Standard knot pin shaft dismounting and mounting control system, control method and hoisting machinery

Abstract

The invention discloses a standard knot pin shaft dismounting and mounting control system and method and hoisting machinery, the control system comprises a first inserting and pulling device, a positioning device, a tensioning device and a control device, the first inserting and pulling device can push a pin shaft to be inserted into an alignment pin hole and push out the pin shaft in the alignment pin hole; the positioning device can detect the positions of the first insertion and extraction device and the alignment pin hole, the tensioning device can abut against or loosen the standard main chord, and the control device is configured to control the jacking oil cylinder according to the detection result of the positioning device so that the first insertion and extraction device and the alignment pin hole can be located at the same height; the tensioning device is controlled to abut against the standard main chord so as to centralize the disassembly and assembly standard knot; and the first inserting and pulling device is controlled to push the pin shaft to be inserted into the alignment pin hole or push out the pin shaft in the alignment pin hole, so that automatic disassembly and assembly of the pin shaft are realized, and the purposes of avoiding the phenomena of damage to the pin shaft, fatigue of workers and falling of objects from high altitudes caused by human errors, and improving the disassembly and assembly speed and the operation efficiency are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of hoisting machinery, and particularly relates to a control system for disassembling and assembling standard section pin shafts, a control method, and a hoisting machinery. Background Art

[0002] The pin shaft is one of the key components for connecting adjacent two standard sections, and plays an important role in the safety and stability of the overall structure of the tower body of the hoisting machinery. After the jacking operation and the upper and lower standard sections are correctly positioned and installed, the pin shaft needs to be inserted into the pin hole to ensure the firmness of the connection between adjacent standard sections; while during the lowering operation or when disassembling the standard section, the pin shaft needs to be knocked out of the pin hole.

[0003] The traditional disassembly and assembly of standard section pin shafts has always been carried out by manual hammering, which has disadvantages such as damaging the pin shaft, worker fatigue, slow disassembly and assembly speed, low operation efficiency, etc. during the whole installation and disassembly process, and is prone to causing falling objects from height due to human error. Summary of the Invention

[0004] In view of the above defects or deficiencies, the present invention provides a control system for disassembling and assembling standard section pin shafts, a control method, and a hoisting machinery, aiming to solve the technical problem of the disadvantages existing in the disassembly and assembly of standard section pin shafts by the manual hammering method.

[0005] To achieve the above object, in the first aspect of the present invention, a control system for disassembling and assembling standard section pin shafts is provided. The control system for disassembling and assembling standard section pin shafts includes a first plugging and unplugging device, a positioning device, a tensioning device, and a control device; the first plugging and unplugging device is arranged on the climbing frame and can push the pin shaft into the aligned pin hole and push out the pin shaft in the aligned pin hole; the positioning device is arranged on the climbing frame and can detect the positions of the first plugging and unplugging device and the aligned pin hole; the tensioning device is arranged on the climbing frame and can be tightened against or relaxed from the standard main chord of the fixed standard section; the control device is configured to:

[0006] Control the jacking cylinder according to the detection result of the positioning device, so that the first plugging and unplugging device and the aligned pin hole are at the same height;

[0007] Control the tensioning device to be tightened against the standard main chord of the fixed standard section to straighten the disassembled and assembled standard section on the climbing frame;

[0008] Control the first plugging and unplugging device to push the pin shaft into the aligned pin hole or push out the pin shaft in the aligned pin hole.

[0009] In an embodiment of the present invention, the first plugging and unplugging device includes a first pin control drive and a first pin storage box having a first pin storage cavity. The first pin storage cavity allows a plurality of pin shafts to be stacked in sequence from bottom to top, and an outlet pin channel is formed at a position corresponding to the lowermost pin shaft in the first pin storage cavity. The first pin control drive can extend into the outlet pin channel to push the lowermost pin shaft into the alignment pin hole or push out the pin shaft in the alignment pin hole.

[0010] In an embodiment of the present invention, the first plugging and unplugging device further includes a first rotary drive and a rotary arm. The first rotary drive is provided on the climbing frame and is located at the first adjacent side of the standard section inlet. The first end of the rotary arm is drivingly connected to the first rotary drive, and the second end of the rotary arm is provided with a first pin control drive and a first pin storage box. The first rotary drive can drive the second end of the rotary arm to perform rotary switching between the zero position facing the first adjacent side and the pin control position facing the standard section inlet.

[0011] In an embodiment of the present invention, the standard section pin shaft disassembly and assembly control system further includes three second plugging and unplugging devices provided on the climbing frame. The three second plugging and unplugging devices are sequentially provided on the second adjacent side, the opposite side, and the first adjacent side of the standard section inlet. The first plugging and unplugging device and the three second plugging and unplugging devices sequentially perform pin shaft plugging and unplugging at the standard section inlet, the second adjacent side, the opposite side, and the first adjacent side.

[0012] In an embodiment of the present invention, the second plugging and unplugging device includes a second rotary drive, a rotary support, a second pin control drive, and a second pin storage box. The second rotary drive is provided on the climbing frame. The rotary support is drivingly connected to the second rotary drive and bears the second pin control drive and the second pin storage box. The second rotary drive can drive the rotary support to rotate between the zero position and the pin control position. The second pin control drive can, at the pin control position, push the pin shaft in the second pin storage box into the alignment pin hole and push out the pin shaft in the alignment pin hole through the second pin storage box.

[0013] In an embodiment of the present invention, each standard main chord of the fixed standard section is correspondingly provided with a tensioning device. The tensioning device includes a clamping drive and a tensioning wheel with a wheel body mounting frame. The wheel body mounting frame is hinged to the climbing frame. The clamping drive is provided on the climbing frame and is drivingly connected to the wheel body mounting frame to drive the wheel body mounting frame to drive the tensioning wheel to approach or move away from the corresponding standard main chord.

[0014] In an embodiment of the present invention, each standard main chord of the fixed standard section is correspondingly provided with two tensioning devices, and the two tensioning devices are oppositely arranged relative to the two standard straight web members connected to the standard main chord.

[0015] In an embodiment of the present invention, the positioning device includes a fixed mounting frame, a movable focusing frame, and a positioning camera. The fixed mounting frame is provided on the climbing frame. The movable focusing frame can move closer to or away from the standard section on the fixed mounting frame. The positioning camera is provided on the movable focusing frame and is located on the side of the alignment pin hole to simultaneously obtain a position recognition image including a first plugging and unplugging device with a positioning mark and a lock pin hole plate provided on one side of the alignment pin hole from the side.

[0016] In an embodiment of the present invention, a standard straight web member located below the alignment pin hole is formed with a pin storage groove for accommodating the pin shaft.

[0017] In an embodiment of the present invention, the standard section pin shaft disassembly and assembly control system further includes a hydraulic control circuit. The hydraulic control circuit includes a total inlet oil circuit, a total return oil circuit, a jacking control oil circuit, and a pin shaft disassembly and assembly control oil circuit. The total inlet oil circuit is supplied with oil by a hydraulic pump station provided on the climbing frame. The total return oil circuit is connected back to the oil tank. A jacking cylinder is provided on the jacking control oil circuit. A clamping drive of the tensioning device and a first pin control drive of the first plugging and unplugging device are provided on the pin shaft disassembly and assembly control oil circuit. A total reversing valve is connected between the total inlet oil circuit and the total return oil circuit. The first working oil port and the second working oil port of the total reversing valve are respectively in one-to-one correspondence and communication with the jacking control oil circuit and the pin shaft disassembly and assembly control oil circuit.

[0018] In an embodiment of the present invention, there are four pin shaft disassembly and assembly control oil circuits, and each drive on each pin shaft disassembly and assembly control oil circuit correspondingly acts on the standard main chord at the same corner position.

