] The embodiment of the present application provides an automated lifting equipment for disassembling and assembling electric equipment, including a carrying trolley, a control platform, a vertical lifting mechanical arm assembly, an electric hoist, a first horizontal rail, a second horizontal rail, a connecting assembly, a calibration assembly, a position coordinate component, and a remote control device.

[0015] The transport trolley is located on the left and right sides of the lifting equipment and is used for the equipment to travel without load, to travel with automatic docking, and to travel with lifting;

[0016] The control platform is located on the transport trolley and is used for displaying the docking position and operating control of the equipment;

[0017] The vertical lifting mechanical arm assembly is installed on the carrying trolley and is used for vertical lifting when the equipment is in use;

[0018] Electric hoist is used for lifting equipment and is controlled by remote control;

[0019] The first horizontal rail is installed at the upper end of the vertical lifting mechanical arm assembly and is connected to the second horizontal rail on the same side. The second horizontal rails on the left and right sides are connected to each other to form a walking track for the electric hoist;

[0020] The connection assembly is used for connecting the second horizontal rails on the left and right sides; the calibration assembly and the position coordinate parts are used for position calibration when the second horizontal rails on the left and right sides are docked;

[0021] The remote control device is used for the wireless transport trolley movement control and the vertical lift robot arm assembly lifting control.

[0022] The transport vehicle comprises a cover, a vehicle chassis, a straight wheel assembly, an omnidirectional wheel assembly, a rotating seat assembly, a support platform, a battery assembly, a data processing assembly and a hydraulic system.

[0023] The cover is installed on the chassis of the trolley and is used to protect the internal equipment;

[0024] The trolley chassis is the main structure of the equipment, located at the bottom of the transport trolley, and is used for the installation and protection of internal equipment;

[0025] The straight wheel assembly is installed on both sides of the lower part of the trolley chassis and is a linear moving device for the trolley;

[0026] The omnidirectional wheel assembly is installed on both sides of the lower part of the trolley chassis, and is shared with the power system in the straight wheel assembly. The power is transmitted through the pulley, and is used to carry the trolley horizontal rail docking movement and the trolley auxiliary load;

[0027] The rotating seat assembly is installed on the upper part of the supporting platform and is used as the support of the vertical lifting robot arm assembly. It is equipped with a rotating motor and can rotate 360 ​​degrees at any angle.

[0028] The battery assembly is placed at the front end of the vehicle chassis and is used to provide power for the vehicle and control power supply;

[0029] The data processing component is installed at the front end of the vehicle chassis;

[0030] The hydraulic system is installed at the rear end of the trolley chassis and is used as the internal hydraulic cylinder lifting power source of the vertical lifting mechanical arm assembly to drive the vertical lifting mechanical arm assembly to move up and down.

[0031] The vertical lifting mechanical arm assembly includes a vertical lifting mechanical arm, a mounting plate, and a rotating arm assembly.

[0032] The vertical lifting mechanical arm is installed on the rotating seat assembly of the carrier trolley, and can be automatically raised and lowered according to actual needs to adjust to the appropriate working height;

[0033] The mounting plate is welded to the top of the vertical lifting arm and is used for mounting the upper part of the rotating arm assembly;

[0034] The rotating arm assembly is installed at the upper end of the vertical lifting arm and can be deflected by an angle greater than 120 degrees through the control of a rotating motor.

[0035] The rotating arm assembly includes a support, a motor, a driving gear motor, a driven gear, an arm sleeve, a mounting connecting plate, fixing bolts and nuts, a shaft, a bearing seat, and a bearing.

[0036] The support is installed at the upper end of the vertical lifting robot arm, and is used for the overall installation of the rotating arm assembly; the motor is installed on the side of the support, and is used to drive the rotating part of the rotating arm assembly to deflect at an angle; the driving gear motor is installed at the output end of the motor, and is used for power transmission, and the driven gear is installed at the lower end of the arm sleeve, and is used for power transmission; the arm sleeve is installed on the shaft, and is used for structural support and rotation; the mounting connecting plate is welded to the arm sleeve through reinforcing ribs, and is used for the installation of the first horizontal rail, and the fixing bolts and nuts are used for the installation and fixation of the mounting connecting plate and the first horizontal rail, and the shaft is installed in the upper and lower bearing seats, and is used for rotation, and the bearing seats are installed on the mounting plate and the support, and are used for fixed installation of the bearing.

