Large component hydraulic turnover mechanism and control system thereof

Abstract

A large component hydraulic turnover mechanism and a control system thereof relate to the technical field of mechanical engineering, and comprise a mounting platform, the top of the mounting platform is connected with a mounting frame, the two sides of the mounting frame are connected with a plurality of groups of fixed clamping blocks, and the inner walls of the fixed clamping blocks are rotatably connected with connecting blocks; the tops of the connecting blocks on the two sides are connected with a first overturning plate and a second overturning plate correspondingly. Through the arrangement of the first overturning plate, the second overturning plate, the buffer spring, the damping rod and the lap joint plate, during use, the buffer spring effectively absorbs impact force and vibration in the overturning process, the overturning stability and safety are improved, the damping rod plays a role in buffering and stabilizing, a pressure sensor is further arranged on the inner wall of the damping rod, and therefore the stability and safety of overturning are improved. The pressure change in the overturning process can be monitored in real time, accurate data support is provided for a control system, the buffer spring and the damping rod can receive pressure synchronously through the lap joint plate, and pressure monitoring is facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical engineering, and in particular relates to a large-scale component hydraulic turnover mechanism and a control system thereof. Background Art

[0002] In the field of mechanical engineering technology, the flipping operation of large components has always been a complex and critical task. With the expansion of industrial manufacturing scale and the increase in component weight, traditional flipping methods can no longer meet the needs of efficiency, safety and precision. Therefore, the hydraulic flipping mechanism of large components came into being and gradually developed into an important technology in this field. The hydraulic flipping mechanism is powered by a hydraulic transmission system and combined with a precise mechanical structure to achieve stable flipping of large components. This mechanism not only improves the flipping efficiency, but also significantly enhances the safety of operation.

[0003] However, during the flipping process, the existing hydraulic flipping mechanism of large components often produces large impact force and vibration due to the weight and inertia of the components, which not only affects the stability of the flipping, but may also cause damage to the mechanism and the components themselves. In order to alleviate this problem, some existing mechanisms have adopted buffer devices, but these devices are often complex in structure and have limited buffering effect, which is difficult to meet the needs of high-precision flipping. In addition, most mechanisms still rely on manual operation and lack real-time monitoring and feedback mechanisms, which limits the accuracy and controllability during the flipping process, resulting in poor use of the device, which requires staff to improve it. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a large-scale component hydraulic flipping mechanism and its control system. When in use, the buffer spring effectively absorbs the impact force and vibration during the flipping process, thereby improving the stability and safety of the flipping. The damping rod not only plays a buffering and stabilizing role, but also has a pressure sensor arranged on its inner wall, which can monitor the pressure changes during the flipping process in real time and provide accurate data support for the control system. The lap plate facilitates the synchronous reception of pressure by the buffer spring and the damping rod, and facilitates the monitoring of pressure.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A large component hydraulic turning mechanism, comprising: Installation platform; The top of the mounting platform is fixedly connected to a mounting frame, and both sides of the mounting frame are fixedly connected to multiple groups of fixed clamping blocks, the inner wall of the fixed clamping block is rotatably connected to a connecting block, and the tops of the connecting blocks on both sides are respectively fixedly connected to a first flip plate and a second flip plate; A connecting groove is provided on one side of the first flip plate and the second flip plate, and a plurality of groups of buffer springs are fixedly connected to the inner wall of the connecting groove. A damping rod is inserted into the inner wall of the buffer spring, and a pressure sensor is arranged on the inner wall of the damping rod. One end of the damping rod is fixedly connected to the inner wall of the connecting groove, and the other end of the damping rod is fixedly connected to a lap plate.

[0006] Preferably, the tops of the first flip plate and the second flip plate are fixedly connected with multiple groups of support rods, the inner walls of the support rods are fixedly connected with first hydraulic rods, the top ends of the first hydraulic rods are fixedly connected with limiting columns, and the surfaces of the limiting columns are inserted into the inner walls of the support rods.

[0007] Preferably, both sides of the bottom of the first flip plate and the second flip plate are fixedly connected with a sleeve frame, the inner walls of the sleeve frames are fixedly connected with electric slide rails, the inner walls of the electric slide rails are slidably connected with sliding blocks, the top of the sliding block is fixedly connected with a first connecting column, the inner wall of the first connecting column is fixedly connected with a first servo motor, the output end of the first servo motor is equipped with a first driving rod, the surface of the first driving rod is fixedly connected with a second connecting column, the top of the second connecting column is overlapped with a limiting clamping plate, the inner wall of the second connecting column is fixedly connected with a second servo motor, the output end of the second servo motor is equipped with a second driving rod, and the surface of the second driving rod is fixedly connected to the inner wall of the limiting clamping plate.