[0019] To achieve the above object, a second aspect of the present invention provides a method for controlling the disassembly and assembly of the standard section pin shaft. Among them, the method for controlling the disassembly and assembly of the standard section pin shaft is applied to the standard section pin shaft disassembly and assembly control system described above, and includes:

[0020] Controlling the jacking cylinder according to the detection result of the positioning device so that the first plugging and unplugging device is at the same height as the alignment pin hole;

[0021] Controlling the tensioning device to abut against the standard main chord of the fixed standard section to straighten the disassembled and assembled standard section on the climbing frame;

[0022] Controlling the first plugging and unplugging device to push the pin shaft into the alignment pin hole or push out the pin shaft in the alignment pin hole.

[0023] In an embodiment of the present invention, controlling the jacking cylinder according to the detection result of the positioning device so that the first plugging and unplugging device is at the same height as the alignment pin hole includes:

[0024] Inputting the position recognition image captured by the positioning camera of the positioning device into the deep learning model to output a first position reference line of the lock pin hole plate provided on one side of the alignment pin hole and a second position reference line of the positioning mark provided on the first plugging and unplugging device;

[0025] When the first position reference line is parallel to the second position reference line, translate one of the position reference lines to the vertical plane where the other position reference line is located, and calculate the pixel distance value between the two position reference lines in the vertical plane;

[0026] When the pixel distance value exceeds the set threshold, control the lifting oil cylinder according to the pixel distance value so that the first plugging and unplugging device and the alignment pin hole are at the same height.

[0027] In an embodiment of the present invention, controlling the first plugging and unplugging device to push out the pin shaft in the alignment pin hole includes:

[0028] Control the first pin control drive of the first plugging and unplugging device to extend and detect the extension displacement and working pressure;

[0029] When the extension displacement of the first pin control drive does not reach the set pin removal displacement and the working pressure is overpressure, control the fourth proportional solenoid valve correspondingly arranged with the first pin control drive so that the extension displacement is adjusted according to a high-frequency triangular wave until the extension displacement reaches the set pin insertion displacement and the working pressure is not overpressure.

[0030] To achieve the above object, the third aspect of the present invention provides a hoisting machine, wherein the hoisting machine includes the standard section pin shaft disassembly and assembly control system described above.

[0031] Through the above technical solutions, the standard section pin shaft disassembly and assembly control system provided by the present invention has the following beneficial effects:

[0032] When using the above-mentioned standard section pin disassembling and assembling control system, since it includes a tensioning device, a first plugging device, a positioning device and a control device, when installing the standard section, the lower end of the standard main chord for disassembling and assembling the standard section on the climbing frame can be inserted in alignment with the upper end of the standard main chord of the fixed standard section. First, the lifting cylinder can be controlled according to the position detection results of the first plugging device and the alignment pin holes by the positioning device, so that the first plugging device on the climbing frame and the alignment pin holes are at the same height. Then, control the tensioning device on the climbing frame to press tightly against the standard main chord of the fixed standard section, so as to straighten the disassembling and assembling standard section on the climbing frame while straightening the climbing frame, making the alignment pin holes of the disassembling and assembling standard section completely aligned with the alignment pin holes of the fixed standard section. Finally, control the first plugging device to push the pin into the alignment pin hole, thereby realizing the automatic installation of the pin on the standard section; when disassembling the standard section, the lower end of the standard main chord of the disassembling and assembling standard section on the climbing frame is still inserted in alignment with the upper end of the standard main chord of the fixed standard section. First, the lifting cylinder can be controlled according to the position detection results of the first plugging device and the alignment pin holes by the positioning device, so that the first plugging device on the climbing frame and the alignment pin holes are at the same height. Then, control the tensioning device on the climbing frame to press tightly against the standard main chord of the fixed standard section. Finally, control the first plugging device to push out the pin in the alignment pin hole, thereby realizing the automatic disassembly of the pin on the standard section. This can avoid the phenomena of damaging the pin, worker fatigue and high-altitude falling objects caused by human error, and achieve the purpose of improving the disassembly and assembly speed and operation efficiency. In addition, when the pin is pushed in or out, the tensioning device can also offset the torque generated by the first plugging device to prevent the climbing frame from twisting.

[0033] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings. In the drawings:

[0035] Figure 1 is a schematic structural diagram of the standard section pin disassembling and assembling control system from the top view according to an embodiment of the present invention;

[0036] Figure 2 is a schematic structural diagram of the standard section pin disassembling and assembling control system from the perspective where the standard section entrance is located according to an embodiment of the present invention;

[0037] Figure 3 is Figure 2Schematic diagram of the enlarged structure at X;

[0038] Figure 4 It is a schematic diagram of the structure of the standard section pin disassembly and assembly control system according to an embodiment of the present invention from the perspective of the first adjacent side;

[0039] Figure 5 It is a schematic diagram of the structure of the standard section pin disassembly and assembly control system according to an embodiment of the present invention from the perspective of the second adjacent side;

[0040] Figure 6 It is a schematic diagram of the structure of the standard section pin disassembly and assembly control system according to an embodiment of the present invention from the perspective of the opposite side;

[0041] Figure 7 It is a schematic diagram of the structure of the four plugging and unplugging devices in the zero position according to an embodiment of the present invention;

[0042] Figure 8 It is a schematic diagram of the structure of the four plugging and unplugging devices in the pin control position according to an embodiment of the present invention;

[0043] Figure 9 It is a schematic diagram of the structure of the first plugging and unplugging device according to an embodiment of the present invention;

[0044] Figure 10 It is a schematic diagram of the structure of the second plugging and unplugging device according to an embodiment of the present invention;

[0045] Figure 11 It is a schematic diagram of the structure of the plugging and unplugging device for pin plugging and unplugging according to an embodiment of the present invention;

[0046] Figure 12 It is a schematic diagram of the structure of the eight tensioning devices installed on the climbing frame according to an embodiment of the present invention;

[0047] Figure 13 It is a schematic diagram of the structure of the tensioning device according to an embodiment of the present invention;

[0048] Figure 14 It is a schematic diagram of the structure of the positioning device installed on the climbing frame according to an embodiment of the present invention;

[0049] Figure 15 It is a schematic diagram of the structure of the positioning device according to an embodiment of the present invention;

[0050] Figure 16 It is a schematic diagram of the straight lines L1 and L2 according to an embodiment of the present invention;

[0051] Figure 17 It is a schematic diagram of the distances Z1 and Z2 according to an embodiment of the present invention;

[0052] Figure 18 is a schematic diagram of straight lines L1, L2 and L3 in an embodiment of the present invention;

[0053] Figure 19 is a schematic structural diagram of a part of a hydraulic control circuit in an embodiment of the present invention;

[0054] Figure 20 is a schematic structural diagram of another part of a hydraulic control circuit in an embodiment of the present invention;

[0055] Figure 21 is a flowchart of a method for controlling the disassembly and assembly of standard section pin shafts in an embodiment of the present invention.

[0056] Description of reference numerals:

[0057] 100 First plugging and unplugging device 110 First pin control drive

[0058] 120 First pin storage box 130 First slewing drive

[0059] 140 Slewing arm 141 First arm segment

[0060] 142 Second arm segment 200 Second plugging and unplugging device

[0061] 210 Second slewing drive 220 Slewing support

[0062] 230 Second pin control drive 240 Second pin storage box

[0063] 300 Positioning device 310 Fixed mounting bracket

[0064] 320 Movable focusing frame 321 Focusing base

[0065] 322 Slewing motor 323 Movable frame body

[0066] 330 Positioning camera 400 Tensioning device

[0067] 410 Clamping drive 420 Tensioning wheel

[0068] 421 Wheel mounting bracket 500 Pin shaft

[0069] 501 Positioning mark 600 Climbing frame

[0070] A Standard section inlet B First adjacent side

[0071] C Second adjacent side D Opposite side

[0072] 610 Jacking oil cylinder 620 Hydraulic pump station

[0073] 700 Alignment pin hole 710 Fixed standard section

[0074] 711 Pin storage groove 720 Disassembly and assembly of standard section

[0075] 730 Standard main chord 740 Locking pin hole plate

[0076] 810 Total inlet oil circuit

[0077] 811 First pressure sensor 820 Total return oil circuit

[0078] 830 Jacking control oil circuit 831 First proportional solenoid valve

[0079] 832 Balance valve 840 Total reversing valve

[0080] 900 Pin disassembly and assembly control oil circuit 910 High-pressure inlet oil circuit

[0081] 920 Low-pressure return oil circuit 930 Clamping branch oil circuit

[0082] 931 Second proportional solenoid valve 932 Second pressure sensor

[0083] 933 First hydraulic lock 940 Slewing branch oil circuit

[0084] 941 Third proportional solenoid valve 942 Second hydraulic lock

[0085] 943 Angle sensor 950 Control pin branch oil circuit

[0086] 951 Fourth proportional solenoid valve 952 Third pressure sensor

[0087] 953 Displacement sensor Specific embodiments

[0088] The following is a detailed description of specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0089] The standard section pin disassembly and assembly control system, control method and hoisting machinery of the present invention will be described below with reference to the accompanying drawings.