[0037] The first horizontal rail and the second horizontal rail are made of 7075 aviation aluminum profiles of different lengths. During installation, the left end face of the second horizontal rail is inserted into the right end hole of the first horizontal rail, and then the connecting pin is inserted into the fixing hole, and then locked with an R-shaped pin. The first horizontal rail and the second horizontal rail are selected in different lengths according to actual on-site needs. The same length and number of horizontal rails are symmetrically installed on the rotating arm assemblies on the left and right trolleys, and then the left and right horizontal rails are connected into a whole with a connecting assembly.

[0038] The connecting assembly includes a connecting rail, a cover plate, and an automatic locking mechanism. The connecting rail structure is the same as the first horizontal rail and the second horizontal rail, and is made of 7075 aviation aluminum. The connecting rail seamlessly connects the left and right second horizontal rails as a whole, allowing the electric hoist to move at any position on the horizontal rail; the cover plate is installed at the upper end of the connecting rail to facilitate the installation of the automatic locking mechanism components.

[0039] The automatic locking mechanism is composed of a bracket, a lithium battery, a communication control module, a solenoid valve, a return spring, a sliding box, a telescopic pull rod, a sliding pin, and a compression spring, and is installed as a whole in the inner cavity of the connecting component.

[0040] The bracket is made by bending sheet metal and is used for installing parts; a lithium battery is installed at the bottom of the bracket to power the automatic locking mechanism; a communication control module is installed at the top of the bracket, with an antenna on the side for wireless communication control with the control platform and remote control device; a solenoid valve is installed in the middle of the bracket to drive the telescopic rod to the right under the action of electromagnetic force; a preload spring is installed on the telescopic rod to maintain a certain preload on the left end of the telescopic rod. When the solenoid valve is not energized, the sliding pins extend from both ends of the sliding box to connect the connecting assembly to the second horizontal rail.

[0041] The calibration component consists of a mounting plate, a visual camera, a laser distance sensor, a battery and an information processing module.

[0042] The mounting plate is installed on the cover plate in the connecting component, and the visual camera is installed on the mounting plate. It is used in conjunction with the position coordinate part installed on the second horizontal rail on the right. Through visual calibration and laser distance monitoring, it ensures that the connecting component and the hole position of the second horizontal rail on the right are quickly, smoothly and accurately connected.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. Solve the problem of mechanized lifting in narrow indoor spaces

[0045] The present invention uses an intelligent transport trolley as a mobile platform, a vertical lifting mechanical arm is installed on the mobile platform, a self-detachable horizontal rail is installed on the upper part of the mechanical arm, and an automatic connection device and an electric hoist that can be remotely controlled are installed on the horizontal rail. The entire device is a modular structure and can be disassembled and assembled on site. When the device enters the room, the mechanical arm on the transport trolley is in a retracted state, the horizontal rail and the electric hoist are separated, and the device is small in size and can be automatically moved into a narrow space indoors.

[0046] 2. Solve the problem of mechanized lifting in different indoor scenes

[0047] The mechanical arm in the device of the present invention can be raised and lowered to any height, and the horizontal rail adopts modules of different lengths, which can be spliced ​​according to the size of the indoor space to meet the mechanized lifting problems of places of different heights and widths, and has good versatility and scene adaptability.

[0048] 3. Solve the problem of large-span hoisting of large power equipment

[0049] The length of the 110kV GIS electrical equipment is more than 6 meters, and the length of the 220kV GIS is close to 8 meters. Due to the dense arrangement of the equipment, the lifting equipment cannot be placed in the middle, but can only be arranged on the aisles on both sides. It requires lifting equipment with a horizontal track span of ≥8 meters. If there is no indoor vehicle, it is time-consuming and labor-intensive to build such a large-sized lifting equipment. When the equipment is repaired, it is difficult to build it near live equipment. The present invention uses two sets of transport trolleys. The horizontal rails are first assembled on the two sets of trolleys, and then the height is automatically raised and lowered, and the direction is automatically deflected. Finally, the two sets of horizontal rails are automatically docked through the positioning system to complete the installation of large-span horizontal rails and realize large-span lifting capabilities.

[0050] 4. Achieve precise displacement to improve equipment docking and installation efficiency

[0051] The intelligent transport vehicle is controlled by an intelligent control system. It moves by combining full-phase wheels and straight wheels. It can move in any direction, including longitudinal, lateral and oblique angles. The driving power is a servo motor, which can achieve precise displacement.