[0008] Preferably, two right-angle fixing frames are fixedly connected to both sides of the bottom of the first flip plate and the second flip plate, the top of the right-angle mounting frame is rotatably connected to the second hydraulic rod, the top of the second hydraulic rod is fixedly connected to a connecting block, the surface of the connecting block is rotatably connected to a positioning clamping plate, and the top of the positioning clamping plate is fixedly connected to the bottom of the first flip plate.

[0009] Preferably, the bottoms of the first flip plate and the second flip plate are fixedly connected to a support plate, and the bottoms of the support plates are overlapped on the top of the mounting platform. Both sides of the top of the mounting platform are provided with movable grooves, and the inner walls of the movable grooves are sleeved on the surface of the second hydraulic rod.

[0010] Preferably, a plurality of groups of fixed pillars are fixedly connected to the bottom of the installation platform, a mounting plate is fixedly connected to the surface of one of the fixed pillars, and a controller is fixedly connected to the top of the mounting plate.

[0011] A control system for a large-scale component hydraulic turning mechanism, comprising: A pressure monitoring module, used to monitor in real time the data of a pressure sensor on the inner wall of a damping rod, wherein the damping rod is inserted into a buffer spring in a connecting groove on the first flip plate and the second flip plate, so as to obtain pressure changes during the flipping process; A hydraulic control module is connected to the first hydraulic rod and the second hydraulic rod, and is used to accurately control the extension and retraction of the first hydraulic rod to drive the limit column to move in the support rod to achieve stable support and safe flipping of the large component, and control the extension and retraction of the second hydraulic rod to adjust the flipping angle; The motor drive module is connected to the first servo motor and the second servo motor, and is used to control the first servo motor to drive the first drive rod to drive the second connecting column and the limit clamping plate to move, and control the second servo motor to further adjust the position of the limit clamping plate through the second drive rod to achieve clamping and positioning of the large component; The central control unit is connected to the pressure monitoring module, the hydraulic control module and the motor drive module, and is used to receive data from the pressure monitoring module and send control instructions to the hydraulic control module and the motor drive module according to preset algorithms and logics to achieve automated flipping operations.

[0012] Preferably, the central control unit also includes a user interface for displaying real-time data during the flipping process, receiving control instructions input by the user, and feeding back control results. It is implemented using one of a programmable logic controller (PLC) and a microprocessor, and has high reliability and stability.

[0013] Preferably, the control system also includes a safety warning module. When the pressure monitoring module detects abnormal pressure, the safety warning module triggers an alarm and sends an emergency stop command to the central control unit. The control system also includes a fault diagnosis module, which is used to automatically detect and locate the fault point when a fault occurs in the control system and provide fault handling suggestions. The control system is connected to the remote monitoring center through a wireless communication module to realize remote monitoring and fault diagnosis.

[0014] Among them, the relationship between pressure and hydraulic rod displacement is: ; in, is the attenuation coefficient, is the ambient noise function, is the initial pressure value; The range of is [0,+∞), indicating a non-negative value of pressure; Relationship between torque and flip angle: ; in, and are the Fourier coefficients, is the smoothing factor; Relationship between servo motor position and control signal: ; ; in, and are the damping and stiffness coefficients, and are Taylor series coefficients, is the convergence factor, is the initial position; and The range of depends on the specific implementation and mechanism design, indicating the linear or rotational position of the servo motor; Integrated control system output: ; in, is the comprehensive control system performance index, T is the total time, and is the weight coefficient, is the fault impact factor, K is the number of data transmission packets; The value range of is [-∞,+∞), a higher value indicates better system performance, and a lower value indicates anomalies or a control strategy that needs to be optimized; is the pressure value measured by the pressure sensor on the inner wall of the damping rod at time t; P is pressure, and t is time; is the displacement of the first hydraulic rod or the second hydraulic rod at time x; H is the displacement of the hydraulic rod, and x is the time or control signal; is the torque required by the flipping mechanism at the flipping angle θ; M is the torque, θ is the flipping angle; and are the positions of the first servo motor and the second servo motor under control signals α and β respectively, S is the servo motor position, α and β are control signals; is the i-th control instruction input by the user through the user interface; U is the user input, and i is the input instruction number; is the abnormal alarm signal triggered by the safety warning module at time t, which is a Boolean value; A is the abnormal alarm, and t is the time; The jth fault point located by the fault diagnosis module; F is the fault location, j is the fault point number; is the kth data packet transmitted through the wireless communication module; D is data transmission, and k is the data packet number.