[0090] As Figures 1 to 6 shown, the present invention provides a standard section pin disassembly and assembly control system, wherein the standard section pin disassembly and assembly control system includes:

[0091] The first plugging device 100 is provided on the climbing frame 600 and can push the pin 500 into the alignment pin hole 700 and push out the pin 500 in the alignment pin hole 700;

[0092] The positioning device 300 is arranged on the climbing frame 600 and can detect the positions of the first plugging device 100 and the alignment pin hole 700;

[0093] The tensioning device 400 is arranged on the climbing frame 600 and can be tightened against or loosened from the standard main chord 730 of the fixedly installed standard section 710;

[0094] The control device is configured to:

[0095] Control the jacking cylinder 610 according to the detection result of the positioning device 300, so that the first plugging device 100 and the alignment pin hole 700 are at the same height;

[0096] Control the tensioning device 400 to be tightened against the standard main chord 730 of the fixedly installed standard section 710 to straighten the disassembly and assembly standard section 720 on the climbing frame 600;

[0097] Control the first plugging device 100 to push the pin 500 into the alignment pin hole 700 or push out the pin 500 in the alignment pin hole 700.

[0098] When using the above-mentioned standard section pin disassembling and assembling control system, since it includes a tensioning device 400, a first plugging and unplugging device 100, a positioning device 300 and a control device, when installing the standard section, the lower end of the standard main chord 730 of the disassembled and assembled standard section 720 on the climbing frame 600 can be inserted in alignment with the upper end of the standard main chord 730 of the fixed standard section 710. First, the lifting cylinder 610 can be controlled according to the position detection results of the first plugging and unplugging device 100 and the alignment pin hole 700 by the positioning device 300, so that the first plugging and unplugging device 100 on the climbing frame 600 and the alignment pin hole 700 are at the same height. Then, the tensioning device 400 on the climbing frame 600 is controlled to abut against the standard main chord 730 of the fixed standard section 710, so as to straighten the disassembled and assembled standard section 720 on the climbing frame while straightening the climbing frame 600, making the alignment pin holes 700 of the disassembled and assembled standard section 720 and the fixed standard section 710 completely aligned. Finally, the first plugging and unplugging device 100 is controlled to push the pin 500 into the alignment pin hole 700, thereby realizing the automatic installation of the pin 500 on the standard section; when disassembling the standard section, the lower end of the standard main chord 730 of the disassembled and assembled standard section 720 on the climbing frame 600 is still inserted in alignment with the upper end of the standard main chord 730 of the fixed standard section 710. First, the lifting cylinder 610 can be controlled according to the position detection results of the first plugging and unplugging device 100 and the alignment pin hole 700 by the positioning device 300, so that the first plugging and unplugging device 100 on the climbing frame 600 and the alignment pin hole 700 are at the same height. Then, the tensioning device 400 on the climbing frame 600 is controlled to abut against the standard main chord 730 of the fixed standard section 710. Finally, the first plugging and unplugging device 100 is controlled to push out the pin 500 in the alignment pin hole 700, thereby realizing the automatic disassembly of the pin 500 on the standard section. This can avoid the phenomena of damaging the pin 500, worker fatigue and high-altitude falling objects caused by human error, and achieve the purpose of improving the disassembly and assembly speed and operation efficiency. In addition, when the pin 500 is pushed in or out, the tensioning device 400 can also offset the torque generated by the first plugging and unplugging device 100 to prevent the climbing frame 600 from twisting.

[0099] Specifically, in the present invention, the standard section to be disassembled and assembled is set as the disassembly and assembly standard section 720, the first standard section below the disassembly and assembly standard section 720 is set as the fixed installation standard section 710, and before the pin shaft 500 is disassembled and assembled, the lower ends of the standard main chords 730 of the disassembly and assembly standard section 720 are inserted into the upper ends of the standard main chords 730 of the fixed installation standard section 710 in a butt joint manner. The upper ends of the standard main chords 730 of the fixed installation standard section 710 can be set as tenon structures, and the butt joint pin holes 700 of the fixed installation standard section 710 are provided on the tenon structures. The lower ends of the standard main chords 730 of the disassembly and assembly standard section 720 can be set as sleeve structures, and the butt joint pin holes 700 of the disassembly and assembly standard section 720 are provided on the sleeve structures. The sleeve structures can be sleeved outside the tenon structures so that the butt joint pin holes 700 of the disassembly and assembly standard section 720 and the butt joint pin holes 700 of the fixed installation standard section 710 are arranged in a communicating manner. The pin shaft 500 is inserted into the communicating butt joint pin holes 700, and the installation of the disassembly and assembly standard section 720 on the fixed installation standard section 710 can be realized.

[0100] See Figure 9 and Figure 11 , in an embodiment of the present invention, the first plugging and unplugging device 100 includes a first pin control drive 110 and a first pin storage box 120 having a first pin storage cavity. The first pin storage cavity can accommodate a plurality of pin shafts 500 to be stacked in sequence from bottom to top, and an outlet channel is formed at a position corresponding to the lowermost pin shaft 500 in the first pin storage cavity. The first pin control drive 110 can extend into the outlet channel to push the lowermost pin shaft 500 into the butt joint pin hole 700 or push out the pin shaft 500 in the butt joint pin hole 700. By adding the first pin storage box 120, it is possible to store a plurality of pin shafts 500 and automatically feed the next pin shaft 500, eliminating the need for manual material placement and further improving the installation efficiency of the pin shaft 500. Of course, the present invention is not limited to this. It is also possible to set the first plugging and unplugging device 100 as only the first pin control drive 110, and the pin shaft 500 can be detachably connected to the drive end of the first pin control drive 110.

[0101] Specifically, when installing the standard section, a plurality of pin shafts 500 can be placed in the first pin storage cavity of the first pin storage box 120. The driving end of the first pin control drive 110 is arranged facing the pin outlet channel. When the driving end of the first pin control drive 110 extends, it can enter the pin outlet channel and push the lowermost pin shaft 500 in the direction of inserting into the alignment pin hole 700 until the pin shaft 500 is completely inserted into the alignment pin hole 700. Then, the driving end of the first pin control drive 110 retracts and returns to its original position, withdrawing from the pin outlet channel. The remaining pin shafts 500 in the first pin storage cavity descend under the influence of gravity, and the lowermost pin shaft 500 among the remaining pin shafts 500 can fall into the pin outlet channel, so as to continue the installation of the pin shaft 500 subsequently. When disassembling the standard section, the first pin storage box 120 is set as an empty box, that is, no pin shaft 500 is placed in the first pin storage cavity. The driving end of the first pin control drive 110 extends and passes through the pin outlet channel to contact the pin shaft 500 in the alignment pin hole 700. The first pin control drive 110 continues to extend until the pin shaft 500 is completely pushed out of the alignment pin hole 700, and then the driving end of the first pin control drive 110 retracts and returns to its original position. In addition, the first pin control drive 110 can be set as a telescopic hydraulic cylinder, and a displacement sensor 953 for detecting the position of the driving end is arranged on the first pin control drive 110 to facilitate the control of the telescopic displacement of the driving end.

