Remote control GIS equipment lifting machine and lifting method

Abstract

The invention discloses a remotely-controlled GIS equipment lifting machine and a lifting method, a mounting bracket is rotatably arranged on a lifting platform, symmetrical clamping devices are arranged on the two sides of the mounting bracket, and each clamping device comprises a clamping motor, an arc-shaped side plate, an arc-shaped rack arranged in the side plate and a lower pressing plate; the clamping motor can drive the arc-shaped rack to rotate and drive the pressing frame to press downwards through the lead screw mechanism so that the GIS pipeline can be sleeved and pressed tightly. According to the clamping device, the distance value is detected through the distance sensors before clamping, the two distance sensors are selected according to the measured effective distance value to judge the inclination angle of the pipeline in the GIS equipment, clamping is conducted after the angle of the mounting support is rotated, and during clamping, the clamping motor drives the two layers of stacked racks to be rotationally arranged on the pipeline of the GIS equipment in a sleeving mode; meanwhile, a clamping motor drives a lead screw mechanism to drive a pressing frame to press downwards so as to press the top of the GIS equipment pipeline, and therefore the GIS equipment pipeline part is fixed, and during fixing, a connecting arm makes contact with the pipeline to drive a hinge arm to move so as to drive a pressing arm to rotate and press the surface of the pipeline; and after a pressure sensor arranged at the side part of the pressing arm senses that the pressure value reaches a set threshold value, the clamping motor is stopped.

Description

Technical Field

[0001] The present invention relates to a hoisting device for GIS equipment, and particularly to a remotely controlled hoisting machine for GIS equipment and a hoisting method. Background Art

[0002] GIS equipment - gas insulated switchgear is a metal enclosed switchgear that uses all or part of gas instead of air at atmospheric pressure as the insulating medium. It has a support frame at the bottom, and devices such as a box body and pipelines are installed on the support frame.

[0003] A patent with the application number CN202410212343.8 of our company discloses a remotely controlled hoisting machine for GIS equipment and a hoisting method. A mounting bracket is rotatably provided on the lifting platform, and symmetric clamping devices are provided on both sides of the mounting bracket. The clamping device includes a clamping motor, an arc-shaped side plate, an arc-shaped rack disposed inside the side plate, and a pressing frame. The clamping motor can drive the arc-shaped rack to rotate and drive the pressing frame to press down through a lead screw mechanism, thereby sleeving and clamping the GIS pipeline.

[0004] Although the above patent solves the problem of pressing when clamping the pipeline, there are the following two disadvantages during automatic clamping: 1. It is relatively difficult to position during clamping, and it is impossible to determine where to lower for clamping and hoisting; 2. Although a pressing structure is provided to clamp the pipeline, it is impossible to determine when to stop pressing during pressing, and it is easy to have the situation of insufficient pressing or excessive pressing. Summary of the Invention

[0005] Based on the deficiencies of difficult positioning and uncontrollable pressing degree in the prior art, the present invention provides a remotely controlled hoisting machine for GIS equipment and a hoisting method.

[0006] The technical solution adopted by the present invention to solve the above technical problems is as follows: A remotely controlled hoisting machine for GIS equipment, defining the front-back direction as the Y-axis direction, the left-right direction as the X-axis direction, and the vertical direction as the Z-axis direction, includes a traveling crane that can move along the Y-axis direction. A moving platform that can move along the X-axis direction is provided on the traveling crane. A lifting platform that can move along the Z-axis direction is provided on the moving platform. A mounting bracket is rotatably provided on the lifting platform, and symmetric clamping devices are provided on both sides of the mounting bracket. The clamping device includes:

[0007] Clamping motors, there are two of them and they are symmetrically arranged on the mounting bracket. The output shafts of them are two sections sleeved in a rotating manner, and a set of bevel gears and two stacked driving gears are provided on the output shafts;

[0008] A rotating shaft, which is rotatably arranged on the mounting bracket. A bevel gear meshing with the bevel gear is provided at the top of the rotating shaft. An external thread is provided at the bottom of the rotating shaft and is threadedly connected with a lifting seat;

[0009] A lifting guide rod is arranged at the bottom of the mounting bracket and penetrates through the lifting seat.