[0015] The present invention can achieve the following beneficial effects: 1. Through the arrangement of the first flip plate, the second flip plate, the buffer spring, the damping rod and the lap plate, when in use, the buffer spring effectively absorbs the impact force and vibration during the flipping process, thereby improving the stability and safety of the flipping. The damping rod not only plays a role of buffering and stabilization, but also has a pressure sensor arranged on its inner wall, which can monitor the pressure changes during the flipping process in real time and provide accurate data support for the control system. The lap plate facilitates the synchronous acceptance of pressure by the buffer spring and the damping rod, and facilitates the monitoring of pressure, so that when the large-scale component hydraulic flipping mechanism is performing a flipping operation, it can effectively absorb and disperse the impact force through the synergistic effect of the buffer spring and the damping rod, thereby improving the stability and safety of the flipping. At the same time, the real-time monitoring function of the pressure sensor also provides accurate data support for the control system, so that the flipping process can be more accurate and controllable.

[0016] 2. Through the arrangement of the first flip plate, the second flip plate, the support rod, the first hydraulic rod and the limit column, when in use, the function of the support rod is to effectively prevent the large components on the flip plate from sliding off, thereby enhancing the safety and stability of the entire flip mechanism. When the first hydraulic rod is extended, the limit column extends out of the support rod to form an effective support for the component; and when the first hydraulic rod is shortened, the limit column is retracted into the support rod, which does not affect the normal flipping action of the flip plate. It not only realizes the stable bearing and safe flipping of large components, but also ensures the stability and reliability of the flipping action through the precise control of the hydraulic transmission.

[0017] 3. Through the setting of the first flip plate, the second flip plate, the socket frame, the limit card plate and the controller, when in use, the first flip plate and the second flip plate cooperate with the electric slide rail and the sliding block in the socket frame to flexibly adjust the position of the first connecting column, the first servo motor drives the first drive rod to drive the second connecting column and the limit card plate to move, and the second servo motor further adjusts the position of the limit card plate through the second drive rod to achieve clamping and positioning of large components, thereby improving the stability and accuracy of the flipping operation. The controller, as the control center of the entire hydraulic flipping mechanism, can accurately control the actions of each hydraulic rod and servo motor to achieve automated flipping operation, which can not only greatly improve the efficiency of the flipping operation, but also effectively ensure the safety and stability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 One of the three-dimensional diagrams of the present invention; Figure 2 This is the second stereogram of the present invention; Figure 3 is a three-dimensional diagram of the first flip plate of the present invention; Figure 4 A three-dimensional diagram of the sleeve frame of the present invention; Figure 5 is a three-dimensional diagram of the support rod of the present invention; Figure 6 It is a three-dimensional view of the second hydraulic rod of the present invention.

[0019] In the figure: 1-installation platform; 2-installation frame; 3-fixed clamping block; 4-connection block; 5-first flip plate; 6-second flip plate; 7-connecting groove; 8-buffer spring; 9-damping rod; 10-lap plate; 11-support rod; 12-first hydraulic rod; 13-limiting column; 14-sleeve frame; 15-sliding block; 16-first connecting column; 17-first servo motor; 18-first driving rod; 19-second connecting column; 20-limiting card plate; 21-second servo motor; 22-second driving rod; 23-right-angle mounting frame; 24-second hydraulic rod; 25-connection block; 26-positioning clamping plate; 27-support plate; 28-movable groove; 29-fixed support column; 30-additional plate; 31-controller. DETAILED DESCRIPTION

[0020] Embodiment 1: See also Figures 1 to 6 As shown, a large-scale component hydraulic turning mechanism comprises: Installation platform 1; The top of the mounting platform 1 is fixedly connected with a mounting frame 2, and both sides of the mounting frame 2 are fixedly connected with multiple sets of fixed clamping blocks 3, the inner wall of the fixed clamping block 3 is rotatably connected with a connecting block 4, and the tops of the connecting blocks 4 on both sides are respectively fixedly connected with a first flip plate 5 and a second flip plate 6; A connecting groove 7 is provided on one side of the first flip plate 5 and the second flip plate 6. A plurality of groups of buffer springs 8 are fixedly connected to the inner wall of the connecting groove 7. A damping rod 9 is inserted into the inner wall of the buffer spring 8, and a pressure sensor is provided on the inner wall of the damping rod 9. One end of the damping rod 9 is fixedly connected to the inner wall of the connecting groove 7, and the other end of the damping rod 9 is fixedly connected to a lap plate 10.