[0102] See Figures 7 to 9, in an embodiment of the present invention, the first plugging device 100 further includes a first slewing drive 130 and a slewing arm 140. The first slewing drive 130 is arranged on the climbing frame 600 and is located at the first adjacent side B of the standard section inlet A. The first end of the slewing arm 140 is drivingly connected to the first slewing drive 130. The second end of the slewing arm 140 is provided with a first pin control drive 110 and a first pin storage box 120. The first slewing drive 130 can drive the second end of the slewing arm 140 to perform slewing switching between the zero position facing the first adjacent side B and the pin control position facing the standard section inlet A. Thus, when the first slewing drive 130 drives the second end of the slewing arm 140 to rotate to the pin control position facing the standard section inlet A, the first pin control drive 110 can drive the pin shaft 500 for installation and disassembly. And at this time, the positioning device 300 arranged on the first adjacent side B can take pictures of the positioning mark 501 on the first pin storage box 120 and the pin locking hole plate 740 arranged on one side of the alignment pin hole 700 from the side. When the first slewing drive 130 drives the second end of the slewing arm 140 to rotate to the zero position facing the first adjacent side B, the entire first plugging device 100 can be avoided from the standard section inlet A to avoid interference with the introduction of the standard section. It should be particularly noted that the alignment pin hole 700 corresponding to the first plugging device 100 should be arranged facing the standard section inlet A. Of course, the present invention is not limited to this. The alignment pin holes 700 of the standard main chords 730 on both sides of the standard section inlet A can also be arranged facing one of the adjacent sides of the standard section inlet A. At this time, the first plugging device 100 can directly perform the installation and disassembly of the pin shaft 500 on the adjacent side of the standard section inlet A without setting the first slewing drive 130 and the slewing arm 140.

[0103] Specifically, the slewing arm 140 can be set as an L shape and includes a first arm segment 141 and a second arm segment 142. One end of the first arm segment 141 is drivingly connected to the first slewing drive 130. The second arm segment 142 extends and bends from the end of the first arm segment 141 away from the first slewing drive 130. Both the first pin control drive 110 and the first pin storage box 120 are arranged at the end of the second arm segment 142 away from the first arm segment 141. And the first pin storage box 120 is arranged at a position opposite to the first arm segment 141. The first pin control drive 110 is arranged in the direction away from the first arm segment 141 from the second arm segment 142. At the same time, the first slewing drive 130 can also be set as a hydraulic cylinder, specifically a spiral swing hydraulic cylinder.

[0104] See Figure 7 , Figure 8 and Figure 10, in an embodiment of the present invention, the standard section pin disassembly and assembly control system further includes three second plugging and unplugging devices 200 provided on the climbing frame 600. The three second plugging and unplugging devices 200 are sequentially arranged on the second adjacent side C, the opposite side D, and the first adjacent side B of the standard section inlet A. The first plugging and unplugging device 100 and the three second plugging and unplugging devices 200 sequentially perform pin 500 plugging and unplugging at the standard section inlet A, the second adjacent side C, the opposite side D, and the first adjacent side B. That is, the standard section pin disassembly and assembly control system is provided with one first plugging and unplugging device 100 and three second plugging and unplugging devices 200 to respectively correspond to the four alignment pin holes 700 of the standard section. The difference between the first plugging and unplugging device 100 and the second plugging and unplugging device 200 is that the zero position of the first plugging and unplugging device 100 is on a different side from the control pin position. The zero position is on the first adjacent side B of the standard section inlet A, and the control pin position is on the side where the standard section inlet A is located. The zero position and the control pin position of the second plugging and unplugging device 200 are on the same side. With such a setting, the second plugging and unplugging device 200 can simplify the structure compared to the first plugging and unplugging device 100, and each plugging and unplugging device belongs to a different side for pin 500 plugging and unplugging, which can make the force more uniform. It should be particularly noted that in order to implement the setting of the above four plugging and unplugging devices, the four alignment pin holes 700 of the standard section should be set to be opened from different side directions. Of course, the present invention is not limited to this. It is also possible to set four first plugging and unplugging devices 100, and the opening directions of the four alignment pin holes 700 of the standard section can be adjusted accordingly.

[0105] See Figure 10 and Figure 11 , in an embodiment of the present invention, the second plugging and unplugging device 200 includes a second rotary drive 210, a rotary support 220, a second control pin drive 230, and a second pin storage box 240. The second rotary drive 210 is provided on the climbing frame 600. The rotary support 220 is drivingly connected to the second rotary drive 210 and carries the second control pin drive 230 and the second pin storage box 240. The second rotary drive 210 can drive the rotary support 220 to rotate between the zero position and the control pin position. The second control pin drive 230 can push the pin 500 in the second pin storage box 240 into the alignment pin hole 700 and push out the pin 500 in the alignment pin hole 700 through the second pin storage box 240 at the control pin position. By adding the second rotary drive 210, the rotary support 220 can rotate between the zero position and the control pin position. Specifically, the rotation angle between the zero position and the control pin position of the rotary support 220 can be 90°. And in order to enable the second control pin drive 230 to push the pin 500 at the control pin position, the second control pin drive 230 and the second pin storage box 240 should be arranged in the length direction of the pin 500. In this way, the entire second plugging and unplugging device 200 occupies a relatively large space. Therefore, when the pin 500 does not need to be disassembled and assembled, the rotary support 220 is controlled to rotate to the zero position. At this time, the second control pin drive 230 and the second pin storage box 240 are arranged in a direction parallel to the side where they are located, which can significantly reduce the occupied space.

[0106] Specifically, both the second slewing drive 210 and the second pin control drive 230 can be set as hydraulic cylinders. The second slewing drive 210 can specifically be a spiral swing hydraulic cylinder, and the structure of the second pin storage box 240 can be set to be the same as that of the first pin storage box 120.

[0107] See Figure 12 and Figure 13 In an embodiment of the present invention, each standard main chord 730 of the fixedly installed standard section 710 is correspondingly provided with a tensioning device 400. The tensioning device 400 includes a clamping drive 410 and a tensioning wheel 420 with a wheel body mounting bracket 421. The wheel body mounting bracket 421 is hinged to the climbing frame 600, specifically, it can be hinged to the inner side of the straight web member of the climbing frame 600. The clamping drive 410 is arranged on the climbing frame 600 and is drivingly connected to the wheel body mounting bracket 421 to drive the wheel body mounting bracket 421 to drive the tensioning wheel 420 to approach or move away from the corresponding standard main chord 730. Specifically, when installing the standard section, the climbing frame 600 and the disassembled and assembled standard section 720 on the climbing frame 600 may be deflected under the influence of wind force or the like. By providing a tensioning device 400 at the corresponding position of each standard main chord 730, and the clamping drives 410 of each tensioning device 400 extending synchronously, there will be a situation where the tensioning wheel 420 of the tensioning device 400 first contacts the corresponding standard main chord 730. The clamping drive 410 continues to extend synchronously, and the tensioning wheel 420 that first contacts the standard main chord 730 will react on the wheel body mounting bracket 421 to push the current corner position of the climbing frame 600 to move away from the fixedly installed standard section 710 until the tensioning wheels 420 of the remaining tensioning devices 400 are pressed against the corresponding standard main chords 730. At this time, the extending lengths of the clamping drives 410 of the tensioning devices 400 belonging to the same side are the same, thereby the climbing frame 600 and the disassembled and assembled standard section 720 on the climbing frame 600 can be straightened. Specifically, the clamping drive 410 can also be set as a hydraulic cylinder, and the clamping force can be adjusted by adjusting the flow rate of the hydraulic cylinder.

[0108] In an embodiment of the present invention, each standard main chord 730 of the fixedly installed standard section 710 is correspondingly provided with two tensioning devices 400, and the two tensioning devices 400 are oppositely arranged with respect to the two standard straight web members respectively connected to the standard main chord 730. That is, there are a total of eight tensioning devices 400 on the climbing frame 600, and each side of the fixedly installed standard section 710 is correspondingly provided with two tensioning devices 400, thereby the straightening effect can be further improved, as well as the anti-twisting effect during the pin insertion and extraction process.