[0010] A pressing frame is arranged on the lifting seat. It includes a first plate body and a second plate body that are detachably connected, and there is an installation gap between the first plate body and the second plate body.

[0011] A pressing sensing device includes two V-shaped clamping arms that are symmetrically arranged and rotatably arranged at the installation gap through a fixed shaft and a torsion spring, two articulated arms arranged at the inner ends of the two clamping arms, an arc-shaped connecting arm articulated at the ends of the two articulated arms to connect the two, and a pressure sensor arranged on the side of the clamping arm. Among them, the two clamping arms and the connecting arm are all located below the installation gap.

[0012] A clamping frame is fixed to the end of the mounting bracket. It includes two identical arc-shaped side plates. The two side plates are connected by two groups of connecting columns. The two groups of connecting columns are annularly arrayed and clamp two rotatable stacked racks - a first rack and a second rack. The first rack and the second rack are respectively engaged with two driving gears. One end of the first rack and the other end of the second rack extend outside the end of the side plate to form an extension part. The included angle between the two ends of the arc-shaped side plate and the center of the circle is greater than 180 degrees, so that there is still space for the pressing frame to press down after locking.

[0013] There are multiple distance sensors, which are arranged at equal intervals along the X-axis direction in the middle of the mounting bracket.

[0014] A controller has a wireless communication module for remotely controlling by matching with a control terminal. It is connected to the distance sensor, the pressure sensor, the clamping motor, the driving part of the lifting platform, the driving part of the moving platform, the driving part of the traveling crane, and the power supply.

[0015] Preferably, the tooth grooves of the first rack and the second rack are arranged in a staggered manner, so that the tooth grooves of the first rack are located at the side wall of the meshing teeth of the second rack. The teeth of the two driving gears are arranged in a staggered manner and are respectively engaged with the two racks. This structure can improve the stability of the racks and ensure the stability of the transmission.

[0016] Preferably, both groups of connecting columns are cylindrical structures and are rotatably connected to the two side plates. An arc-shaped rotating channel is formed between the two groups of connecting columns. The two stacked racks are located in the rotating channel and can rotate in the rotating channel.

[0017] Specifically, one of the two side plates is detachably connected to the mounting bracket, and a notch for installing the driving gear is provided at the top of this side plate. The gap between the two side plates is equal to the sum of the thicknesses of the first rack and the second rack.

[0018] Preferably, the mounting bracket and the lifting platform are rotatably connected by a rotary cylinder. The rotary cylinder has an initial position and an operating position, and it rotates a certain angle according to needs to adjust the clamping position.

[0019] Preferably, a shaft seat is provided on the mounting bracket. The output shaft of the clamping motor passes through the shaft seat and is supported by the shaft seat. Two bevel gears are provided on the output shaft of the clamping motor, and both bevel gears are engaged with the bevel gear.

[0020] Preferably, the traveling crane includes a traveling track provided on the ground, a traveling trolley provided on the traveling track, and a gantry provided on the traveling trolley. The moving platform is provided on the cross beam at the top of the gantry, and a first driving mechanism is provided between the moving platform and the cross beam.

[0021] Preferably, the first driving mechanism includes a plurality of slide rails provided on the cross beam, a sliding seat slidably provided on the slide rails, a driving rack provided on the cross beam, and a translation motor provided on the seat. A gear is provided on the output shaft of the translation motor and the gear is engaged with the driving rack. The lifting platform is provided on the sliding seat.