[0021] When in use, the mounting platform 1 provides a stable supporting foundation for the entire mechanism, and the mounting frame 2 fixedly connected thereon is used to install and fix multiple groups of fixed clamps 3, which are rotatably connected to the first flip plate 5 and the second flip plate 6 through the connecting block 4, so that the flip plate can be flexibly flipped. A connecting groove 7 is provided on one side of the first flip plate 5 and the second flip plate 6, and multiple groups of buffer springs 8 are fixedly connected in the connecting groove 7. The setting of the buffer spring 8 can effectively absorb the impact force and vibration during the flipping process, and improve the stability and safety of the flipping. The inner wall of the buffer spring 8 is plugged with a damping rod 9, which not only plays a role of buffering and stabilization, but also has a A pressure sensor is provided to monitor the pressure changes during the flipping process in real time, and provide accurate data support for the control system. One end of the damping rod 9 is fixedly connected to the inner wall of the connecting groove 7, and the other end is fixedly connected to the lap plate 10. The design of the lap plate 10 facilitates the synchronous reception of pressure by the buffer spring 8 and the damping rod 9, and facilitates pressure monitoring, so that when the large-scale component hydraulic flipping mechanism is performing a flipping operation, it can effectively absorb and disperse the impact force through the synergistic effect of the buffer spring 8 and the damping rod 9, thereby improving the stability and safety of the flipping. At the same time, the real-time monitoring function of the pressure sensor also provides accurate data support for the control system, making the flipping process more accurate and controllable.

[0022] Embodiment 2: See also Figures 1 to 6 As shown, the tops of the first flip plate 5 and the second flip plate 6 are fixedly connected with multiple groups of support rods 11, the inner walls of the support rods 11 are fixedly connected with the first hydraulic rods 12, the top ends of the first hydraulic rods 12 are fixedly connected with the limiting columns 13, and the surfaces of the limiting columns 13 are inserted into the inner walls of the support rods 11.

[0023] When in use, the support rod 11 functions to effectively prevent large components on the flip plate from sliding off, thereby enhancing the safety and stability of the entire flip mechanism. A first hydraulic rod 12 is arranged inside the support rod 11, and the hydraulic rod can be extended and retracted according to actual needs, thereby driving the limit column 13 at its top end to move inside the support rod 11, so that the limit column 13 can fit closely and prevent the component from sliding off during the tilting process of the large component, thereby greatly improving the safety performance during the flipping process. When the first hydraulic rod 12 is extended, the limit column 13 extends out of the support rod 11 to form an effective support for the component; and when the first hydraulic rod 12 is shortened, the limit column 13 is retracted into the support rod 11, which does not affect the normal flipping action of the flip plate, not only realizing the stable bearing and safe flipping of the large component, but also ensuring the stability and reliability of the flipping action through the precise control of the hydraulic transmission.

[0024] Embodiment three: See also Figures 1 to 6As shown, both sides of the bottom of the first flip plate 5 and the second flip plate 6 are fixedly connected with a sleeve frame 14, the inner wall of the sleeve frame 14 is fixedly connected with an electric slide rail, the inner wall of the electric slide rail is slidably connected with a sliding block 15, the top of the sliding block 15 is fixedly connected with a first connecting column 16, the inner wall of the first connecting column 16 is fixedly connected with a first servo motor 17, the output end of the first servo motor 17 is installed with a first driving rod 18, the surface of the first driving rod 18 is fixedly connected with a second connecting column 19, the top of the second connecting column 19 is overlapped with a limiting card plate 20, the inner wall of the second connecting column 19 is fixedly connected with a second servo motor 21, the output end of the second servo motor 21 is installed with a second driving rod 22, and the surface of the second driving rod 22 is fixedly connected to the inner wall of the limiting card plate 20, the first flip plate 5 and the second flip plate Two right-angle fixing frames 23 are fixedly connected to both sides of the bottom of 6, and the top of the right-angle mounting frame 23 is rotatably connected to the second hydraulic rod 24, and the top of the second hydraulic rod 24 is fixedly connected to the connecting block 25, and the surface of the connecting block 25 is rotatably connected to the positioning clamping plate 26, and the top of the positioning clamping plate 26 is fixedly connected to the bottom of the first flip plate 5, and the bottoms of the first flip plate 5 and the second flip plate 6 are fixedly connected to the support plate 27, and the bottom of the support plate 27 is overlapped on the top of the mounting platform 1, and movable grooves 28 are opened on both sides of the top of the mounting platform 1, and the inner wall of the movable groove 28 is sleeved on the surface of the second hydraulic rod 24, and the bottom of the mounting platform 1 is fixedly connected to multiple groups of fixed pillars 29, and the surface of one of the fixed pillars 29 is fixedly connected to an additional plate 30, and the top of the additional plate 30 is fixedly connected to a controller 31.