[0109] See Figure 14 and Figure 15, in an embodiment of the present invention, the positioning device 300 includes a fixed mounting frame 310, a movable focusing frame 320, and a positioning camera 330. The fixed mounting frame 310 is provided on the climbing frame 600. The movable focusing frame 320 can move on the fixed mounting frame 310 towards or away from the standard section. The positioning camera 330 is provided on the movable focusing frame 320 and is located on the side of the alignment pin hole 700 to simultaneously obtain a position recognition image including the first plug-in device 100 with a positioning mark 501 and the lock pin hole plate 740 provided on one side of the alignment pin hole 700 from the side. That is, the positioning device 300 uses a visual recognition method for position detection, which has the advantages of convenient installation and disassembly and high recognition accuracy. Moreover, the addition of the movable focusing frame 320 enables the distance between the positioning camera 330 and the object to be photographed to be adjusted to achieve the focusing function. At the same time, being provided on the side of the alignment pin hole 700 enables the first plug-in device 100 and the lock pin hole plate 740 to be completely photographed by one positioning camera 330. Of course, the present invention is not limited to this, and position sensors for detecting the first plug-in device 100 and the alignment pin hole 700 can also be provided separately.

[0110] Specifically, the fixed mounting frame 310 is provided on the outer side of the climbing frame 600 and extends in a direction away from the climbing frame 600. The movable focusing frame 320 includes a focusing base 321, a rotary motor 322, and a movable frame body 323. The focusing base 321 is movably sleeved on the fixed mounting frame 310. The rotary motor 322 is provided on the focusing base 321. The extending direction of the movable frame body 323 is set to be parallel to the side where the climbing frame 600 is located. And one end of the movable frame body 323 is drivingly connected to the rotary motor 322, and the other end away from the rotary motor 322 carries the positioning camera 330. The addition of the rotary motor 322 enables, when it is necessary to perform detection on the side where the standard section inlet A is located, by controlling the rotary motor 322 to drive the movable frame body 323 to drive the positioning camera 330 to rotate and avoid the position of the standard section inlet A to prevent interference with the introduction of the standard section. And the fixed mounting frame 310 can be provided on the climbing main chord of the climbing frame 600. Of course, if the number of the positioning devices 300 is set to be equal to or less than three, it is possible to choose not to provide the positioning device 300 on the side where the standard section inlet A is located. In this case, there is no need to add a rotary motor 322.

[0111] In addition, in order to calibrate the positions of the pin shaft 500 and the alignment pin hole 700 laterally, on the one hand, a positioning mark 501 can be set on the first plugging and unplugging device 100. For example, a black rectangular label aligned with the axis line of the pin shaft 500 in the pin outlet channel is provided on the side of the first pin storage box 120. On the other hand, the alignment pin hole 700 can be calibrated by using a locking pin hole plate 740 provided on one side of the alignment pin hole 700. The locking pin hole plate 740 can be penetrated by a locking pin, and the locking pin crosses the pin shaft 500 to lock the pin shaft 500. The horizontal central axis of the locking pin hole plate 740 is aligned with the axis line of the alignment pin hole 700 at the same height.

[0112] More specifically, the number of the positioning devices 300 can be four. The four positioning devices 300 are respectively arranged in one-to-one correspondence with the four plugging and unplugging devices to respectively detect the positions of the corresponding plugging and unplugging devices and the alignment pin hole 700.

[0113] As Figure 11 shown, in an embodiment of the present invention, a standard straight web member located below the alignment pin hole 700 is formed with a pin storage groove 711 for accommodating the pin shaft 500, so that the pin shaft 500 withdrawn from the alignment pin hole 700 by the plugging and unplugging device can be collected through the pin storage groove 711.

[0114] See Figure 19 and Figure 20 In an embodiment of the present invention, the standard section pin shaft disassembly and assembly control system further includes a hydraulic control circuit. The hydraulic control circuit includes a total inlet oil circuit 810, a total return oil circuit 820, a jacking control oil circuit 830, and a pin shaft disassembly and assembly control oil circuit 900. The total inlet oil circuit 810 is supplied with oil by a hydraulic pump station 620 provided on the climbing frame 600. The total return oil circuit 820 is connected back to the fuel tank. A jacking oil cylinder 610 is provided on the jacking control oil circuit 830. A clamping drive 410 of the tensioning device 400 and a first pin control drive 110 of the first plugging and unplugging device 100 are provided on the pin shaft disassembly and assembly control oil circuit 900. A total reversing valve 840 is connected between the total inlet oil circuit 810 and the total return oil circuit 820. The first working oil port and the second working oil port of the total reversing valve 840 are respectively communicated with the jacking control oil circuit 830 and the pin shaft disassembly and assembly control oil circuit 900 in one-to-one correspondence. That is, the drives of the tensioning device 400 and the first plugging and unplugging device 100 are both set as hydraulic drives, so that the corresponding acting forces can be adjusted by adjusting the oil flow rate.

[0115] Further, a first pressure sensor 811 is provided on the total oil inlet pipeline 810, and a first proportional solenoid valve 831 is provided on the jacking control oil pipeline 830. The oil inlet and oil return ports of the first proportional solenoid valve 831 are respectively and correspondingly communicated with the first working oil port of the total reversing valve 840 and the total oil return pipeline 820. The first working oil port and the second working oil port of the first proportional solenoid valve 831 are respectively and correspondingly communicated with the rod chamber and the rodless chamber of the jacking oil cylinder 610. And a balance valve 832 is provided between the second working oil port of the first proportional solenoid valve 831 and the rodless chamber of the jacking oil cylinder 610 to keep the pressure of the rodless chamber of the jacking oil cylinder 610. In addition to the clamping drive 410 of the tensioning device 400 and the first pin control drive 110 of the first plugging and unplugging device 100, the pin disassembly and assembly control oil pipeline 900 may further be provided with a first rotary drive 130 of the first plugging and unplugging device 100, a second rotary drive 210 of the second plugging and unplugging device 200, and a second pin control drive 230.

[0116] In an embodiment of the present invention, there may be four pin disassembly and assembly control oil pipelines 900, and each drive on each pin disassembly and assembly control oil pipeline 900 correspondingly acts on the standard main chord 730 at the same corner position.

[0117] Specifically, two clamping drives 410 may be correspondingly provided on the standard main chord 730 at the same corner position, a rotary drive and a pin control drive of a plugging and unplugging device. The pin disassembly and assembly control oil pipeline 900 is respectively provided with a high-pressure oil inlet pipeline 910, a low-pressure oil return pipeline 920, a clamping branch pipeline 930, a rotary branch pipeline 940, and a pin control branch pipeline 950. Two clamping drives 410 are provided on the clamping branch pipeline 930, a rotary drive is provided on the rotary branch pipeline 940, and a pin control drive is provided on the pin control branch pipeline 950. The high-pressure oil inlet pipeline 910 is communicated with the second working oil port of the total reversing valve 840, and the low-pressure oil return pipeline 920 is connected back to the fuel tank.

[0118] More specifically, a second proportional solenoid valve 931 is provided on the clamping branch oil circuit 930. The oil inlet and oil return port of the second proportional solenoid valve 931 are respectively and correspondingly communicated with the high-pressure inlet oil circuit 910 and the low-pressure return oil circuit 920. The first working oil port of the second proportional solenoid valve 931 is respectively communicated with the rod chambers of the two clamping drives 410, and the second working oil port of the second proportional solenoid valve 931 is respectively communicated with the rodless chambers of the two clamping drives 410. Moreover, second pressure sensors 932 are respectively provided at the first working oil port and the second working oil port of the second proportional solenoid valve 931 to measure the working pressure at both ends of the clamping drive 410 in real time. A first hydraulic lock 933 for maintaining pressure on the two clamping drives 410 is also provided on the clamping branch oil circuit 930; a third proportional solenoid valve 941 is provided on the slewing branch oil circuit 940. The oil inlet and oil return port of the third proportional solenoid valve 941 are respectively and correspondingly communicated with the high-pressure inlet oil circuit 910 and the low-pressure return oil circuit 920. The first working oil port and the second working oil port of the third proportional solenoid valve 941 are respectively and correspondingly communicated with the two reversing oil ports of the slewing drive. An angle sensor 943 is provided on the slewing drive, and a second hydraulic lock 942 for maintaining pressure on the slewing drive is also provided on the slewing branch oil circuit 940; a fourth proportional solenoid valve 951 is provided on the pin control branch oil circuit 950. The oil inlet and oil return port of the fourth proportional solenoid valve 951 are respectively and correspondingly communicated with the high-pressure inlet oil circuit 910 and the low-pressure return oil circuit 920. The first working oil port and the second working oil port of the fourth proportional solenoid valve 951 are respectively and correspondingly communicated with the rod chamber and the rodless chamber of the pin control drive. A displacement sensor 953 is provided on the pin control drive, and third pressure sensors 952 are respectively provided at the first working oil port and the second working oil port of the fourth proportional solenoid valve 951.