[0022] Preferably, a second driving mechanism is provided between the moving platform and the sliding seat. The second driving mechanism includes a lifting slide seat provided on the sliding seat, a lifting slide rail provided on the lifting platform and slidably cooperating with the lifting slide seat, a lifting driving motor provided on the sliding seat, and a lifting rack provided on the lifting platform. A gear engaged with the lifting rack is provided on the output shaft of the lifting driving motor.

[0023] The hoisting method uses the above-mentioned GIS equipment hoisting machine for hoisting, including the following steps:

[0024] S1. Locate the equipment position. Move the traveling crane at a constant speed and perform high-frequency distance detection through the distance sensors while moving. Set the effective distance value section. Select the data of two distance sensors that detect effective distance values within the effective distance value section for calculation. The times when the first distance sensor detects the first value and the last value are respectively recorded as T1 and T2, and the times when the second distance sensor detects the first value and the last value are respectively recorded as T3 and T4. The traveling speed of the traveling crane is v, the distance between the two distance sensors is L, and the width of the GIS equipment pipeline is W. Then the angle θ between the GIS equipment and the X-axis can be calculated by the formula θ = arctanθ((T3 - T1)v / L);

[0025] S2. Adjust the angle. Control the mounting bracket to rotate by θ angle, then retreat to the original position for the second walk, and stop when multiple distance sensors detect effective distance values with little difference;

[0026] S3. Grabbing and hoisting: First, lower the lifting platform by a preset height, then turn on the clamping motor to extend the rack of the clamping frame. At the same time, when the rotating shaft rotates, drive the lifting seat to descend, driving the pressing frame to descend, so that the connecting arm presses on the GIS pipeline. Then, drive the clamping arm to rotate through the connecting arm until the clamping arm abuts against the GIS pipeline and a preset pressure value is read from the pressure sensor. At this time, the clamping motor stops working. Then, raise the lifting platform, hoist the GIS device to a predetermined position and lower it;

[0027] In step S1, calculate using θ1 = arctanθ1((T4 - T2)v / L), and compare θ with θ1. When θ is approximately equal to θ1, the data is credible. If θ and θ1 are not equal, switch to the other two distance sensors for calculation;

[0028] Among them, the valid section of the distance value refers to the distance value detected from the middle position to the top position of the pipeline at the top of the GIS device. The connection line of this section of the distance value forms an arc-shaped structure, and other positions are the ground or the non-grabbable part of the GIS device.

[0029] Compared with the prior art, the advantages of the present invention are as follows: Before clamping, the present application detects the distance value through a distance sensor, and selects two distance sensors according to the measured valid distance value to judge the inclination angle of the pipeline in the GIS device. After the judgment, rotate the angle of the mounting bracket and then clamp. When clamping, the clamping motor drives the two-layer stacked racks to rotate and sleeved on the pipeline of the GIS device. At the same time, the clamping motor drives the lead screw mechanism to drive the pressing frame to press down, thereby pressing the top of the GIS device pipeline to complete the fixation of the pipeline part of the GIS device. When fixing, the connecting arm contacts the pipeline to drive the articulated arm to move, thereby driving the pressing arm to rotate and press on the pipeline surface. The pressure sensor arranged on the side of the pressing arm stops the clamping motor after sensing that the pressure value reaches the set threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described in detail below in conjunction with the drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are only drawn for the purpose of explaining the preferred embodiments and should not be regarded as a limitation on the scope of the present invention. In addition, unless otherwise specified, the drawings only schematically show the composition or structure of the described object and may include exaggerated displays, and the drawings are not necessarily drawn to scale.

[0031] Figure 1 is a perspective view of the present invention.

[0032] Figure 2 is a top view of the present invention.

[0033] Figure 3 is a side view of the present invention.

[0034] Figure 4 Is a perspective view of the clamping device.

[0035] Figure 5 Is a side view of the clamping device.

[0036] Figure 6 Is a front view of the clamping device.

[0037] Figure 7 Is a bottom view of the clamping device.