[0025] When in use, the first flip plate 5 and the second flip plate 6 cooperate with the electric slide rail and the sliding block 15 in the sleeve frame 14 to flexibly adjust the position of the first connecting column 16, and a first servo motor 17 is arranged inside the first connecting column. When the first servo motor 17 is powered on, the first servo motor 17 drives the first driving rod 18 to drive the second connecting column 19 and the limiting card plate 20 to move, and when the second servo motor 21 is powered on, the second servo motor 21 further adjusts the position of the limiting card plate 20 through the second driving rod 22, so as to achieve the clamping and positioning of the large component, thereby improving the stability and accuracy of the flipping operation. The second hydraulic rod 24 rotating on the right-angle fixing frame 23 is connected to the second hydraulic rod 24 through the second hydraulic rod 24 rotating on the right-angle fixing frame 23. It is connected to the positioning clamping plate 26 through the connecting block 25, which provides necessary power support for the flipping process and can adjust the flipping angle according to actual needs. The setting of the support plate 27 ensures that the flipping plate can be firmly docked on the installation platform 1 when not working to prevent accidental slipping. The movable groove 28 allows the second hydraulic rod 24 to move flexibly on the installation platform 1. The fixed support 29 firmly supports the entire installation platform 1. The controller 31 on the installation plate 30 serves as the control center of the entire hydraulic flipping mechanism. It can accurately control the actions of each hydraulic rod and servo motor to realize automatic flipping operation, which can not only greatly improve the efficiency of the flipping operation, but also effectively ensure the safety and stability of the operation.

[0026] Embodiment 4: See also Figures 1 to 6 As shown, a control system for a large-scale component hydraulic turning mechanism includes: A pressure monitoring module, used to monitor in real time the data of the pressure sensor on the inner wall of the damping rod, the damping rod being inserted into the buffer spring in the connecting groove on the first flip plate and the second flip plate, so as to obtain the pressure change during the flipping process; A hydraulic control module is connected to the first hydraulic rod and the second hydraulic rod, and is used to accurately control the extension and retraction of the first hydraulic rod to drive the limit column to move in the support rod to achieve stable support and safe flipping of the large component, and control the extension and retraction of the second hydraulic rod to adjust the flipping angle; The motor drive module is connected to the first servo motor and the second servo motor, and is used to control the first servo motor to drive the first drive rod to drive the second connecting column and the limit clamping plate to move, and control the second servo motor to further adjust the position of the limit clamping plate through the second drive rod to achieve clamping and positioning of the large component; The central control unit is connected to the pressure monitoring module, the hydraulic control module and the motor drive module. It is used to receive data from the pressure monitoring module and send control instructions to the hydraulic control module and the motor drive module according to preset algorithms and logics to achieve automated flipping operations.

[0027] The central control unit also includes a user interface for displaying real-time data during the flipping process, receiving control instructions input by the user, and feeding back control results. It is implemented using either a programmable logic controller (PLC) or a microprocessor and has high reliability and stability.

[0028] The control system also includes a safety warning module. When the pressure monitoring module detects abnormal pressure, the safety warning module triggers an alarm and sends an emergency stop command to the central control unit. The control system also includes a fault diagnosis module, which is used to automatically detect and locate the fault point when a fault occurs in the control system and provide fault handling suggestions. The control system is connected to the remote monitoring center through the wireless communication module to realize remote monitoring and fault diagnosis.

[0029] Relationship between pressure and hydraulic rod displacement: ; in, is the attenuation coefficient, is the ambient noise function, is the initial pressure value. This formula describes the change of pressure over time and takes into account the influence of hydraulic rod displacement and environmental noise.

[0030] The range of is [0, +∞), indicating non-negative values ​​of pressure. Higher values ​​may indicate anomalies in the flipping process or a control strategy that needs to be adjusted.