[0119] In addition, referring to Figure 21 , the present invention also provides a method for controlling the disassembly and assembly of the standard section pin, wherein the method for controlling the disassembly and assembly of the standard section pin is applied to the standard section pin disassembly and assembly control system described above, and includes:

[0120] Step S100: Control the lifting cylinder 610 according to the detection result of the positioning device 300 so that the first plugging device 100 and the alignment pin hole 700 are at the same height.

[0121] Step S200: Control the tensioning device 400 to abut against the standard main chord 730 of the fixed standard section 710 to straighten the disassembled and assembled standard section 720 on the climbing frame 600.

[0122] Step S300: Control the first plugging device 100 to push the pin 500 into the alignment pin hole 700 or push out the pin 500 in the alignment pin hole 700.

[0123] When using the above-mentioned standard section pin disassembling and assembling control method, during the installation of the standard section, the lower end of the standard main chord 730 of the disassembling and assembling standard section 720 on the climbing frame 600 will be inserted in alignment with the upper end of the standard main chord 730 of the fixed standard section 710. First, the jacking cylinder 610 can be controlled according to the position detection results of the positioning device 300 for the first plugging and unplugging device 100 and the alignment pin hole 700, so that the first plugging and unplugging device 100 on the climbing frame 600 and the alignment pin hole 700 are at the same height. Then, the tensioning device 400 on the climbing frame 600 is controlled to press tightly against the standard main chord 730 of the fixed standard section 710, so as to straighten the disassembling and assembling standard section 720 on the climbing frame while straightening the climbing frame 600, making the alignment pin holes 700 of the disassembling and assembling standard section 720 and the fixed standard section 710 completely aligned. Finally, the first plugging and unplugging device 100 is controlled to push the pin 500 into the alignment pin hole 700, thereby realizing the automatic installation of the pin 500 on the standard section; when disassembling the standard section, the lower end of the standard main chord 730 of the disassembling and assembling standard section 720 on the climbing frame 600 is still inserted in alignment with the upper end of the standard main chord 730 of the fixed standard section 710. First, the jacking cylinder 610 can be controlled according to the position detection results of the positioning device 300 for the first plugging and unplugging device 100 and the alignment pin hole 700, so that the first plugging and unplugging device 100 on the climbing frame 600 and the alignment pin hole 700 are at the same height. Then, the tensioning device 400 on the climbing frame 600 is controlled to press tightly against the standard main chord 730 of the fixed standard section 710. Finally, the first plugging and unplugging device 100 is controlled to push out the pin 500 in the alignment pin hole 700, thereby realizing the automatic disassembly of the pin 500 on the standard section. Thus, it can avoid the phenomena of damaging the pin 500, worker fatigue, and high-altitude falling objects caused by human errors, and achieve the purpose of improving the disassembly and assembly speed and operation efficiency.

[0124] In an embodiment of the present invention, in step S100, controlling the jacking cylinder 610 according to the detection result of the positioning device 300 so that the first plugging and unplugging device 100 and the alignment pin hole 700 are at the same height includes:

[0125] Inputting the position recognition image captured by the positioning camera 330 of the positioning device 300 into the deep learning model to output the first position reference line of the locking pin hole plate 740 provided on one side of the alignment pin hole 700 and the second position reference line of the positioning mark 501 provided on the first plugging and unplugging device 100;

[0126] When the first position reference line is parallel to the second position reference line, one of the position reference lines is translated to the vertical plane where the other position reference line is located, and the pixel distance value between the two position reference lines is calculated in the vertical plane;

[0127] When the pixel distance value exceeds the set threshold, the lifting oil cylinder 610 is controlled according to the pixel distance value so that the first plugging device 100 and the alignment pin hole 700 are at the same height.

[0128] Further, as Figure 14 and Figures 16 to 18 shown, since the horizontal central axis of the lock pin hole plate 740 is aligned with the axis line of the alignment pin hole 700 at the same height, the axis line of the alignment pin hole 700 can be determined by identifying the horizontal central axis of the lock pin hole plate 740. The identification process is as follows:

[0129] 1. After inputting the position recognition image taken by the positioning camera 330 of the positioning device 300 into the deep learning model, the deep learning model can obtain the mask and contour of the plane where the lock pin hole plate 740 is located after performing plane detection and pixel segmentation on the lock pin hole plate 740;

[0130] 2. Calculate the minimum circumscribed rectangle minRect of the contour;

[0131] 3. Calculate the horizontal central axis of minRect to obtain the straight line equation L1 (the first position reference line), slope K1, and the center point coordinates C1 of minRect in the image coordinate system.

[0132] Since the black rectangular label provided on the side of the first pin storage box 120 is aligned with the axis line of the pin 500 in the pin outlet channel at the same height, the axis line of the pin 500 in the pin outlet channel can be determined by identifying the black rectangular label. The identification process is as follows:

[0133] 1. After inputting the position recognition image taken by the positioning camera 330 of the positioning device 300 into the deep learning model, the deep learning model can obtain the mask and contour of the rectangular label after performing plane detection and pixel segmentation on the black rectangular label;

[0134] (2) Calculate the minimum circumscribed rectangle minRect of the contour of the rectangular label;

[0135] (3) Calculate the central axis of minRect to obtain the straight line equation L2 (the first position reference line) and slope K2 in the image coordinate system.

[0136] After obtaining the first position reference line and the second position reference line, it is possible to calculate whether they are parallel and whether they are aligned in the height direction. The process is as follows:

[0137] 1. Compare whether the slopes K1 and K2 are approximately equal. If |K1| - |K2| ≤ KThr, the first position reference line and the second position reference line are parallel, and proceed to step 2; if |K1| - |K2| > KThr, the hydraulic mechanism needs to intervene to adjust the position driven by the control pin to make it parallel. KThr is a preset slope threshold.

[0138] 2. Translate the straight line L2 (label plane) to the plane where the straight line L1 is located (lock pin hole plate plane) to obtain a new straight line equation L3 in the image coordinate system. Assume the straight line equation of L2 is Ax + By + C = 0, then the straight line equation of L3 is α * Ax + α * By + 2 * (α - 1) * (Cx * A + Cy * B) + α * α * C = 0. Where α = Z2 / Z1, Z1 is the distance from the lock pin hole plate plane to the positioning camera, Z2 is the distance from the label plane to the positioning camera, Z1 and Z2 are preset fixed values, and Cx, Cy are the internal parameters of the camera.

[0139] 3. Calculate the pixel distance d from the center point C1 of the lock pin hole to the straight line L3 in the image coordinate system. The calculation formula is: Where A3, B3, C3 are the equation coefficients of the straight line L3, x C and y C are the image coordinate values of point C1.

[0140] 4. Determine whether the straight line L1 is aligned with the straight line L3: preset an alignment threshold dThr. If |d| ≤ dThr, it is considered that L1 and L3 are aligned; if |d| > dThr, they are not aligned. Determine whether the pin shaft is above or below the pin hole according to the positive or negative value of the d value.

[0141] 5. According to the camera pinhole imaging principle and the internal parameters of the camera, convert the pixel distance d into the actual spatial distance D in the height direction in the camera coordinate system. The conversion formula is: D = Z1 * d / Fy, where Z1 is the distance from the lock pin hole plate plane to the positioning camera, and Fy is the focal length in the height direction in the internal parameters of the positioning camera.