[0038] Figure 8 Is Figure 7 View A-A in

[0039] Figure 9 Is a perspective view of the clamping device (removing the outer side plates).

[0040] Figure 10 Is a perspective view of the clamping device.

[0041] Figure 11 Is the schematic diagram in Embodiment 2.

[0042] In the figure: 10, traveling crane; 101, crossbeam; 1011, driving rack; 1012, slide rail; 20, moving platform; 201, translation motor; 202, lifting drive motor; 30, lifting platform; 301, lifting rack; 40, mounting bracket; 50, clamping device; 500, output shaft; 501, clamping motor; 5011, 5012, bevel gears; 5013, driving gear; 502, rotating shaft; 5021, bevel gear; 503, clamping frame; 5032, side plate; 5033, first rack; 5034, second rack; 5035, connecting column; 50331, 50341, extension; 504, pressing frame; 5040, first plate body; 5041, second plate body; 5042, clamping arm; 5043, articulated arm; 5044, connecting arm; 5045, torsion spring; 505, lifting guide rod; 506, lifting seat. Detailed implementation manners

[0043] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are only descriptive and exemplary, and should not be construed as limiting the protection scope of the present invention.

[0044] Embodiment 1:

[0045] A remotely controlled GIS equipment crane, as Figure 1-10As shown in the figure, the front-back direction is defined as the Y-axis direction, the left-right direction is defined as the X-axis direction, and the vertical direction is defined as the Z-axis direction. It includes a traveling crane 10 that can move along the Y-axis direction. A moving platform 20 that can move along the X-axis direction is provided on the traveling crane 10. A lifting platform 30 that can move along the Z-axis direction is provided on the moving platform 20. An installation bracket 40 is rotatably provided on the lifting platform 30. Symmetrical clamping devices 50 are provided on both sides of the installation bracket 40. The clamping device 50 includes:

[0046] Clamping motors 501, two of which are symmetrically arranged on the installation bracket 40. The output shafts 500 thereof are two sections sleeved in a rotating manner, and a set of bevel gears 5011, 5012 and two stacked driving gears 5013 are provided on the output shaft 500. An angle sensor is provided at the output shaft 500 of the clamping motor 501 to detect the rotation angle of the clamping motor 501, and this angle sensor is connected to the controller;

[0047] A rotating shaft 502 is rotatably arranged on the installation bracket 40. Bevel gears 5021 meshing with the bevel gears 5011, 5012 are provided at the top thereof. External threads are provided at the bottom of the rotating shaft 502 and are threadedly connected with a lifting seat 506;

[0048] Lifting guide rods 505 are arranged at the bottom of the installation bracket 40 and penetrate through the lifting seat 506. Limiting structures are provided at the bottom of both the lifting guide rods 505 and the rotating shaft 502 to limit the lifting seat 506 and prevent the lifting seat 506 from descending excessively;

[0049] A pressing frame 504 is arranged on the lifting seat 506. It includes a first plate body 5040 and a second plate body 5041 that are detachably connected. An installation gap is provided between the first plate body 5040 and the second plate body 5041. The first plate body 5040 and the second plate body 5041 are connected by screws and nuts, and one of the screws is used for the abutment when the clamping arm 5042 is reset under the action of the torsion spring 5045;

[0050] A pressing sensing device, which includes two V-shaped clamping arms 5042 that are symmetrically and rotatably arranged at the installation gap through a fixed shaft and a torsion spring 5045, two articulated arms 5043 arranged at the inner ends of the two clamping arms 5042, an arc-shaped connecting arm 50445043 that is articulated at the ends of the two articulated arms 5043 to connect the two, and a pressure sensor arranged at the side of the clamping arm 5042. Among them, the two clamping arms 5042 and the connecting arm 50445043 are both located below the installation gap;

[0051] The clamping bracket 503 is fixed to the end of the mounting bracket 40. It includes two identical arc-shaped side plates 5032. The two side plates 5032 are connected by two groups of connecting columns 5035. The two groups of connecting columns 5035 are distributed in a circular array and clamp two rotatable stacked racks, namely the first rack 5033 and the second rack 5034. The first rack 5033 and the second rack 5034 are respectively engaged with two driving gears 5013. One end of the first rack 5033 and the other end of the second rack 5034 extend outside the end of the side plate 5032 to form extension parts 50331 and 50341. The included angle between the two ends of the arc-shaped side plate 5032 and the center of the circle is greater than 180 degrees, so that there is still space for the pressing frame 504 to press down after locking.