[0052] 5. Multi-scenario and multi-functional application capabilities

[0053] The present invention can be used for the installation of power equipment as well as the installation of other equipment or the hoisting of factory materials. It can meet the needs of hoisting equipment in a small space and at a low height, as well as hoisting equipment in a large space and at a large height. It can move in parallel and in a straight line in the same plane, or move in an offset manner or in a turning direction. It has a very wide range of uses and can be used as a universal hoisting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0056] Figure 2 for Figure 1 A magnified schematic diagram of part A in FIG.

[0057] Figure 3 This is a schematic diagram of the structure of the transport vehicle according to an embodiment of the present application;

[0058] Figure 4 This is a schematic diagram of the structure of a vertical lifting robot arm assembly according to an embodiment of the present application;

[0059] Figure 5 This is a schematic diagram of the structure of a rotating arm assembly according to an embodiment of the present application;

[0060] Figure 6 This is a schematic diagram of the structure of the first horizontal guide rail and the second horizontal guide rail in an embodiment of the present application;

[0061] Figure 7 This is a schematic diagram of the connection structure of the first horizontal guide rail and the second horizontal guide rail in an embodiment of the present application;

[0062] Figure 8 This is a schematic diagram of the structure of the connection components of an embodiment of the present application;

[0063] Fig. 9 This is a schematic diagram of the structure of the automatic locking mechanism of an embodiment of the present application;

[0064] Fig.10 This is a schematic diagram of the calibration component structure of an embodiment of the present application;

[0065] Fig.11 This is a schematic diagram of the installation of the vertical lifting robot arm assembly of an embodiment of the present application;

[0066] Fig.12This is an example of an application scenario of the present application. Figure 1 ;

[0067] Fig.13 This is an example of an application scenario of the present application. Figure 2 ;

[0068] Fig.14 This is an example of an application scenario of the present application. Figure 3 ;

[0069] Fig.15 This is an example of an application scenario of the present application. Figure 3 ;

[0070] Fig.16 for Fig.15 An enlarged schematic diagram of part B. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0072] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0073] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides an automated lifting equipment for disassembly and assembly of power equipment, and the automated lifting equipment consists of a carrying trolley 1, a control platform 2, a vertical lifting robotic arm assembly 3, an electric hoist 4, a first horizontal rail 5, a second horizontal rail 6, a connecting assembly 7, a calibration assembly 8, a position coordinate component 9, a remote control device 10, etc.

[0074] The transport trolley 1 is composed of two devices on the left and right sides, with the same structure and function, and dimensions of width ≤0.6 meters and length ≤1.3 meters. It is located on both sides of the lifting components and is used for empty-load walking, automatic docking walking, and lifting walking of the equipment; the control platform 2 is located on the front upper part of the transport trolley 1, and is used for docking position display and operation control of the equipment; the vertical lifting mechanical arm assembly 3 is installed on the upper part of the transport trolley, and is used for vertical lifting when the equipment is in use. When the equipment is not working, it is in a retracted state, with an overall height of ≤2 meters, and can enter narrow indoor spaces; the electric hoist 4 is used for lifting the equipment, which can be lifted up and down and walked left and right on the horizontal rails. It can be disassembled and installed on site and controlled by a wireless remote control; the first horizontal rail 5 and the second horizontal rail 6 are used as the walking tracks of the electric hoist 4, and are composed of a number of different lengths. There are spare parts, which can be combined and matched according to actual needs to achieve different length overlap combinations. The material is made of aviation aluminum 7075, which is light in weight and has good strength. The connecting component 7 is also made of aviation aluminum 7075, which is used for the automatic connection of the left and right horizontal rails. It is equipped with a remote-controlled automatic locking device inside to connect the horizontal rails as a whole. The calibration component 8 and the position coordinate component 9 are used for position calibration when the left and right horizontal rails are docked. Through their visual system and laser sensor, the position coordinates and end face spacing of the left and right rails can be intuitively identified, and displayed through the display interface in the control platform 2. At the same time, the left and right rails can be quickly docked through the control of the control platform 2. The remote control device 10 is used for the movement control of the wireless carrier 1, the lifting control of the vertical lifting mechanical arm component 3, and the rotation control of the rotating arm component 303.

