Limited space step type heavy load moving device and control method thereof

Abstract

The application discloses a limited space stepping heavy load moving device and a control method thereof, which is mainly used for moving heavy equipment in a narrow space, such as a generator experiment table bearing seat, and comprises a box, a servo reduction motor, a worm, an incomplete worm wheel, a hydraulic cylinder, a walking foot plate, a travel switch and other components. The device is installed on both sides of the equipment to be moved in pairs and is detachably connected with the equipment through the box. When working, the servo reduction motor drives the worm to rotate, drives the incomplete worm wheel to rotate forward and reversely, and coordinates the extension and retraction of the walking hydraulic cylinder and the action of the worm wheel to realize stepping movement; the transverse jacking hydraulic cylinder in the box can realize transverse position adjustment perpendicular to the stepping direction. The application has the advantages of simple structure, high integration, small size, adaptation to narrow space operation, less site reconstruction, efficient and safe completion of heavy load movement, and guarantee of production continuity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of step drive, in particular to a limited space step type heavy load moving device and a control method thereof. BACKGROUND

[0002] In the field of generator manufacturing, dynamic balance test is a key link to guarantee the quality of generator rotor, and its measurement results directly determine the balance quality of the rotor, which can effectively reduce the vibration amplitude of the rotor, improve the performance of the generator and prolong its service life. After the production and processing of the generator rotor are completed, the rotor needs to be transported to the overspeed laboratory on the trolley, and then hoisted to the test bench for dynamic balance test. The test objects include single rotor of the generator, slip ring shaft, exciter and related shafting, etc.

[0003] Due to the differences in the size specifications of the generator rotor, the positions of the bearing seats, power heads and other key components on the test bench must be adjusted before and during each installation to meet the precise requirements of the test installation. However, the bearing seats in the overspeed laboratory in the industry are placed in a narrow T-shaped groove workbench, and the position adjustment of the bearing seats and other components still uses the very original hydraulic jack operation method: the position change is realized by manually controlling the hydraulic jack to push or lift the components.

[0004] This method has significant defects: on the one hand, the operation of the hydraulic jack relies on manual judgment and force, which has low adjustment accuracy and low efficiency, and it is difficult to meet the rapid installation needs of different specifications of the rotor; on the other hand, heavy components are prone to tilt and fall during the jacking process of the jack, which poses a great safety hazard. At the same time, as a key link in enterprise production, the laboratory is not allowed to be shut down for a long time for large-scale modification, so there is an urgent need for a technical solution that can realize the efficient and safe movement of heavy loads in a narrow space with minimal impact on existing production and minimal modification on site. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide a limited space step type heavy load moving device and a control method thereof.

[0006] The technical solution adopted by the present application is as follows:

[0007] A limited space step type heavy load moving device, comprising a box body, a servo reduction motor, a worm, an incomplete worm gear, a walking hydraulic cylinder, a walking foot plate and a bearing seat; the device is arranged on both sides of the bearing seat in pairs and is detachably connected with the bearing seat through the box body; the servo reduction motor is installed in the box body, the worm is in transmission connection with the servo reduction motor, the incomplete worm gear is in meshing with the worm, the walking hydraulic cylinder is installed in the incomplete worm gear, and the walking foot plate is arranged at the end of the walking hydraulic cylinder; the device further comprises travel switches arranged on both sides of the box body for controlling the start and stop of the servo reduction motor.

[0008] Further, the incomplete worm gear includes a first worm gear and a second worm gear, and the first worm gear and the second worm gear are engaged with the worm gear; the walking hydraulic cylinder includes a first walking hydraulic cylinder corresponding to the first worm gear and a second walking hydraulic cylinder corresponding to the second worm gear.

[0009] Further, the travel switch includes a first travel switch and a second travel switch; the first travel switch is used to control the incomplete worm gear to stop when rotating clockwise to a preset position, and the second travel switch is used to control the incomplete worm gear to stop when rotating counterclockwise to the preset position.