[0052] The distance sensors are multiple and are equidistantly arranged in the middle of the mounting bracket 40 along the X-axis direction.

[0053] The controller has a wireless communication module for remotely controlling by matching with the control terminal. The control terminal includes a computer terminal and a remote control terminal, and is connected to the distance sensors, pressure sensors, the clamping motor 501, the driving parts of the lifting platform 30, the driving parts of the moving platform 20, the driving parts of the traveling crane 10 and the power supply. In this solution, the clamping motor 501 drives the two stacked racks to rotate and sleeved on the pipeline of the GIS device. At the same time, the clamping motor 501 drives the lead screw mechanism to drive the pressing frame 504 to press down, so as to tightly press the top of the pipeline of the GIS device, thus completing the clamping of the pipeline part of the GIS device. Before clamping, the approximate position of the GIS pipeline can be obtained by translation and cooperation with the distance sensors, and then the clamping can be realized.

[0054] As Figure 9As shown in the figure, the tooth grooves of the first rack 5033 and the teeth of the second rack 5034 are arranged out of alignment, such that the tooth grooves of the first rack 5033 are located at the side walls of the meshing teeth of the second rack 5034. The teeth of the two drive gears 5013 are arranged out of alignment and are respectively meshed with the two racks 5033 and 5034. This structure can improve the stability of the racks and ensure the stability of the transmission. The two extension parts 50331 and 50341 are respectively located at the ends of the two racks 5033 and 5034. In this solution, before clamping, the distance sensor is used to detect the distance value, and two distance sensors are selected according to the measured effective distance value to judge the inclination angle of the pipeline in the GIS device. After the judgment, the mounting bracket 40 is rotated by an angle and then clamping is performed. When clamping, the clamping motor 501 drives the two-layer stacked racks to rotate and sleeved on the pipeline of the GIS device. At the same time, the clamping motor 501 drives the lead screw mechanism to drive the pressing frame 504 to press down, so as to press the top of the pipeline of the GIS device to complete the fixation of the pipeline part of the GIS device. When fixing, the connecting arm 5044 contacts the pipeline to drive the articulated arm 5043 to move, thereby driving the pressing arm 5042 to rotate and press on the surface of the pipeline. When the pressure sensor arranged on the side of the pressing arm 5042 senses that the pressure value reaches the set threshold, the clamping motor is stopped.

[0055] As Figure 4-10 shown, the two groups of connecting columns 5035 are both cylindrical structures and are rotatably connected to the two side plates 5032. An arc-shaped rotation channel is formed between the two groups of connecting columns 5035. The two-layer stacked racks are located in the rotation channel and can rotate in the rotation channel.

[0056] As Figure 6 and 8 shown, one of the two side plates 5032 is detachably connected to the mounting bracket 40, and a notch for installing the drive gear 5013 is provided at the top of this side plate 5032. The gap between the two side plates 5032 is equal to the sum of the thicknesses of the first rack 5033 and the second rack 5034.

[0057] As Figure 1 shown, the mounting bracket 40 is rotatably connected to the lifting platform 30 through a rotary cylinder. The rotary cylinder has an initial position and an operating position, and it rotates by a certain angle as required to adjust the clamping position. The rotation angle is determined according to θ.