[0075] Carrying car such as Figure 3 As shown, it is composed of a cover 101, a trolley frame 102, a straight wheel assembly 103, an omnidirectional wheel assembly 104, a rotating seat assembly 105, a supporting platform 106, a battery assembly 107, a data processing assembly 108, and a hydraulic system 109.

[0076] The cover 101 is made of sheet metal, installed on the trolley chassis 102 and used for protecting the internal equipment; the trolley chassis 102 is the main structure of the equipment, located at the bottom of the transport trolley, and is used for the installation and protection of the internal equipment; the straight wheel assembly 103 is installed on both sides of the lower part of the trolley chassis 102, which is a linear movement device for the transport trolley. The assembly consists of a drive motor, a transmission gear, a controller, etc., and a single device has four sets of wheel sets; the omnidirectional wheel assembly 104 is installed on both sides of the lower part of the trolley chassis 102, and is shared with the power system in the straight wheel assembly 103. Power is transmitted through a pulley. Through control, the transport trolley can be moved in a variety of modes such as linear movement, lateral movement, and angular movement. It has omnidirectional movement capability. A single device has four sets of wheel sets, which are mainly used for docking the transport trolley with horizontal rails. Movement and trolley auxiliary bearing; the rotating seat assembly 105 is installed on the upper part of the supporting platform 106, used as the support of the vertical lifting mechanical arm assembly 3, equipped with a rotating motor, which can rotate 360 ​​degrees at any angle; the battery assembly 107 is placed at the front end of the trolley frame 102, used to provide power and control power for the carrying trolley, using lithium battery, 48V DC power output, with a charging interface, and can be charged with 380V AC input; the data processing assembly 108 is installed at the front end of the trolley frame 102, used for data conversion, information feedback, program setting, data processing, etc. of this equipment, and is a control terminal; the hydraulic system is installed at the rear end of the trolley frame 102, which is used for the internal hydraulic cylinder lifting power source of the vertical lifting mechanical arm assembly 3, and can drive the vertical lifting mechanical arm assembly 3 to perform up and down lifting movements.

[0077] like Figure 4 This is a structural diagram of a vertical lifting robot arm assembly, which consists of a vertical lifting robot arm 301, a mounting plate 302, and a rotating arm assembly 303.

[0078] The vertical lifting robotic arm 301 is installed on the rotating seat assembly 105 of the carrying trolley, and can be automatically raised and lowered according to actual needs and adjusted to a suitable working height; the mounting plate 302 is welded to the top of the vertical lifting arm 301 and is used for the upper installation of the rotating arm assembly 303; the rotating arm assembly 303 is installed at the upper end of the vertical lifting arm 301, and can be deflected by an angle greater than 120 degrees through the control of a rotating motor.

[0079] Rotating arm assembly Figure 5 As shown, it is composed of a support 3031, a motor 3032, a driving gear motor 3033, a driven gear 3034, an arm sleeve 3035, a mounting connecting plate 3036, fixing bolts and nuts 3037, a shaft 3038, a bearing seat 3039, and a bearing 30310.

[0080] The support 3031 is installed on the upper end of the vertical lifting mechanical arm 301, and is used for the overall installation of the rotating arm assembly 303; the motor 3032 is installed on the side of the support 3031, and is used to drive the rotating part of the rotating arm assembly 303 to deflect at an angle; the driving gear motor 3033 is installed on the output end of the motor 3032, and is used for power transmission, and the driven gear 3034 is installed on the lower end of the arm sleeve 3035, and is used for power transmission; the arm sleeve 3035 is installed on the shaft 3038, and is used for structural support and rotation; the mounting connecting plate 3036 is welded to the arm sleeve 3035 through reinforcing ribs, and is used for the installation of the horizontal rail 15, and the fixing bolts and nuts 3037 are used for the installation and fixation of the mounting connecting plate 3036 and the horizontal rail 15, and the shaft 3038 is installed in the upper and lower bearing seats 3039, and is used for rotation. The bearing seat 3039 is installed on the mounting plate 302 and the support 3031, and is used for the fixed installation of the bearing 30310.

[0081] like Figure 6 As shown, the first horizontal rail 5 and the second horizontal rail 6 are made of 7075 aviation aluminum profiles of different lengths. When installing, the left end face of the second horizontal rail 6 is inserted into the right end hole of the first horizontal rail 5, and then the connecting pin is inserted into the fixing hole, and then locked with the R-type pin. The installation method is as follows Figure 7 shown.