[0010] Further, the box body is further provided with a transverse lifting hydraulic cylinder, and the transverse lifting hydraulic cylinder is used to drive the to-be-moved equipment to adjust the transverse position along the direction perpendicular to the step-by-step moving direction.

[0011] Further, the transverse lifting hydraulic cylinder includes a first transverse lifting hydraulic cylinder and a second transverse lifting hydraulic cylinder, and the first transverse lifting hydraulic cylinder and the second transverse lifting hydraulic cylinder are respectively arranged on the two sides of the incomplete worm gear.

[0012] Further, the worm gear is installed on the box body through the angular contact ball bearings arranged at the two ends, and the box body is provided with a positioning sleeve and a side end cover plate corresponding to the position of the worm gear.

[0013] Further, the box body includes a front box body and a rear box body, the front box body is used to connect the bearing seat and other components, the rear box body is detachably buckled on the front box body, and the front box body is provided with an end cover corresponding to the position of the worm gear.

[0014] Further, the worm gear is provided with a limiting protrusion, and the end cover is provided with an arc-shaped limiting groove corresponding to the position.

[0015] Further, a control method of a step-by-step heavy load moving equipment in a limited space includes the following steps:

[0016] S1: In the initial state, the walking footboard is in the retracted state, the first walking hydraulic cylinder and the second walking hydraulic cylinder are controlled to extend the piston rod, and the walking footboard is lowered to contact the workbench;

[0017] S2: The servo reducer motor is started to drive the worm gear to rotate, and then drive the first worm gear and the second worm gear to rotate counterclockwise, so that the walking hydraulic cylinder swings with the worm gear, and the bearing seat is lifted, moved forward and landed;

[0018] S3: When the bearing seat contacts the workbench, the second travel switch triggers a signal to control the servo reducer motor to stop rotating, and the single-step forward movement is completed;

[0019] S4: The first walking hydraulic cylinder and the second walking hydraulic cylinder are controlled to retract the piston rod, and the walking footboard is lifted to separate from the workbench;

[0020] S5: Control the servo deceleration motor to reverse rotation, drive the worm to rotate the first worm gear and the second worm gear clockwise until the first stroke switch triggers a signal, and the servo deceleration motor stops;

[0021] S6: Repeat steps S1-S5 to realize continuous step-by-step forward movement of the bearing seat.

[0022] Further, when the bearing seat is located in the concave workbench and the transverse position of the bearing seat needs to be adjusted along the direction perpendicular to the step-by-step movement direction, the first transverse lifting hydraulic cylinder and / or the second transverse lifting hydraulic cylinder in the control box extend the piston rod to push the bearing seat to move transversely to the preset position;

[0023] After the adjustment is completed, the first transverse lifting hydraulic cylinder and / or the second transverse lifting hydraulic cylinder retract the piston rod to complete the transverse position adjustment.

[0024] In summary, due to the adoption of the above technical scheme, the beneficial effects of the present application are:

[0025] First, it efficiently solves the problem of moving heavy load in a small space. The device has high integration, integrates core components such as servo deceleration motor, worm, incomplete worm gear, and hydraulic cylinder in the box, has small external dimensions, can adapt to small spaces such as generator overspeed laboratory, meets the movement needs of heavy components such as bearing seat, and overcomes the limitations of traditional equipment that cannot be operated in small spaces due to large size.

[0026] Second, it greatly improves the moving efficiency and safety. Compared with the traditional manual operation mode of hydraulic jack, the present application drives the worm and worm gear transmission through the servo deceleration motor, coordinates the extension and retraction of the walking hydraulic cylinder and the forward and reverse rotation of the worm gear to realize step-by-step movement, and the action is accurate and controllable, avoiding the inefficiency and safety hazards of manual operation. Single-step movement and continuous action are stable and reliable, effectively reducing the risk of component tilting and falling.

[0027] Third, it minimizes on-site modification and ensures production continuity. Only the connecting screw hole needs to be processed on the part to be moved (such as the bearing seat) during installation, without the need to modify other devices in the laboratory, significantly shortening the construction period, adapting to the production needs of enterprise laboratories that do not allow long-term shutdown, and reducing the impact on normal production.