[0031] Relationship between torque and flip angle: ; in, and are the Fourier coefficients, is the smoothing factor. This formula expresses the nonlinear relationship between torque and flip angle through Fourier series and takes into account the smoothness of the flipping process.

[0032] Relationship between servo motor position and control signal: ; ; in, and are the damping and stiffness coefficients, and are Taylor series coefficients, is the convergence factor, is the initial position. The first formula above is expressed in the form of a second-order differential equation, taking into account the dynamic response; the second formula above is expressed in the form of a Taylor series, taking into account the smoothness of the control signal.

[0033] and The range of values ​​depends on the specific implementation and mechanism design, but it usually represents the linear or rotational position of a servo motor.

[0034] Integrated control system output: ; in, is the comprehensive control system performance index, T is the total time, and is the weight coefficient, is the fault influencing factor, and K is the number of data transmission packets. This formula comprehensively considers multiple factors such as pressure, hydraulic rod displacement, torque, servo motor position, user input, abnormal alarm, fault location and data transmission.

[0035] The range of is [-∞,+∞), but the positive range is usually of interest. Higher values ​​indicate better system performance, while lower values ​​may indicate anomalies or a control strategy that needs to be optimized.

[0036] (P is pressure, t is time) is the pressure value measured by the pressure sensor on the inner wall of the damping rod at time t, in units of Pa.

[0037] (H is the displacement of the hydraulic rod, x is the time or control signal) is the displacement of the first hydraulic rod or the second hydraulic rod at time x, in meters.

[0038] (M is the torque, θ is the flip angle) is the torque required by the flip mechanism at the flip angle θ, in Nm.

[0039] and (S is the servo motor position, α and β are control signals) are the positions of the first servo motor and the second servo motor under the control signals α and β, respectively, in rad or linear units (depending on the specific implementation).

[0040] (U is the user input, i is the input instruction number) is the i-th control instruction input by the user through the user interface.

[0041] (A is the abnormal alarm, t is the time) is the abnormal alarm signal triggered by the safety warning module at time t, which is a Boolean value (0 or 1).

[0042] (F is the fault location, j is the fault point number) is the jth fault point located by the fault diagnosis module.

[0043] (D is data transmission, k is the data packet number) is the kth data packet transmitted through the wireless communication module.

[0044] Embodiment five: See also Figures 1 to 6 As shown, in the field of mechanical engineering, especially in heavy equipment manufacturing, bridge construction, shipbuilding and other industries, it is often necessary to flip large components. These components are often huge in weight and size. The traditional flipping method is not only inefficient, but also has safety hazards.

[0045] After the device is installed, the staff can start the flipping operation through the controller. During the flipping process, the first flip plate and the second flip plate will flip under the drive of the hydraulic rod to flip the large component from a horizontal position to a vertical position or any desired angle.

[0046] At the same time, the synergistic effect of the buffer spring and the damping rod can effectively absorb and disperse the impact force and vibration during the flipping process, improving the stability and safety of the flipping. The pressure sensor on the inner wall of the damping rod can also monitor the pressure changes during the flipping process in real time, providing accurate data support for the controller, making the flipping process more accurate and controllable.

[0047] In addition, the system is also equipped with a safety warning module and a fault diagnosis module. When the pressure monitoring module detects abnormal pressure, the safety warning module will immediately trigger an alarm and send an emergency stop command to the controller to prevent accidents. The fault diagnosis module can automatically detect and locate the fault point when the control system fails, provide fault handling suggestions, and ensure the continuous and stable operation of the system.

[0048] Working principle: When a large component needs to be turned over, the second hydraulic rod is first activated through the control system. The telescopic movement of the second hydraulic rod drives the connecting block and the positioning clamp plate to move up and down, and then pushes or pulls the first turning plate or the second turning plate to turn around the rotation axis of the fixed clamp block and the connecting block.

[0049] At the same time, the right-angle fixing frame provides a stable support for the second hydraulic rod and ensures the smooth flipping action.

[0050] During the flipping process, the buffer spring and damping rod play a key role in buffering and stabilizing. The buffer spring can effectively absorb the impact and vibration during the flipping process, and improve the stability and safety of the flipping.

[0051] The damping rod not only plays a buffering role, but also has a pressure sensor on its inner wall, which can monitor the pressure changes during the flipping process in real time and provide accurate data support for the control system.