[0082] The first horizontal rail 5 and the second horizontal rail 6 can be selected in different lengths according to actual on-site needs. Usually, horizontal rails of the same length and number are symmetrically installed on the rotating arm assemblies 303 on the left and right trolleys, and then the left and right horizontal rails are connected into a whole using the connecting assembly 7.

[0083] Connecting component 7 Figure 8 As shown, it is composed of a connecting rail 701, a cover plate 702, and an automatic locking mechanism 703.

[0084] The external structure and material of the connecting rail 701 are the same as those of the horizontal rail. It is made of 7075 aviation aluminum with good strength and light weight. The left and right horizontal rails 26 can be seamlessly connected as a whole, so that the electric hoist 4 can move at any position on the horizontal rail. The cover plate 702 is installed on the upper end of the connecting rail 701 to facilitate the installation of the automatic locking mechanism 703 components.

[0085] Automatic locking mechanism Fig. 9 As shown, it is composed of a bracket 7031, a lithium battery 7032, a communication control module 7033, a solenoid valve 7034, a return spring 7035, a sliding box 7036, a telescopic rod 7037, a sliding pin 7038, and a compression spring 7039, and is installed as a whole in the inner cavity of the connecting component 7.

[0086] The bracket 7031 is made by bending sheet metal and is used for installing parts; the lithium battery 7032 is installed at the lower part of the bracket 7031 to power the automatic locking mechanism 703; the communication control module 7033 is installed at the upper part of the bracket 7031, and has an antenna on the side for wireless communication control with the control platform 2 and the remote control device 10; the solenoid valve 7034 is installed in the middle of the bracket 7031 to drive the telescopic rod 7037 to move to the right under the action of electromagnetic force; the preload spring 7035 is installed on the telescopic rod 7037 to maintain a certain preload on the left end of the telescopic rod 7037. When the solenoid valve 7034 is not energized, the sliding pins 7038 extend from both ends of the sliding box 7036 to connect the connecting component 7 with the horizontal rail 26.

[0087] Calibration component 8 Fig.10 As shown, it is composed of a mounting plate 801, a visual camera 802, a laser distance sensor 803, a battery and an information processing module 804.

[0088] The mounting plate 801 is installed on the cover plate 702 in the connecting component 7, and the visual camera 802 is installed on the mounting plate 801, and is used in conjunction with the position coordinate component 9 installed on the right horizontal rail 26. Through visual calibration and laser distance monitoring, it is ensured that the connecting component 7 and the hole position of the right horizontal rail 26 are quickly, smoothly and accurately connected.

[0089] 2. Working principle of the equipment

[0090] like Figure 11-Figure 16 As shown, the working principle is explained by hoisting large GIS electrical equipment:

[0091] First, if Fig.10 and Fig.11 As shown, the vertical lifting mechanical arm 3 assembly is in a retracted state, and the equipment size is ≤2 meters in height and ≤0.6 meters in width, and can easily enter the room through a small door. A total of 2 transport trolleys 1, together with the control platform 2 and the vertical lifting mechanical arm assembly 3 installed thereon, are automatically moved to a suitable location indoors through the transport trolley driving mechanism, and the 2 transport trolleys are respectively moved to the open spaces on both sides of the equipment to be hoisted.

[0092] Use scenario 1: When there is open space on both sides of the venue, such as Fig.12 As shown, two transport trolleys are moved to open spaces respectively to ensure that there is a certain space distance between the sides of the transport trolleys and the equipment.

[0093] After the two transport trolleys are moved until the front end surfaces are flush, the horizontal rails 15 and 26 are manually and symmetrically installed on the mounting plates of the left rotating arm assembly 303 and the right rotating arm assembly 303, respectively. The horizontal rails of appropriate length are reasonably selected according to the size of the electrical equipment. The horizontal rails have different lengths for selection, and then the connecting pins and R-type pins are inserted into the positioning holes of the two docking horizontal rails to lock them.

[0094] First install the connecting component 7 into the second horizontal guide rail 6 on the left side, and then fix it with the connecting pin and the R-type pin, and then manipulate the control platform 2 to make the carrying vehicle move laterally through the omnidirectional wheel assembly 104, so that the connecting component 7 is inserted into the hole of the second horizontal guide rail 6 on the right side to connect it. When it is determined that the connection is in place, the solenoid valve 7034 in the automatic locking mechanism 703 is activated by the control platform 2 or the remote control device 10, driving the sliding pin 7038 to slide outward to the positioning hole of the second horizontal guide rail 6 on the right side, and the connecting component 7 is connected and locked with the second horizontal guide rail 6 on the right side. At this time, the entire horizontal rail is connected as an integral track.