[0028] Fourth, it has multiple functions and adapts to complex adjustment requirements. The device is installed on both sides of the bearing seat in pairs, can balance the load to ensure smooth movement, and is integrated with transverse lifting hydraulic cylinders to realize transverse position adjustment perpendicular to the step-by-step direction, without the need for additional equipment, simplifying the operation process, and improving the adaptability to different specifications of generator rotor experiments.

[0029] Fifth, the structural design is reliable, and maintenance is convenient. The incomplete worm gear and the worm are meshed to drive, the motor is started and stopped accurately by cooperation of the travel switch, the action logic is clear, the front and rear box bodies are detachable, the internal components are convenient to maintain and replace, the maintenance cost is reduced, and the service life of the equipment is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 The installation schematic of the present application Figure 1 ;

[0031] Figure 2 The installation schematic of the present application Figure 2 ;

[0032] Figure 3 The appearance structure schematic of the present application Figure 1 ;

[0033] Figure 4 The internal structure schematic diagram of the present application hiding the front box body;

[0034] Figure 5 The structure schematic diagram of the present application hiding the front box body and cutting the worm;

[0035] Figure 6 The initial state schematic diagram of the present application after installation;

[0036] Figure 7 The state schematic diagram of the present application after the hydraulic cylinder is stretched out after installation;

[0037] Figure 8 The state schematic diagram of the present application in the process of moving forward;

[0038] Figure 9 The state schematic diagram of the present application at the end of single-step movement.

[0039] Markings in the figure:

[0040] 1-servo reduction motor; 2-rear box body; 3-angular contact ball bearing; 4-worm; 5-first worm gear; 6-roller bearing; 7-positioning sleeve; 8-side end cover plate; 9-second worm gear; 10-transverse jacking hydraulic cylinder; 11-first transverse jacking hydraulic cylinder; 12-second travel switch; 13-second walking hydraulic cylinder; 14-walking foot plate; 15-first walking hydraulic cylinder; 16-first travel switch; 17-second transverse jacking hydraulic cylinder; 18-end cover; 19-front box body. DETAILED DESCRIPTION

[0041] The present application will be described in detail below with reference to the drawings.

[0042] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0043] Example one

[0044] In this embodiment, as shown in Figures 1-9 A limited space step type heavy load moving device includes a box, a servo reducer motor, a worm, an incomplete worm gear, a walking hydraulic cylinder, a walking foot plate and a bearing seat. The device is arranged in pairs on both sides of the bearing seat and is detachably connected with the bearing seat through the box. The servo reducer motor is installed on the box, the worm is in transmission connection with the servo reducer motor, the incomplete worm gear is in meshing with the worm, the walking hydraulic cylinder is installed on the incomplete worm gear, and the walking foot plate is arranged at the end of the walking hydraulic cylinder. The device further includes travel switches arranged on both sides of the box for controlling the start and stop of the servo reducer motor.

[0045] The box of the device includes a front box and a rear box (detachable buckling). The front box is detachably connected with the bearing seat through bolts, and the paired devices are respectively fixed on the left and right sides of the bearing seat in the forward direction. The servo reducer motor is fixed on the outside of the rear box, and the output shaft thereof is in transmission connection with one end of the worm through a shaft coupling. The worm horizontally penetrates through the inside of the box and is in meshing with the incomplete worm gear. The incomplete worm gear is installed on the positioning shaft in the box through a roller bearing. The walking hydraulic cylinder is fixedly installed on the incomplete worm gear. The piston rod end of the walking hydraulic cylinder is connected with the walking foot plate through bolts. The travel switches are respectively installed on the inner walls of both sides of the box and correspond to the rotation track of the incomplete worm gear.

[0046] The servo reducer motor drives the worm to rotate, and the worm drives the incomplete worm gear to rotate forward and backward. At the same time, the walking hydraulic cylinder drives the walking foot plate to contact or separate from the workbench. By coordinating the forward and backward rotation of the worm gear and the extension and retraction of the hydraulic cylinder (for example, the hydraulic cylinder extends to make the foot plate contact the workbench, the worm gear rotates to drive the bearing seat to move forward, and the hydraulic cylinder retracts to reset the foot plate), the step type movement of the bearing seat is realized.