[0052] The first hydraulic rod inside the support rod can be extended and retracted according to actual needs, driving the limit column to move inside the support rod. During the tilting process of the large component, the limit column can fit closely and prevent the component from sliding, thereby greatly improving the safety performance during the flipping process.

[0053] The control system mainly includes a pressure monitoring module, a hydraulic control module, a motor drive module and a central control unit.

[0054] Pressure monitoring module: monitors the data of the pressure sensor on the inner wall of the damping rod in real time to obtain the pressure changes during the flipping process and feeds the data back to the central control unit.

[0055] Hydraulic control module: connected to the first hydraulic rod and the second hydraulic rod, accurately controls the extension and retraction of the hydraulic rod according to the instructions of the central control unit, realizes the stable support and safe flipping of large components, and adjusts the flipping angle.

[0056] Motor drive module: connected to the first servo motor and the second servo motor, controls the drive of the servo motor, and then drives the movement of the drive rod, connecting column and limit clamping plate to achieve the clamping and positioning of large components.

[0057] Central control unit: As the core of the control system, it receives data from the pressure monitoring module and sends control instructions to the hydraulic control module and the motor drive module according to the preset algorithm and logic. At the same time, the central control unit also includes a user interface to display real-time data during the flipping process, receive control instructions input by the user, and feedback the control results.

[0058] When the pressure monitoring module detects abnormal pressure, the safety warning module will trigger an alarm and send an emergency stop command to the central control unit to ensure the safety of equipment and personnel.

[0059] The control system also includes a fault diagnosis module, which can automatically detect and locate the fault point when a fault occurs in the control system and provide fault handling suggestions.

[0060] The control system is connected to the remote monitoring center through a wireless communication module to achieve remote monitoring and fault diagnosis, thus improving the maintenance and management efficiency of the equipment.

[0061] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A large-scale component hydraulic turning mechanism, characterized in that: comprising a mounting platform (1); The top of the mounting platform (1) is connected to a mounting frame (2), and both sides of the mounting frame (2) are connected to a plurality of sets of fixed clamping blocks (3), the inner wall of the fixed clamping block (3) is rotatably connected to a connecting block (4), and the tops of the connecting blocks (4) on both sides are respectively connected to a first flip plate (5) and a second flip plate (6); A connecting groove (7) is provided on one side of the first flip plate (5) and the second flip plate (6); a plurality of groups of buffer springs (8) are connected to the inner wall of the connecting groove (7); a damping rod (9) is inserted into the inner wall of the buffer spring (8); a pressure sensor is provided on the inner wall of the damping rod (9); one end of the damping rod (9) is connected to the inner wall of the connecting groove (7); and the other end of the damping rod (9) is connected to a lap plate (10).

2. A large-scale component hydraulic turning mechanism according to claim 1, characterized in that: The tops of the first flip plate (5) and the second flip plate (6) are both connected to a plurality of support rods (11), the inner walls of the support rods (11) are connected to first hydraulic rods (12), the top ends of the first hydraulic rods (12) are connected to limiting columns (13), and the surfaces of the limiting columns (13) are plugged into the inner walls of the support rods (11).

3. A large-scale component hydraulic turning mechanism according to claim 1, characterized in that: Both sides of the bottom of the first flip plate (5) and the second flip plate (6) are connected to a sleeve frame (14), the inner wall of the sleeve frame (14) is connected to an electric slide rail, the inner wall of the electric slide rail is slidably connected to a sliding block (15), the top of the sliding block (15) is connected to a first connecting column (16), the inner wall of the first connecting column (16) is connected to a first servo motor (17), the output end of the first servo motor (17) is equipped with a first driving rod (18), the surface of the first driving rod (18) is connected to a second connecting column (19), the top of the second connecting column (19) is overlapped with a limit card (20), the inner wall of the second connecting column (19) is connected to a second servo motor (21), the output end of the second servo motor (21) is equipped with a second driving rod (22), and the surface of the second driving rod (22) is connected to the inner wall of the limit card (20).

4. A large-scale component hydraulic turning mechanism according to claim 1, characterized in that: Two right-angle fixing frames (23) are connected to both sides of the bottom of the first flip plate (5) and the second flip plate (6); the top of the right-angle fixing frame (23) is rotatably connected to a second hydraulic rod (24); the top of the second hydraulic rod (24) is connected to a connecting block (25); the surface of the connecting block (25) is rotatably connected to a positioning clamping plate (26); and the top of the positioning clamping plate (26) is connected to the bottom of the first flip plate (5).