[0142] Specifically, the standard section automatic installation process (i.e., automatic pin installation):

[0143] (1) Initialization: Adjust the horizontal position of the pin storage box to calibrate the zero position of the angle sensor of the slewing drive to ensure the horizontal coaxiality between the pin shaft and the alignment pin hole; adjust the position of the positioning camera; place the pin shaft into the pin storage box; adjust the control pin drive to the minimum contraction state to calibrate the displacement sensor 15 of the control pin drive, and the slewing drive defaults to swing outwards by a set angle.

[0144] (2) Judge whether the number of installed standard sections n meets the installation requirements: If so, end the loop control; if not, proceed to the next step.

[0145] (3) Prepare for the installation of the next standard section: The right position of the main directional valve is energized, and the piston rods of each clamping drive are contracted by energizing the second proportional solenoid valve, making the tensioning wheel loose.

[0146] (4) The left position of the main directional valve is energized, and the jacking cylinder is extended by controlling the first proportional solenoid valve, driving the climbing frame to rise to the next standard section installation position.

[0147] (5) The crane transports the new standard section into the climbing frame and reaches the installation position.

[0148] (6) The right position of the main directional valve is energized, and the slewing drive is controlled by the third proportional solenoid valve for angle closed-loop control, and rotates inward to the specified angle.

[0149] (7) The positioning camera identifies the positions of the plugging device and the alignment pin holes, detects the coaxial error. If the error exceeds the set range, the left position of the main directional valve is energized, and the jacking cylinder is controlled by the first proportional solenoid valve to lift and lower to eliminate the coaxial error.

[0150] (8) After confirming that the coaxial error meets the requirements, the right position of the main directional valve is energized, and the piston rods of each clamping drive are extended by energizing the second proportional solenoid valve, making the tensioning wheel clamped.

[0151] (9) The right position of the main directional valve is energized, and the output displacement control of the pin driving is realized by the fourth proportional solenoid valve. The displacement sensor detects the difference between the target position and the actual displacement of the pin driving in real time. Finally, this displacement error is eliminated through control. The elimination of the displacement error indicates that the piston position of the pin driving reaches the specified position and the pin shaft has been accurately inserted.

[0152] (10) After the pin insertion of this round of standard section is completed, the right position of the main directional valve is energized, and the pin driving is retracted to the specified position by the fourth proportional solenoid valve.

[0153] (11) The right position of the main directional valve is energized, and the slewing drive is controlled by the third proportional solenoid valve to swing outward to the specified angle.

[0154] (12) Jump to step 2.

[0155] Specifically, the automatic disassembly process of the standard section (i.e., automatic pin removal):

[0156] (1) System initialization: If it is the first disassembly, the equipment inherits the final state in the automatic installation process of the standard section, mainly including: the initial pin driving is in the specified position; each slewing drive defaults to swing outward by the set angle; the clamping drive is in the contracted state and the tensioning wheel is loose.

[0157] (2) Judge whether the number of installed standard sections n meets the disassembly quantity requirement: If so, end the loop control; if not, proceed to the next step.

[0158] (3) The right position of the main reversing valve is energized, and the slewing drive is controlled by the third proportional solenoid valve to perform angle closed-loop control and rotate inward to the specified angle.

[0159] (4) The positioning camera identifies the positions of the plug-in device and the alignment pin hole, detects the coaxial error. If the error exceeds the set range, the left position of the main reversing valve is energized, and the lifting cylinder is controlled by the first proportional solenoid valve to lift and lower to eliminate the coaxial error. During the use of the equipment, due to the influence of the load bearing force, there will also be a phenomenon that the plug-in device and the alignment pin hole are not aligned in the height direction.

[0160] (5) After confirming that the coaxial error meets the requirements, the right position of the main reversing valve is energized, and the piston rods of each clamping drive are extended by energizing the second proportional solenoid valve, so that the tension wheel clamps.

[0161] (6) The right position of the main reversing valve is energized, and the output displacement control of the pin driving is realized through the fourth proportional solenoid valve. The displacement sensor detects the difference between the target position and the actual displacement of the pin driving in real time. Finally, this displacement error is eliminated through control. The elimination of the displacement error indicates that the piston position of the pin driving reaches the specified position and the pin shaft has been accurately inserted. During this process, it is judged in real time whether the displacement error meets the requirements and whether the working pressure is overpressure. If the displacement error does not meet the requirements and the working pressure is overpressure, it is judged that the pin shaft may be stuck due to reasons such as rust and deformation. Then the right position of the main reversing valve is energized, and the displacement of the pin driving is controlled according to a high-frequency triangular wave through the fourth proportional solenoid valve, that is, the pin driving is controlled to reciprocate and impact the pin shaft at high speed to prompt the pin shaft to loosen and come out. The amplitude of this triangular wave displacement depends on the structural size of the pin shaft, and the frequency can be set. If the displacement error meets the requirements and the working pressure is not overpressure, it directly enters the next step.

[0162] (7) After the pin removal of this round of standard section is completed, the right position of the main reversing valve is energized, and the pin driving is retracted to the specified position through the fourth proportional solenoid valve.

[0163] (8) The right position of the main reversing valve is energized, and the slewing drive is controlled by the third proportional solenoid valve to swing outward to the specified angle.

[0164] (9) The crane transports this round of standard section out of the climbing frame and lifts it off the tower crane.

[0165] (10) The right position of the main reversing valve is energized, and the piston rods of each clamping drive are contracted by energizing the second proportional solenoid valve, so that the tension wheel is loosened.

[0166] (11) The left position of the main reversing valve is energized, and the lifting cylinder is controlled by the first proportional solenoid valve to retract, driving the climbing frame to descend to the next standard section disassembly position.

[0167] (12) Jump to step 2.

[0168] The standard section pin disassembly and assembly control system and control method provided by the present invention have the following advantages:

[0169] 1. The innovatively designed standard section pin disassembly and assembly control system is fixed on the climbing frame and mainly consists of a first plugging and unplugging device, three second plugging and unplugging devices, a hydraulic pump station, a jacking cylinder, four positioning devices, eight tensioning devices and related hydraulic systems. Compared with the traditional process of installing and disassembling standard sections, by using the innovatively designed standard section pin disassembly and assembly control system of the present invention, no manual assistance is required, and the simultaneous installation and disassembly of four pins can be achieved, solving problems such as pin damage, worker fatigue, slow disassembly and assembly speed, low operation efficiency and low safety of working at heights.

[0170] (2) By adjusting the telescopic distance of the piston rods of the eight innovatively designed tensioning devices, a small-range displacement of the climbing frame is realized, and then the through holes of the (n + 1)-th standard section are aligned with the tenons of the n-th standard section, reducing the risk of traditional manual alignment.

[0171] (3) The innovatively designed automatic pin disassembly and assembly control method can greatly improve the efficiency of standard section pin disassembly and assembly, truly realize the automatic installation and disassembly of tower crane standard sections, and save a large amount of labor costs.

[0172] In addition, the present invention further provides a hoisting machine, wherein the hoisting machine includes the standard section pin disassembly and assembly control system described above. Since the hoisting machine adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated herein one by one.

[0173] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0174] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral body; it can be a mechanical connection, an electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0175] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0176] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A standard joint pin shaft disassembly and assembly control system, characterized in that: include: A first plugging and pulling device (100) is arranged on the climbing frame (600) and can push the pin shaft (500) to insert into the alignment pin hole (700) and push the pin shaft (500) out of the alignment pin hole (700); A positioning device (300) is arranged on the climbing frame (600) and can detect the positions of the first plugging and unplugging device (100) and the alignment pin hole (700); A tensioning device (400) is provided on the climbing frame (600) and can tighten or loosen the standard main chord (730) of the fixed standard section (710); The control device is configured to: Controlling the lifting cylinder (610) according to the detection result of the positioning device (300) so that the first plugging and pulling device (100) and the alignment pin hole (700) are at the same height; Controlling the tensioning device (400) to tighten against the standard main chord (730) of the fixed standard section (710) to straighten the disassembled standard section (720) on the climbing frame (600); The first plugging and pulling device (100) is controlled to push the pin shaft (500) to be inserted into the alignment pin hole (700) or to push the pin shaft (500) out of the alignment pin hole (700).