[0047] The paired devices arranged on both sides of the bearing seat can balance the load and avoid the bearing seat from tilting due to unilateral force, thereby adapting to the heavy load moving requirement.

[0048] The detachable connection design (bolt connection) facilitates quick installation without modifying the site and reduces the impact on production.

[0049] The integrated structure (the motor, transmission member and execution member are integrated in the box) has small external dimensions and is suitable for narrow space operation.

[0050] The coordinated control of the travel switches and the motor and the hydraulic cylinder ensures that the moving action is orderly performed, thereby solving the problems of low efficiency and poor safety of the traditional hydraulic jack.

[0051] Further, the incomplete worm gear includes a first worm gear and a second worm gear, both of which are arranged in parallel and spaced apart below the worm gear and are engaged with the same worm gear (the worm gear is a double helix structure and is matched with the tooth surfaces of the two worm gears respectively); the first walking hydraulic cylinder is vertically fixed at an eccentric position of the first worm gear, and the second walking hydraulic cylinder is vertically fixed at an eccentric position of the second worm gear, both of which are of the same specification, and the walking foot plates at the end portions of the piston rods are of the same structure.

[0052] The incomplete worm gear includes a first worm gear and a second worm gear, both of which are arranged in parallel and spaced apart below the worm gear and are engaged with the same worm gear (the worm gear is a double helix structure and is matched with the tooth surfaces of the two worm gears respectively); the first walking hydraulic cylinder is vertically fixed at an eccentric position of the first worm gear, and the second walking hydraulic cylinder is vertically fixed at an eccentric position of the second worm gear, both of which are of the same specification, and the walking foot plates at the end portions of the piston rods are of the same structure.

[0053] When the servo reduction motor drives the worm gear to rotate, the first worm gear and the second worm gear rotate synchronously and reversely (or in the same direction, according to the rotation direction of the worm gear), driving the first and second walking hydraulic cylinders to swing synchronously. For example, when the worm gear rotates counterclockwise, the two hydraulic cylinders swing with the worm gear, and in the extended state of the piston rods, the support force of the walking foot plates on the workbench lifts and moves the bearing seat forward together.

[0054] The symmetrical arrangement of the double worm gears and the double walking hydraulic cylinders can evenly distribute the weight of the bearing seat, avoiding deformation of the equipment caused by excessive stress on a single cylinder.

[0055] Synchronous action ensures that the moving distances of the two sides of the bearing seat are consistent, preventing deviation or jamming during movement and improving the stability of movement.

[0056] The double-drive source design (two hydraulic cylinders working together) enhances the driving capacity for heavy loads and adapts to the movement needs of bearing seats of larger weights.

[0057] Further, the travel switches include a first travel switch and a second travel switch; the first travel switch is used to control the incomplete worm gear to stop when it rotates clockwise to a preset position, and the second travel switch is used to control the incomplete worm gear to stop when it rotates counterclockwise to a preset position.

[0058] The first travel switch and the second travel switch are contact-type mechanical switches, which are respectively fixed on the front inner wall (corresponding to the clockwise rotation end point of the worm gear) and the rear inner wall (corresponding to the counterclockwise rotation end point of the worm gear) of the box through brackets. The trigger rod of the first travel switch faces the side flange of the first worm gear, and the trigger rod of the second travel switch faces the side flange of the second worm gear.

[0059] When the servo reduction motor drives the worm gear to rotate counterclockwise to a preset angle (such as driving the bearing seat to complete a single-step forward movement), the side flange of the second worm gear contacts the trigger rod of the second travel switch, the switch sends an electrical signal to cut off the power supply of the servo reduction motor, and the motor stops rotating; when the motor drives the worm gear to rotate clockwise to reset, the side flange of the first worm gear contacts the trigger rod of the first travel switch, and the motor stops, completing the reset.