5. A large-scale component hydraulic turning mechanism according to claim 1, characterized in that: The bottoms of the first flip plate (5) and the second flip plate (6) are both connected to a support plate (27), and the bottoms of the support plates (27) overlap the top of the mounting platform (1). Both sides of the top of the mounting platform (1) are provided with movable grooves (28), and the inner walls of the movable grooves (28) are sleeved on the surface of the second hydraulic rod (24).

6. A large-scale component hydraulic turning mechanism according to claim 1, characterized in that: The bottom of the installation platform (1) is connected to a plurality of groups of fixed pillars (29), a surface of one of the fixed pillars (29) is connected to an additional plate (30), and the top of the additional plate (30) is connected to a controller (31).

7. A control system for a large-scale component hydraulic turning mechanism, using a large-scale component hydraulic turning mechanism according to any one of claims 1 to 6, characterized in that: include: A pressure monitoring module, used to monitor in real time the data of a pressure sensor on the inner wall of a damping rod, wherein the damping rod is inserted into a buffer spring in a connecting groove on the first flip plate and the second flip plate, so as to obtain pressure changes during the flipping process; A hydraulic control module is connected to the first hydraulic rod and the second hydraulic rod, and is used to accurately control the extension and retraction of the first hydraulic rod to drive the limit column to move in the support rod to achieve stable support and safe flipping of the large component, and control the extension and retraction of the second hydraulic rod to adjust the flip angle; The motor drive module is connected to the first servo motor and the second servo motor, and is used to control the first servo motor to drive the first drive rod to drive the second connecting column and the limit clamping plate to move, and control the second servo motor to further adjust the position of the limit clamping plate through the second drive rod to achieve clamping and positioning of the large component; The central control unit is connected to the pressure monitoring module, the hydraulic control module and the motor drive module, and is used to receive data from the pressure monitoring module and send control instructions to the hydraulic control module and the motor drive module according to preset algorithms and logics to achieve automated flipping operations.

8. The control system of the large-scale component hydraulic turning mechanism according to claim 7, characterized in that: The central control unit also includes a user interface for displaying real-time data during the flipping process, receiving control instructions input by the user, and feeding back control results, which is implemented using one of a programmable logic controller and a microprocessor.

9. The control system of the large-scale component hydraulic turning mechanism according to claim 7, characterized in that: The control system also includes a safety warning module. When the pressure monitoring module detects abnormal pressure, the safety warning module triggers an alarm and sends an emergency stop command to the central control unit. The control system also includes a fault diagnosis module, which is used to automatically detect and locate the fault point when a fault occurs in the control system and provide fault handling suggestions. The control system is connected to the remote monitoring center through a wireless communication module to realize remote monitoring and fault diagnosis.

10. The control system of the large-scale component hydraulic turning mechanism according to claim 9, characterized in that: Relationship between pressure and hydraulic rod displacement: ; in, is the attenuation coefficient, is the ambient noise function, is the initial pressure value; The range of is [0,+∞), indicating a non-negative value of pressure; Relationship between torque and flip angle: ； in, and are the Fourier coefficients, is the smoothing factor; Relationship between servo motor position and control signal: ； ； in, and are the damping and stiffness coefficients, and are Taylor series coefficients, is the convergence factor, is the initial position; and The range of depends on the specific implementation and mechanism design, indicating the linear or rotational position of the servo motor; Integrated control system output: ； in, is the comprehensive control system performance index, T is the total time, and is the weight coefficient, is the fault impact factor, K is the number of data transmission packets; The value range of is [-∞,+∞), a higher value indicates better system performance, and a lower value indicates anomalies or a control strategy that needs to be optimized; is the pressure value measured by the pressure sensor on the inner wall of the damping rod at time t; P is pressure, and t is time; is the displacement of the first hydraulic rod or the second hydraulic rod at time x; H is the displacement of the hydraulic rod, and x is the time or control signal; is the torque required by the flipping mechanism at the flipping angle θ; M is the torque, θ is the flipping angle; and are the positions of the first servo motor and the second servo motor under control signals α and β respectively, S is the servo motor position, α and β are control signals; is the i-th control instruction input by the user through the user interface; U is the user input, and i is the input instruction number; is the abnormal alarm signal triggered by the safety warning module at time t, which is a Boolean value; A is the abnormal alarm, and t is the time; The jth fault point located by the fault diagnosis module; F is the fault location, j is the fault point number; is the kth data packet transmitted through the wireless communication module; D is data transmission, and k is the data packet number.

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