2. The standard joint pin disassembly and assembly control system according to claim 1, characterized in that: The first plugging and unplugging device (100) comprises a first pin control drive (110) and a first pin storage box (120) having a first pin storage cavity, wherein the first pin storage cavity can accommodate a plurality of pin shafts (500) to be stacked in sequence from bottom to top, and the first pin storage cavity is provided with a pin outlet channel at a position corresponding to the bottommost pin shaft (500), and the first pin control drive (110) can extend into the pin outlet channel to push the bottommost pin shaft (500) into the alignment pin hole (700) or push the pin shaft (500) in the alignment pin hole (700) out.

3. The standard joint pin assembly and disassembly control system according to claim 2, characterized in that: The first plugging and unplugging device (100) also includes a first rotary drive (130) and a rotary arm (140), wherein the first rotary drive (130) is arranged on the climbing frame (600) and is located at the first adjacent side (B) of the standard section introduction port (A), the first end of the rotary arm (140) is drivingly connected to the first rotary drive (130), and the second end of the rotary arm (140) is provided with the first control pin drive (110) and the first pin storage box (120), and the first rotary drive (130) can drive the second end of the rotary arm (140) to perform rotary switching between a zero position facing the first adjacent side (B) or a control pin position facing the standard section introduction port (A).

4. The standard joint pin assembly and disassembly control system according to claim 1, characterized in that: The standard section pin assembly and disassembly control system also includes three second plug-in devices (200) arranged on the climbing frame (600), the three second plug-in devices (200) are arranged in sequence on the second adjacent side (C), the opposite side (D) and the first adjacent side (B) of the standard section inlet (A), the first plug-in device (100) and the three second plug-in devices (200) are used to plug and unplug the pin (500) in sequence at the standard section inlet (A), the second adjacent side (C), the opposite side (D) and the first adjacent side (B).

5. The standard joint pin assembly and disassembly control system according to claim 4, characterized in that: The second plugging and unplugging device (200) comprises a second rotary drive (210), a rotary support (220), a second pin control drive (230) and a second pin storage box (240); the second rotary drive (210) is arranged on the climbing frame (600); the rotary support (220) is drivingly connected to the second rotary drive (210) and carries the second pin control drive (230) and the second pin storage box (240); the second rotary drive (210) can drive the rotary support (220) to rotate between a zero position and a pin control position; the second pin control drive (230) can push the pin shaft (500) in the second pin storage box (240) to insert into the alignment pin hole (700) at the pin control position and push the pin shaft (500) in the alignment pin hole (700) out through the second pin storage box (240).

6. The standard joint pin assembly and disassembly control system according to any one of claims 1 to 5, characterized in that: Each standard main chord (730) of the fixed standard section (710) is provided with the tensioning device (400) correspondingly, and the tensioning device (400) comprises a clamping drive (410) and a tensioning wheel (420) with a wheel mounting frame (421), wherein the wheel mounting frame (421) is hinged to the climbing frame (600), and the clamping drive (410) is arranged on the climbing frame (600) and is drivingly connected to the wheel mounting frame (421) so as to drive the wheel mounting frame (421) to drive the tensioning wheel (420) to approach or move away from the corresponding standard main chord (730).

7. The standard joint pin assembly and disassembly control system according to claim 6, characterized in that: Each standard main chord (730) of the fixed standard section (710) is correspondingly provided with two tensioning devices (400), and the two tensioning devices (400) are respectively arranged opposite to two standard straight webs connected to the standard main chord (730).

8. The standard joint pin assembly and disassembly control system according to claim 1, characterized in that: The positioning device (300) comprises a fixed mounting frame (310), a movable focusing frame (320) and a positioning camera (330); the fixed mounting frame (310) is arranged on the climbing frame (600); the movable focusing frame (320) can move towards or away from the standard section on the fixed mounting frame (310); the positioning camera (330) is arranged on the movable focusing frame (320) and is located on the side of the alignment pin hole (700) so as to simultaneously obtain a position recognition image of the first plugging and unplugging device (100) with a positioning mark (501) and a locking pin hole plate (740) arranged on one side of the alignment pin hole (700) from the side; And / or, the standard straight-web rod located below the alignment pin hole (700) is formed with a pin storage groove (711) for accommodating the pin shaft (500).

9. The standard joint pin assembly and disassembly control system according to any one of claims 1 to 8, characterized in that: The standard joint pin assembly and disassembly control system further comprises a hydraulic control circuit, wherein the hydraulic control circuit comprises a total oil inlet circuit (810), a total oil return circuit (820), a lifting control circuit (830) and a pin assembly and disassembly control circuit (900). The total oil inlet circuit (810) is supplied with oil by a hydraulic pump station (620) provided on the climbing frame (600). The total oil return circuit (820) is connected to a return oil tank. The lifting cylinder (610) is provided on the lifting control circuit (830). The shaft disassembly and assembly control oil circuit (900) is provided with a clamping drive (410) of the tensioning device (400) and a first control pin drive (110) of the first plug-in device (100); a main reversing valve (840) is connected between the main oil inlet circuit (810) and the main oil return circuit (820); a first working oil port and a second working oil port of the main reversing valve (840) are respectively connected to the jacking control oil circuit (830) and the pin shaft disassembly and assembly control oil circuit (900) in a one-to-one correspondence.

10. The standard joint pin assembly and disassembly control system according to claim 9, characterized in that: There are four pin shaft disassembly and assembly control oil circuits (900), and each drive on each pin shaft disassembly and assembly control oil circuit (900) corresponds to a standard main chord (730) acting on the same corner position.

11. A method for controlling the disassembly and assembly of a standard joint pin shaft, characterized in that: The standard joint pin assembly and disassembly control method is applied to the standard joint pin assembly and disassembly control system according to any one of claims 1 to 10, and comprises: Controlling the lifting cylinder (610) according to the detection result of the positioning device (300) so that the first plugging and pulling device (100) and the alignment pin hole (700) are at the same height; Controlling the tensioning device (400) to tighten against the standard main chord (730) of the fixed standard section (710) to straighten the disassembled standard section (720) on the climbing frame (600); The first plugging and pulling device (100) is controlled to push the pin shaft (500) to be inserted into the alignment pin hole (700) or to push the pin shaft (500) out of the alignment pin hole (700).

12. The method for controlling assembly and disassembly of a standard joint pin according to claim 11, characterized in that: The method of controlling the lifting cylinder (610) according to the detection result of the positioning device (300) so that the first plugging and pulling device (100) and the alignment pin hole (700) are at the same height comprises: Inputting a position recognition image captured by a positioning camera (330) of a positioning device (300) into a deep learning model to output a first position reference line of a locking pin hole plate (740) disposed on one side of the alignment pin hole (700) and a second position reference line of a positioning mark (501) disposed on the first plugging and unplugging device (100); When the first position reference line is parallel to the second position reference line, one of the position reference lines is translated to the vertical plane where the other position reference line is located, and the pixel distance value between the two position reference lines is calculated in the vertical plane; When the pixel distance value exceeds a set threshold, the lifting cylinder (610) is controlled according to the pixel distance value so that the first plugging and pulling device (100) and the alignment pin hole (700) are at the same height.

13. The method for controlling assembly and disassembly of a standard joint pin according to claim 11, characterized in that: The controlling the first plugging and pulling device (100) to push out the pin shaft (500) in the alignment pin hole (700) comprises: Controlling a first control pin drive (110) of a first plugging and unplugging device (100) to extend and detecting the extension displacement and working pressure; When the extension displacement of the first control pin drive (110) does not reach the set pin removal displacement and the working pressure is overpressure, the fourth proportional solenoid valve (951) corresponding to the first control pin drive (110) is controlled so that the extension displacement is adjusted according to the high-frequency triangular wave until the extension displacement reaches the set pin removal displacement and the working pressure is not overpressure.

14. A lifting machine, characterized in that: The lifting machinery includes a standard joint pin shaft disassembly and assembly control system according to any one of claims 1 to 10.

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