[0058] As Figure 4 shown, a shaft seat is provided on the mounting bracket 40. The output shaft 500 of the clamping motor 501 passes through the shaft seat and is supported by the shaft seat. Tapered gears 5011 and 5012 are respectively provided on two sections of the output shaft 500 of the clamping motor 501. The two tapered gears 5011 and 5012 are both meshed with the bevel gear 5021.

[0059] As Figure 1As shown in the figure, the traveling crane 10 includes a traveling track provided on the ground, a traveling trolley provided on the traveling track, and a gantry provided on the traveling trolley. The moving platform 20 is provided on the cross beam 101 at the top of the gantry. A first driving mechanism is provided between the moving platform 20 and the cross beam 101.

[0060] As Figure 1 shown in the figure, the first driving mechanism includes a plurality of slide rails 1012 provided on the cross beam 101, a sliding seat slidably provided on the slide rails 1012, a driving rack 1011 provided on the cross beam 101, and a translation motor 201 provided on the seat. A gear is provided on the output shaft 500 of the translation motor 201 and this gear meshes with the driving rack 1011. The lifting platform 30 is provided on the sliding seat.

[0061] As Figure 1 shown in the figure, a second driving mechanism is provided between the moving platform 20 and the sliding seat. The second driving mechanism includes a lifting slide seat provided on the sliding seat, a lifting slide rail 1012 provided on the lifting platform 30 and slidably cooperating with the lifting slide seat, a lifting driving motor 202 provided on the sliding seat, and a lifting rack 301 provided on the lifting platform 30. A gear meshing with the lifting rack 301 is provided on the output shaft 500 of the lifting driving motor 202. Among them, the second driving mechanism can also be replaced with a structure of a winch and a lifting steel cable, and the lifting steel cable is connected to the lifting slide seat.

[0062] It should be noted that the traveling track, the traveling trolley, the return spring, the distance sensor, and the angle sensor are not shown in the drawings. Generally, three distance sensors are arranged side by side, and the distance between the two edge ones is less than the diameter of the GIS pipeline. When moving and positioning, three groups of data are measured and compared with the preset values to obtain the rough position.

[0063] Embodiment 2:

[0064] Hoisting method, as shown in the figure, use the above-mentioned GIS equipment hoisting machine for hoisting, including the following steps: S1. Locate the equipment position, move the traveling crane at a constant speed, while moving, detect the distance at a high frequency through the distance sensor, set the effective section of the distance value, select the data of two of the distance sensors that detect the effective distance value within the effective section of the distance value for calculation. The time when the first distance sensor detects the first value and the last value are respectively recorded as T1 and T2, the time when the second distance sensor detects the first value and the last value are respectively recorded as T3 and T4, the traveling speed of the traveling crane is v, the distance between the two distance sensors is L, and the width of the GIS equipment pipeline is W. Then the included angle θ between the GIS equipment and the X-axis can be calculated by the formula θ = arctanθ((T3 - T1)v / L);

[0065] S2. Adjust the angle, control the installation bracket to rotate by an angle of θ, then retract to the original position for the second walk, and stop when multiple distance sensors detect effective distance values that are not much different;

[0066] S3. Grasp and hoist. First, lower the lifting platform by a preset height, then turn on the clamping motor to extend the rack of the clamping frame. At the same time, when the rotating shaft rotates, drive the lifting seat to descend, driving the pressing frame to descend so that the connecting arm presses on the GIS pipeline. Then, drive the clamping arm to rotate through the connecting arm until the clamping arm abuts against the GIS pipeline and a preset pressure value is read from the pressure sensor. At this time, the clamping motor stops working. Then, raise the lifting platform and hoist the GIS device to the predetermined position and lower it;

[0067] In step S1, use θ1 = arctanθ1((T4 - T2)v / L) for calculation, and compare θ with θ1. When θ is approximately equal to θ1, the data is credible. If θ and θ1 are not equal, then switch to the other two distance sensors for calculation;

[0068] Among them, the effective section of the distance value refers to the distance value detected from the middle position to the top position of the pipeline at the top of the GIS device. The connection of the distance values in this section forms an arc-shaped structure, and other positions are the ground or the parts of the GIS device that cannot be clamped.