[0060] The mechanical trigger mechanism of the travel switch can accurately control the rotation angle of the worm gear, ensure the consistent distance of each step movement (such as 5-10 cm per step), and avoid human error;

[0061] Without complex sensor calibration, it is triggered by physical contact, suitable for laboratory environments with dust and vibration, and improves reliability;

[0062] Directly control the start and stop of the motor, reduce the response delay, ensure the continuity of the action, and improve the moving efficiency.

[0063] Further, the box is also provided with a transverse lifting hydraulic cylinder, which is used to drive the equipment to be moved to adjust the lateral position perpendicular to the step moving direction.

[0064] The transverse lifting hydraulic cylinder is horizontally installed on the front side of the box, and the cylinder body is fixed to the inner wall of the box through a flange. The end of the piston rod is provided with a wear-resistant top block (contacting the side surface of the T-shaped groove workbench). The axis of the transverse lifting hydraulic cylinder is perpendicular to the step moving direction of the bearing seat and located above the walking hydraulic cylinder, without interfering with the walking action.

[0065] When the lateral position of the bearing seat needs to be adjusted (such as along the groove width direction of the T-shaped groove workbench), the piston rod of the transverse lifting hydraulic cylinder is extended, and the T-shaped groove workbench is pushed by the top block, so that the bearing seat slides in the lateral direction; After adjusting to the target position, the piston rod is retracted, and the top block is separated from the T-shaped groove workbench.

[0066] The integrated lateral adjustment function in the box eliminates the need for additional lateral moving equipment, solves the problem of multiple lifting in traditional adjustment, and simplifies the operation process;

[0067] The pushing mode driven by the hydraulic cylinder has stable output force and can accurately control the adjustment distance, avoiding the deviation of the bearing seat due to uneven force;

[0068] Independent and cooperative with the step moving function, the same equipment realizes bidirectional adjustment, improves the utilization rate of the equipment, and reduces the investment cost of the equipment.

[0069] Further, the transverse lifting hydraulic cylinder includes a first transverse lifting hydraulic cylinder and a second transverse lifting hydraulic cylinder, and the first transverse lifting hydraulic cylinder and the second transverse lifting hydraulic cylinder are respectively arranged on the two sides of the incomplete worm gear.

[0070] The first transverse lifting hydraulic cylinder and the second transverse lifting hydraulic cylinder are respectively installed on the outer sides of the first worm gear and the second worm gear, one side is arranged with two, and the cylinder body is fixed to the inner wall of the front box, and the piston rod faces the two side surfaces of the T-shaped groove workbench.

[0071] If the bearing seat needs to move leftward, only the first and second lateral jacking hydraulic cylinders of the right equipment are extended to push the right side of the T-shaped groove workbench; if fine adjustment or friction needs to be overcome, the two hydraulic cylinders can be extended in a small range synchronously to balance the thrust.

[0072] The laterally arranged hydraulic cylinders on both sides can realize the left and right adjustment of the bearing seat through differential operation, and adapt to different installation and alignment requirements.

[0073] Corresponding to the position of the worm gear, the space on both sides of the worm gear is arranged, which does not occupy the space of the walking mechanism, and ensures the compactness of the equipment.

[0074] Further, the worm is installed in the box through the angular contact ball bearings arranged at both ends, and the box is provided with a positioning sleeve and a side end cover plate corresponding to the position of the worm.

[0075] The two ends of the worm pass through the inner rings of the angular contact ball bearings, and the outer rings of the bearings are fixed in the bearing seat holes of the box through interference fit; the middle part of the worm is sleeved with a positioning sleeve, and the ends of the sleeve are in contact with the end faces of the inner rings of the two bearings, limiting the axial movement of the worm; the side end cover plate is fixed to the side of the box through bolts, and the inner side is in contact with the end face of the bearing outer ring, realizing the axial fixation of the bearing.