[0095] The electric hoist is hung on the horizontal rail, and the control platform 2 or the remote control device 10 is operated to raise the vertical lifting mechanical arm 3 upward and adjust it to a reasonable height as needed.

[0096] like Fig.13 As shown, the electric hoist controller is used to control the lifting of the electric hoist to lift the electrical equipment, and the remote control device 10 is used to control the trolley to move and lift the entire device.

[0097] When the equipment is removed, the disassembly process is the reverse of the assembly process.

[0098] Use scenario 2: When there is no open space on both sides of the site and the equipment is powered, the equipment cannot be assembled in the open space. At this time, another equipment installation method can be used, such as Fig.14 As shown:

[0099] First, the vertical lifting robot arm 3 assembly is in a retracted state, and the control platform 2 is controlled to rotate the rotating seat assembly 105 90 degrees, so that the rotating arm assembly 303 on the vertical lifting robot arm 3 assembly faces the direction of the aisle, and the horizontal rails 15 and 26 are respectively installed on the mounting plates of the two trolley rotating arm assemblies 303 on the left and right sides, and the connecting assembly 7 is installed on the end face of the left horizontal rail 26. After completion, the vertical lifting robot arm 3 is first raised upward by the control platform 2. After reaching the appropriate height, the rotating seat assembly 105 is rotated 90 degrees in the opposite direction toward the product direction, so that the left and right horizontal rails are in a mirror-symmetrical state, as shown in FIG. Fig.15 and 16 shown.

[0100] The control platform 2 is operated to make the transport trolley move laterally through the omnidirectional wheel assembly 104, so that the connecting assembly 7 is inserted into the hole of the right horizontal rail 26 to connect them. When it is determined that the connection is in place, the solenoid valve 7034 in the automatic locking mechanism 703 is activated through the control platform 2 or the remote control device 10, driving the sliding pin 7038 to slide outward to the positioning hole of the right horizontal rail 26, and the connecting assembly 7 is connected and locked with the right horizontal rail 26. At this time, the entire horizontal rail is connected to form an integral track.

[0101] The electric hoist controller is used to control the lifting of the electric hoist to hoist the electrical equipment, and the remote control device 10 is used to control the trolley to move the entire hoisting device.

[0102] When the equipment is removed, the disassembly process is the reverse of the assembly process.

[0103] The present invention uses an intelligent transport trolley as a mobile platform, a vertical lifting mechanical arm is installed on the mobile platform, a self-detachable horizontal rail is installed on the upper part of the mechanical arm, and an automatic connection device and an electric hoist that can be remotely controlled are installed on the horizontal rail. The entire device is a modular structure and can be disassembled and assembled on site. When the device enters the room, the mechanical arm on the transport trolley is in a retracted state, the horizontal rail and the electric hoist are separated, and the device is small in size and can be automatically moved into a narrow space indoors.

[0104] The mechanical arm in the device of the present invention can be raised and lowered to any height, and the horizontal rail adopts modules of different lengths, which can be spliced ​​according to the size of the indoor space to meet the mechanized lifting problems of places of different heights and widths, and has good versatility and scene adaptability.

[0105] The length of the 110kV GIS electrical equipment is more than 6 meters, and the length of the 220kV GIS is close to 8 meters. Due to the dense arrangement of the equipment, the lifting equipment cannot be placed in the middle, but can only be arranged on the aisles on both sides. It requires lifting equipment with a horizontal track span of ≥8 meters. If there is no indoor vehicle, it is time-consuming and labor-intensive to build such a large-sized lifting equipment. When the equipment is repaired, it is difficult to build it near live equipment. The present invention uses two sets of transport trolleys. The horizontal rails are first assembled on the two sets of trolleys, and then the height is automatically raised and lowered, and the direction is automatically deflected. Finally, the two sets of horizontal rails are automatically docked through the positioning system to complete the installation of large-span horizontal rails and realize large-span lifting capabilities.

[0106] The intelligent transport vehicle is controlled by an intelligent control system. It moves by combining full-phase wheels and straight wheels. It can move in any direction, including longitudinal, lateral and oblique angles. The driving power is a servo motor, which can achieve precise displacement.