[0069] When this method is used in cooperation with the hoisting machine in Embodiment 1 for clamping, it can be carried out without the need for all data to be completely accurate, reducing the difficulty of hoisting and clamping, and greatly improving the hoisting efficiency.

[0070] The above introduces a remotely controlled GIS device hoisting machine and hoisting method provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the present invention and its core idea. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A remotely controlled GIS equipment crane, defining the front-back direction as the Y-axis direction, the left-right direction as the X-axis direction, and the vertical direction as the Z-axis direction, comprising a traveling crane that can move along the Y-axis direction, a moving platform that can move along the X-axis direction is provided on the traveling crane, and a lifting platform that can move along the Z-axis direction is provided on the moving platform, characterized in that, There is a mounting bracket rotatably arranged on the lifting platform, and symmetric clamping devices are arranged on both sides of the mounting bracket. The clamping device includes: Two clamping motors, which are symmetrically arranged on the mounting bracket. The output shafts of the two clamping motors are sleeved in a rotating manner in two sections, and a set of bevel gears and two stacked driving gears are arranged on the output shafts. A rotating shaft, which is rotatably arranged on the mounting bracket. A bevel gear meshing with the bevel gear is arranged at the top of the rotating shaft, and an external thread is arranged at the bottom of the rotating shaft and is threadedly connected with a lifting seat. A lifting guide rod, which is arranged at the bottom of the mounting bracket and penetrates through the lifting seat. A pressing frame, which is arranged on the lifting seat and includes a first plate body and a second plate body that are detachably connected. There is an installation gap between the first plate body and the second plate body. A pressing sensing device, which includes two V-shaped clamping arms symmetrically arranged and rotatably arranged at the installation gap through a fixed shaft and a torsion spring, two articulated arms arranged at the inner ends of the two clamping arms, an arc-shaped connecting arm articulated at the ends of the two articulated arms to connect the two, and a pressure sensor arranged on the side of the clamping arm. Among them, the two clamping arms and the connecting arm are all located below the installation gap. A clamping frame, which is fixed at the end of the mounting bracket and includes two identical arc-shaped side plates. The two side plates are connected by two groups of connecting columns. The two groups of connecting columns are annularly arrayed and clamp two rotatable stacked racks - a first rack and a second rack. The first rack and the second rack are respectively meshed with the two driving gears. One end of the first rack and the other end of the second rack extend outside the end of the side plate to form an extension part. The included angle between the two ends of the arc-shaped side plate and the center of the circle is greater than 180 degrees, so that there is still space for the pressing frame to press down after locking. Multiple distance sensors, which are arranged at equal intervals along the X-axis direction in the middle of the mounting bracket. A controller, which has a wireless communication module for remotely controlling by matching with a control terminal. It is connected to the distance sensor, the pressure sensor, the driving part of the clamping motor, the driving part of the lifting platform, the driving part of the moving platform, the driving part of the traveling crane and the power supply.

2. The remotely controlled GIS equipment crane according to claim 1, characterized in that, The tooth grooves of the first rack and the second rack are arranged in a staggered manner, so that the tooth grooves of the first rack are located at the side wall of the meshing teeth of the second rack. The teeth of the two driving gears are arranged in a staggered manner and are respectively meshed with the two racks.

3. The remotely controlled GIS equipment crane according to claim 1, characterized in that, Both groups of connecting columns are of a cylindrical structure and are rotatably connected to the two side plates. A circular arc-shaped rotating channel is formed between the two groups of connecting columns. The two stacked racks are located in the rotating channel and can rotate in the rotating channel.