[0076] When the servo reduction motor drives the worm to rotate, the angular contact ball bearings simultaneously bear the radial force (from the meshing reaction force of the worm gear) and the axial force (from the thrust of the motor output shaft) generated by the rotation of the worm, the positioning sleeve limits the axial movement of the worm through the inner rings of the two bearings at both ends, and the side end cover plate ensures the overall installation stability by fixing the bearing outer ring.

[0077] The bidirectional bearing capacity of the angular contact ball bearing solves the problem of axial movement of the worm during transmission due to axial force, ensuring the meshing accuracy;

[0078] The cooperation of the positioning sleeve and the side end cover plate realizes the precise positioning of the worm, reduces the vibration and noise in the transmission process, and improves the transmission efficiency;

[0079] The modular installation structure (bearing + sleeve + cover plate) is convenient for assembly and replacement of wearing parts, and reduces the maintenance cost.

[0080] Further, the box includes a front box and a rear box, the front box is used to connect the bearing seat and other components, and the rear box is detachably buckled to the front box, and the front box is provided with an end cover corresponding to the position of the worm gear.

[0081] The front box body is a frame structure, the top of which is provided with bolt holes connected with the bearing seat, and the inner side is provided with bosses and supports for installing the worm, worm gear and transverse jacking hydraulic cylinder; the rear box body is a cover structure, which is butted with the rear end face of the front box body through bolts, covering the exposed part of the servo reduction motor and the worm; the front end face of the front box body (corresponding to the position of the worm gear) is fixed with an end cover through bolts, and the inner side of the end cover leaves a gap with the end face of the worm gear.

[0082] During installation, the core components such as the worm and the worm gear are assembled in the front box body first, and then the rear box body is buckled and fixed; during maintenance, the internal transmission parts can be exposed by disassembling the rear box body bolts, without the need to disassemble the entire equipment; the end cover is fixed with the front box body and remains stationary when the worm gear rotates, forming a protection for the worm gear.

[0083] The detachable design of the front and rear box bodies greatly reduces the installation and maintenance difficulty of the internal components, and meets the production needs of the laboratory "not allowed to stop for a long time";

[0084] The front box body, as the core bearing structure, connects the bearing seat and the internal components, ensuring the stability of the force transmission path and improving the overall rigidity of the equipment;

[0085] The protective effect of the end cover on the worm gear can prevent laboratory dust and oil stains from entering the meshing surface of the worm gear, reduce wear and tear, and prolong the service life.

[0086] Further, the worm gear is provided with a limiting protrusion, and the end cover is provided with an arc limiting groove at the corresponding position.

[0087] The side edge of the worm gear is integrally formed with a limiting protrusion, and the inner side of the end cover is provided with an arc limiting groove at the corresponding position, the protrusion is embedded in the groove and leaves a gap with the groove wall. The arc of the arc limiting groove corresponds to the maximum rotation angle (such as 90°) of the worm gear, when the worm gear rotates, the protrusion slides along the groove until it stops when it contacts the two end walls of the groove.

[0088] When the worm gear rotates counterclockwise, the limiting protrusion moves with the worm gear to one end of the arc limiting groove, when the protrusion contacts the groove wall, the worm gear cannot continue to rotate, at this time, the second travel switch (corresponding to the limiting position of the groove wall) is triggered; similarly, when rotating clockwise, the protrusion contacts the other end wall of the groove, triggering the first travel switch.

[0089] The mechanical limiting cooperation of the protrusion and the limiting groove serves as a double protection for the travel switch, even if the switch fails, the worm gear can still be blocked by the groove wall to prevent excessive rotation, avoiding the collision and damage of the components caused by the excessive swing angle of the hydraulic cylinder;

[0090] The arc design of the arc groove matches the required rotation angle of the worm gear, ensuring that the worm gear only operates within the effective working range, improving the safety of the equipment;

[0091] The integrated protrusion structure does not require additional limiting parts, simplifying the design of the worm gear and reducing the manufacturing cost.