[0107] The present invention can be used for the installation of power equipment as well as the installation of other equipment or the hoisting of factory materials. It can meet the needs of hoisting equipment in a small space and at a low height, as well as hoisting equipment in a large space and at a large height. It can move in parallel and in a straight line in the same plane, or move in an offset manner or in a turning direction. It has a very wide range of uses and can be used as a universal hoisting device.

[0108] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automated lifting equipment for disassembly and assembly of electric power equipment, characterized in that: The invention comprises a transport trolley (1), a control platform (2), a vertical lifting mechanical arm assembly (3), an electric hoist (4), a first horizontal rail (5), a second horizontal rail (6), a connecting assembly (7), a calibration assembly (8), a position coordinate component (9) and a remote control device (10). The transport trolley (1) is located on the left and right sides of the lifting equipment and is used for the equipment to travel without load, to travel with automatic docking, and to travel with lifting; The control platform (2) is located on the transport vehicle (1) and is used for displaying the docking position of the equipment and for operation control; The vertical lifting mechanical arm assembly (3) is installed on the carrying vehicle (1) and is used for vertical lifting when the equipment is in use; The electric hoist (4) is used for hoisting the equipment and is controlled by a remote control device (10); The first horizontal rail (5) is installed at the upper end of the vertical lifting mechanical arm assembly (3) and is connected to the second horizontal rail (6) on the same side. The second horizontal rails (6) on the left and right sides are connected to each other to form a travel track for the electric hoist (4); The connection assembly (7) is used for connecting the second horizontal rails (6) on the left and right sides; the calibration assembly (8) and the position coordinate member (9) are used for position calibration when the second horizontal rails (6) on the left and right sides are connected; The remote control device (10) is used for controlling the movement of the wireless transport vehicle (1) and the lifting and lowering of the vertical lifting mechanical arm assembly (3); The transport vehicle (1) comprises a housing (101), a vehicle chassis (102), a straight wheel assembly (103), an omnidirectional wheel assembly (104), a rotating seat assembly (105), a support platform (106), a battery assembly (107), a data processing assembly (108) and a hydraulic system (109). The cover (101) is mounted on the trolley chassis (102) and is used to protect internal equipment; The trolley chassis (102) is the main structure of the equipment, located at the bottom of the transport trolley, and is used for the installation and protection of internal equipment; The straight wheel assembly (103) is installed on both sides of the lower part of the trolley chassis (102) and is a linear moving device for the trolley; The omnidirectional wheel assembly (104) is installed on both sides of the lower part of the trolley chassis (102) and is shared with the power system in the straight wheel assembly (103). The power is transmitted through a pulley and is used for carrying the trolley to dock and move with the horizontal rail and for auxiliary load-bearing of the trolley. The rotating seat assembly (105) is installed on the upper part of the supporting platform (106) and is used as a support for the vertical lifting mechanical arm assembly (3). It is equipped with a rotating motor and can rotate at any angle of 360 degrees. The battery assembly (107) is placed at the front end of the vehicle chassis (102) and is used to provide power for the vehicle and control power; The data processing component (108) is installed at the front end of the vehicle chassis (102); The hydraulic system (109) is installed at the rear end of the trolley chassis (102) and is used as an internal hydraulic cylinder lifting power source for the vertical lifting mechanical arm assembly (3), driving the vertical lifting mechanical arm assembly (3) to perform up and down lifting movements.

2. The automatic lifting equipment for disassembly and assembly of electric power equipment according to claim 1, characterized in that: The vertical lifting mechanical arm assembly (3) comprises a vertical lifting mechanical arm (301), a mounting plate (302), and a rotating arm assembly (303); the vertical lifting mechanical arm (301) is mounted on a rotating seat assembly (105) of a transport vehicle and is automatically lifted and lowered according to actual needs to be adjusted to a suitable working height; the mounting plate (302) is welded to the top of the vertical lifting mechanical arm (301) and is used for mounting the upper part of the rotating arm assembly (303); the rotating arm assembly (303) is mounted on the upper end of the vertical lifting mechanical arm (301) and can be deflected by an angle greater than 120 degrees through the control of a rotating motor.