4. A remotely controlled GIS equipment crane according to claim 1, characterized in that, One of the two side plates is detachably connected to the mounting bracket, and a notch for installing the driving gear is arranged at the top of this side plate. The gap between the two side plates is equal to the sum of the thicknesses of the first rack and the second rack.

5. A remotely controlled GIS equipment hoist according to claim 1, characterized in that, The mounting bracket and the lifting platform are rotatably connected through a rotating cylinder.

6. A remotely controlled GIS equipment crane according to claim 1, characterized in that, A shaft seat is arranged on the mounting bracket. The output shaft of the clamping motor passes through the shaft seat and is supported by the shaft seat. One bevel gear is arranged on each of the two sections of the output shaft of the clamping motor, and both bevel gears are meshed with the bevel gear.

7. A remotely controlled GIS equipment crane according to claim 1, characterized in that, The traveling crane includes a traveling track arranged on the ground, a traveling trolley arranged on the traveling track, and a gantry arranged on the traveling trolley. The moving platform is arranged on the cross beam at the top of the gantry, and a first driving mechanism is arranged between the moving platform and the cross beam.

8. A remotely controlled GIS equipment crane according to claim 7, characterized in that, The first driving mechanism includes a plurality of slide rails arranged on the cross beam, a sliding seat slidably arranged on the slide rails, a driving rack arranged on the cross beam, and a translation motor arranged on the seat. A gear is arranged on the output shaft of the translation motor and meshes with the driving rack. The lifting platform is arranged on the sliding seat.

9. A remotely controlled GIS equipment crane according to claim 8, characterized in that, A second driving mechanism is arranged on the moving platform and the sliding seat. The second driving mechanism includes a lifting slide seat arranged on the sliding seat, a lifting slide rail arranged on the lifting platform and slidably matched with the lifting slide seat, a lifting driving motor arranged on the sliding seat, and a lifting rack arranged on the lifting platform. A gear meshing with the lifting rack is arranged on the output shaft of the lifting driving motor.

10. The hoisting method according to claim 1, characterized in that, When hoisting the remotely controlled GIS equipment crane according to any one of claims 1-9, the following steps are included: S1. Locate the equipment position, move the crane at a constant speed, and perform high-frequency distance detection through a distance sensor while moving. Set the effective section of the distance value. Select the data of two distance sensors that detect effective distance values within the effective section of the distance value for calculation. The times when the first distance sensor detects the first value and the last value are respectively recorded as T1 and T2, and the times when the second distance sensor detects the first value and the last value are respectively recorded as T3 and T4. The traveling speed of the crane is v, the distance between the two distance sensors is L, and the width of the GIS equipment pipeline is W. Then the angle θ between the GIS equipment and the X-axis can be calculated by the formula θ = arctanθ((T3 - T1)v / L); S2. Adjust the angle, control the installation bracket to rotate by θ angle, then retreat to the original position for the second walk, and stop when multiple distance sensors detect effective distance values with little difference; S3. Grasp and hoist. First, lower the lifting platform by a preset height, then turn on the clamping motor to extend the rack of the clamping frame. At the same time, when the rotating shaft rotates, drive the lifting seat to descend, driving the pressing frame to descend so that the connecting arm presses on the GIS pipeline. Then drive the clamping arm to rotate through the connecting arm until the clamping arm abuts against the GIS pipeline and a preset pressure value is read from the pressure sensor. At this time, the clamping motor stops working. Then raise the lifting platform and hoist the GIS equipment to a predetermined position and lower it; In step S1, calculate using θ1 = arctanθ1((T4 - T2)v / L), and compare θ with θ1. When θ is approximately equal to θ1, the data is credible. If θ and θ1 are not equal, switch to another two distance sensors for calculation; Among them, the effective section of the distance value refers to the distance value from the middle position to the top position of the pipeline at the top of the GIS equipment detected. The connection line of this section of the distance value forms an arc-shaped structure, and other positions are the ground or the non-clampable part of the GIS equipment.

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