[0092] Further, a control method of a limited space step-by-step heavy load moving device, comprising the following steps:

[0093] S1: In the initial state, the walking foot plate is retracted (to avoid interference with the workbench), and the walking hydraulic cylinder is controlled to extend → the piston rod drives the walking foot plate to descend to contact the T-shaped groove workbench (to establish a support point and provide a reaction force for subsequent movement of the bearing seat);

[0094] S2: Start the servo reducer motor → rotate the worm → drive the worm gear to rotate counterclockwise → the walking hydraulic cylinder swings with the worm gear (because the foot plate is in contact with the workbench, the swing generates an upward component force to lift the bearing seat, and then generates a forward component force to move forward);

[0095] S3: The bearing seat moves forward and then lands on the workbench → the worm gear rotates to the preset position, triggering the second travel switch → the motor stops (completes single-step movement and ensures consistent movement distance each time);

[0096] S4: The walking hydraulic cylinder is retracted → the foot plate is lifted and separated from the workbench (to remove the support and create space for worm gear reset);

[0097] S5: Reverse rotation of the motor → clockwise rotation of the worm gear for reset → triggering of the first travel switch → stopping of the motor (returning to the initial posture to prepare for the next step);

[0098] S6: Repeat S1-S5 to achieve continuous step-by-step movement (to adapt to long-distance movement requirements in limited space).

[0099] Step-by-step movement is achieved through a cycle of "lifting - moving forward - landing", avoiding the space occupation of traditional trolley movement and adapting to limited space;

[0100] The action logic of each step is coherent (such as establishing support before moving), ensuring stable movement and solving the problem of "difficult movement after lifting" of hydraulic jacks;

[0101] The coordinated control of the motor and the hydraulic cylinder replaces manual operation, improves movement efficiency (single-step movement time can be controlled within 30 seconds), and reduces safety hazards.

[0102] Further, when the bearing seat is located in the concave workbench and needs to adjust the lateral position of the bearing seat perpendicular to the step-by-step movement direction, the first lateral lifting hydraulic cylinder and / or the second lateral lifting hydraulic cylinder in the control box are controlled to extend the piston rod to push the bearing seat laterally to the preset position;

[0103] After adjustment, the first lateral lifting hydraulic cylinder and / or the second lateral lifting hydraulic cylinder are controlled to retract the piston rod to complete lateral position adjustment.

[0104] When the bearing seat is located in a concave workbench (such as a T-shaped groove workbench) and needs to be adjusted horizontally:

[0105] Control the extension of the unilateral horizontal lifting hydraulic cylinder (such as the left equipment horizontal lifting hydraulic cylinder) → the piston rod pushes the side of the bearing seat → the bearing seat slides horizontally (because the surface of the workbench is smooth, the friction is small);

[0106] After the adjustment is completed, the horizontal lifting hydraulic cylinder is retracted (to avoid affecting the subsequent step-by-step movement).

[0107] The thrust of the horizontal hydraulic cylinder directly drives the bearing seat, without the need for hoisting equipment assistance, and is suitable for horizontal positioning requirements in narrow spaces;

[0108] The flexibility of unilateral or bilateral action can adapt to different adjustment ranges (such as any adjustment within a range of ±5cm), and meet the high-precision requirements of the experimental bench installation;

[0109] After adjustment, the hydraulic cylinder is retracted, which does not interfere with the step-by-step movement mechanism, ensures the independence and cooperation of the equipment function, and improves the operation convenience.

[0110] The above only describes the preferred embodiments of the invention and is not intended to limit the invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the invention shall be included in the protection scope of the invention.

Claims

1. A limited space step-by-step heavy load moving apparatus characterized by, The device comprises a box, a servo deceleration motor, a worm, an incomplete worm wheel, walking hydraulic cylinders and walking foot plates; the walking hydraulic cylinders comprise first and second walking hydraulic cylinders, the device is arranged in pairs on both sides of a bearing seat and is detachably connected with the bearing seat via the box; the servo deceleration motor is mounted on the box, the worm is in transmission connection with the servo deceleration motor, the incomplete worm wheel is in engagement with the worm, the first and second walking hydraulic cylinders are mounted on the incomplete worm wheel, and the walking foot plates are arranged at the ends of the first and second walking hydraulic cylinders; further comprising travel switches arranged on both sides of the box and used for controlling the start and stop of the servo deceleration motor; The incomplete worm wheel comprises first and second worm wheels arranged in parallel and spaced apart below the worm and engaged with the same worm, the first worm wheel is vertically fixed with the first walking hydraulic cylinder at an eccentric position, the second worm wheel is vertically fixed with the second walking hydraulic cylinder at an eccentric position, and when the servo deceleration motor drives the worm to rotate, the first and second worm wheels rotate synchronously in opposite directions or in the same direction, thereby driving the first and second walking hydraulic cylinders to swing synchronously.