3. The automatic lifting equipment for disassembly and assembly of electric power equipment according to claim 2, characterized in that: The rotating arm assembly (303) comprises a support (3031), a motor (3032), a driving gear motor (3033), a driven gear (3034), an arm sleeve (3035), a mounting connection plate (3036), fixing bolts and nuts (3037), a shaft (3038), a bearing seat (3039), and a bearing (30310). The support (3031) is mounted on the upper end of the vertical lifting mechanical arm (301) and is used for the overall installation of the rotating arm assembly (303); the motor (3032) is mounted on the side of the support (3031) and is used for driving the rotating part of the rotating arm assembly (303) to deflect an angle; the driving gear motor (3033) is mounted on the output end of the motor (3032) and is used for For power transmission, the driven gear (3034) is installed at the lower end of the arm sleeve (3035) for power transmission; the arm sleeve (3035) is installed on the shaft (3038) for structural support and rotation; the mounting connecting plate (3036) is welded to the arm sleeve (3035) through reinforcing ribs and is used for mounting the first horizontal rail (5); the fixing bolts and nuts (3037) are used for mounting and fixing the mounting connecting plate (3036) and the first horizontal rail (5); the shaft (3038) is installed in the upper and lower bearing seats (3039) for rotation; the bearing seat (3039) is installed on the mounting plate (302) and the support (3031) for fixed installation of the bearing (30310).

4. The automatic lifting equipment for disassembly and assembly of electric power equipment according to claim 2, characterized in that: The first horizontal rail (5) and the second horizontal rail (6) are made of 7075 aviation aluminum profiles of different lengths. During installation, the left end face of the second horizontal rail (6) is inserted into the right end hole of the first horizontal rail (5), and then the connecting pin is inserted into the fixing hole, and then locked with an R-shaped pin. The first horizontal rail (5) and the second horizontal rail (6) are selected in different lengths according to actual needs on site. The rotating arm assemblies (303) on the left and right trolleys are symmetrically installed with horizontal rails of the same length and number, and then the left and right horizontal rails are connected into a whole using a connecting assembly (7).

5. The automatic lifting equipment for disassembly and assembly of electric power equipment according to claim 4, characterized in that: The connection assembly (7) comprises a connection rail (701), a cover plate (702), and an automatic locking mechanism (703). The structure of the connecting rail (701) is the same as that of the first horizontal rail (5) and the second horizontal rail (6), and is made of 7075 aviation aluminum. The connecting rail (701) seamlessly connects the second horizontal rails (6) on the left and right sides into a whole, so that the electric hoist (4) can move at any position on the horizontal rail. The cover plate (702) is installed on the upper end of the connecting rail (701) to facilitate the installation of the automatic locking mechanism (703) components.

6. The automatic lifting equipment for disassembly and assembly of electric power equipment according to claim 5, characterized in that: The automatic locking mechanism (703) is composed of a bracket (7031), a lithium battery (7032), a communication control module (7033), a solenoid valve (7034), a return spring (7035), a sliding box (7036), a telescopic pull rod (7037), a sliding pin (7038), and a compression spring (7039), and is integrally installed in the inner cavity of the connecting component (7). The bracket (7031) is made by bending sheet metal and is used for installing parts. The lithium battery (7032) is installed at the bottom of the bracket (7031) and is used to power the automatic locking mechanism (703) device. The communication control module (7033) is installed at the top of the bracket (7031) and has an antenna on the side for wireless communication control with the control platform (2) and the remote control device (10). The electromagnetic valve (7034) is installed at the middle of the bracket (7031) and is used to drive the telescopic pull rod (7037) to move rightward under the action of electromagnetic force. The preload spring (7035) is installed on the telescopic pull rod (7037) to maintain a certain preload on the left end of the telescopic pull rod (7037). When the electromagnetic valve (7034) is not powered, the sliding pins (7038) extend from both ends of the sliding box (7036) and are used to connect the connecting component (7) to the second horizontal rail (6).

7. The automatic lifting equipment for disassembling and assembling electric power equipment according to claim 5, characterized in that: The calibration component (8) is composed of a mounting plate (801), a visual camera (802), a laser distance sensor (803), a battery and an information processing module (804). The mounting plate (801) is mounted on the cover plate (702) in the connection component (7), and the visual camera (802) is mounted on the mounting plate (801) and used in conjunction with the position coordinate member (9) mounted on the second horizontal rail (6) on the right side. Through visual calibration and laser distance monitoring, the connection component (7) is ensured to be quickly, smoothly and accurately connected to the hole position of the second horizontal rail (6) on the right side.

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