2. A confined space step-by-step heavy load moving apparatus according to claim 1, characterized in that, The travel switches comprise first and second travel switches; the first travel switch is used for controlling the stop of the incomplete worm wheel when the incomplete worm wheel rotates clockwise to a preset position, and the second travel switch is used for controlling the stop of the incomplete worm wheel when the incomplete worm wheel rotates counterclockwise to a preset position.

3. A confined space step-by-step heavy load moving apparatus according to claim 1, wherein The box is further provided with transverse jacking hydraulic cylinders, and the transverse jacking hydraulic cylinders are used for driving the device to be moved to adjust the lateral position in a direction perpendicular to the step-by-step moving direction.

4. A confined space step-by-step heavy load moving apparatus according to claim 3, wherein The transverse jacking hydraulic cylinders comprise first and second transverse jacking hydraulic cylinders, and the first and second transverse jacking hydraulic cylinders are arranged on both sides of the incomplete worm wheel, respectively.

5. A confined space step-by-step heavy load moving apparatus according to claim 1, wherein The worm is mounted on the box via angular contact ball bearings arranged at both ends, and the box is provided with a positioning sleeve and a side end cover plate corresponding to the position of the worm.

6. A confined space step-by-step heavy load moving apparatus according to claim 1, wherein The box comprises a front box and a rear box, the front box is used for connecting the bearing seat and other components, the rear box is detachably buckled on the front box, and the front box is provided with an end cover corresponding to the position of the incomplete worm wheel.

7. A confined space step-by-step heavy load moving apparatus according to claim 6, wherein The incomplete worm wheel is provided with a limiting protrusion, and the end cover is provided with an arc-shaped limiting groove corresponding to the position.

8. A control method of a limited space stepping heavy load moving apparatus, applied to the limited space stepping heavy load moving apparatus as claimed in claim 2, characterized in that, The device comprises the following steps: S1: In the initial state, the walking foot plates are in a retracted state, the first and second walking hydraulic cylinders are controlled to extend the piston rods, and the walking foot plates are lowered to contact the workbench; S2: The servo deceleration motor is started to drive the worm to rotate, thereby driving the first and second worm wheels to rotate counterclockwise, so that the first and second walking hydraulic cylinders swing with the worm, thereby lifting, moving forward and landing the bearing seat; S3: When the bearing seat contacts the workbench, the second travel switch triggers a signal to control the servo deceleration motor to stop rotating, thereby completing single-step forward movement; S4: The first and second walking hydraulic cylinders are controlled to retract the piston rods, thereby driving the walking foot plates to rise and separate from the workbench. S5: control the servo deceleration motor to reverse rotation, drive the worm to drive the first worm gear and the second worm gear to rotate clockwise until the first stroke switch triggers a signal, and the servo deceleration motor stops; S6: repeat steps S1-S5 to realize continuous step-by-step forward movement of the bearing seat.

9. The control method of a limited space step type heavy load moving apparatus according to claim 8, wherein When the bearing seat is located in the concave workbench, and the transverse position of the bearing seat needs to be adjusted along the direction perpendicular to the step-by-step movement direction, the piston rod of the first transverse lifting hydraulic cylinder and / or the second transverse lifting hydraulic cylinder in the control box is extended to push the bearing seat to move transversely to a preset position; After the adjustment is completed, the piston rod of the first transverse lifting hydraulic cylinder and / or the second transverse lifting hydraulic cylinder is retracted to complete the transverse position adjustment.

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