Multi-degree-of-freedom heavy-load synchronous object moving machine

Abstract

A multi-degree-of-freedom heavy-load synchronous object moving machine comprises at least two sets of synchronous walking devices, and the two sets of synchronous walking devices can move alternately. The synchronous walking device comprises a sliding assembly, a jacking assembly and a rotating servo mechanism, the jacking assembly is arranged on the upper portion of the sliding assembly, and the rotating servo mechanism is arranged on the rear portion of the jacking assembly; based on the concept of double groups of walkers, two groups of servo rotating mechanisms consisting of servo motors and gear assemblies are respectively arranged below jacking hydraulic cylinder assemblies of a first group of synchronous walkers and a second group of synchronous walkers. Various translation, arc-shaped even in-situ rotary motion and the like on a plane can be realized, an independent pushing hydraulic cylinder is prevented from being used, and the pushing position is continuously adjusted; or a movement guide rail is prefabricated, and only a specific angle can be rotated. Therefore, the movement of the walking device is very flexible, the movement process is safe and reliable, and the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ancient building repair, and particularly relates to a multi-degree-of-freedom heavy-load synchronous object moving machine. BACKGROUND

[0002] In modern society, large object moving projects such as ancient building repair are increasing. According to the traditional way, the building should be first disassembled, transported in pieces and blocks, and then spliced and assembled. This process is extremely complicated, not only a large amount of manpower and material resources are needed to divide, number and protect each block, but also the structure and appearance of the original building are damaged.

[0003] Using the modern synchronous object moving concept, the mainstream pushing method in the industry is to use several synchronous pushing mechanisms to push the concrete base disc to slide on the bearing disc of the synchronous jacking mechanism. After moving a certain distance, the synchronous jacking mechanism behind needs to be manually moved to the forward direction and jacked up again. In this way, the object moving can be realized by continuously circulating.

[0004] However, frequent movement of the jacking mechanism will consume a lot of manpower, and friction movement will also damage the reliability of the bearing disc on the mechanism, which needs to be frequently replaced as consumables. SUMMARY

[0005] In order to solve the above problems, the concept of human upright walking and alternating leg force is imitated. The application provides a multi-degree-of-freedom heavy-load synchronous object moving machine. The actuator of the machine is two groups of synchronous walkers, which include three functions of pushing, jacking and rotating, i.e. three degrees of freedom. It can realize the vertical lifting motion, the displacement range is 0-500mm, the horizontal forward and backward motion, the displacement range is 0-300mm, and the horizontal rotation motion, the rotation angle range is ±360°. When it exceeds 360°, the inlet and outlet oil pipes of the hydraulic cylinder may need to be reconnected. But this application scenario is relatively rare.

[0006] The technical scheme adopted by the application is as follows: the application provides a multi-degree-of-freedom heavy-load synchronous object moving machine, which includes at least two groups of synchronous walkers, and the two groups of synchronous walkers can move alternately.

[0007] The synchronous walker includes a sliding assembly, a jacking assembly and a rotating servo mechanism, the jacking assembly is arranged on the upper part of the sliding assembly, and the rotating servo mechanism is arranged on the rear part of the jacking assembly.

[0008] Further, the sliding assembly includes an assembly slide plate, a sliding track and a limiting module, one group of sliding tracks is arranged on the two sides of the assembly slide plate, and one group of limiting modules is arranged on the upper part of each group of sliding tracks.

[0009] Further, the limiting module is L-shaped, and the shorter edge of the limiting module is fixed on the sliding track, and the longer edge of the limiting module forms a gap with the assembly slide plate.

[0010] Further, the sliding assembly further comprises two groups of pushing hydraulic cylinders, and the tail of the assembly slide plate is provided with the two groups of pushing hydraulic cylinders.

[0011] Further, the jacking assembly comprises a slide plate, a jacking hydraulic cylinder and a lifting plate, the slide plate is arranged in the gap between the longer edge of the limiting module and the assembly slide plate, the jacking hydraulic cylinder is arranged at the middle part of the slide plate, and the lifting plate is arranged at the upper part of the jacking hydraulic cylinder.

[0012] Further, the tail of each group of the two groups of pushing hydraulic cylinders is movably connected to the assembly slide plate, and the front part of each group of the two groups of pushing hydraulic cylinders is movably connected to the slide plate.

[0013] Further, the rotating servo mechanism comprises a servo motor, a transmission gear and a driven gear, the servo motor is arranged at the tail end of the slide plate, the lower part of the servo motor is fixedly connected with the transmission gear, and the driven gear and the transmission gear are movably connected through the meshing of the gears.

[0014] Further, the driven gear is fixedly connected to the upper part of the slide plate.

[0015] The beneficial effects achieved by the above structure are as follows:

[0016] (1) Based on the concept of double groups of walkers, two groups of servo rotating mechanisms composed of servo motors and gear assemblies are respectively arranged below the jacking hydraulic cylinder assembly of the first group of synchronous walkers and the second group of synchronous walkers. Various translation, arc-shaped or even in-place rotation movements on the plane can be realized, which is called "universal movement". This innovation avoids the use of separate pushing hydraulic cylinders and the constant adjustment of the pushing position, or the traditional method of prefabricated movement guide rails that can only rotate through specific angles. The movement of the walkers becomes very flexible, the movement process is safe and reliable, and the work efficiency is greatly improved.

[0017] (2) The synchronous walker is innovatively designed with a slide plate and a rotating servo mechanism. The jacking hydraulic cylinder and the pushing hydraulic cylinder can exist on the same mechanism at the same time. While jacking, the pushing walking is realized. In addition, the added knob servo mechanism can realize walking and rotating at the same time. The two innovations avoid the traditional method of constantly changing the position of the pushing hydraulic cylinder. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The perspective view of the synchronous walker for the embodiment of the present application is shown in the drawings.

[0019] Figure 2 Front view of the synchronous walking device according to an embodiment of the present application;

[0020] Figure 3 For Figure 2 Sectional view along the tangent A-A;

[0021] Figure 4 Schematic diagram of the internal structure of the synchronous walking device according to an embodiment of the present application;

[0022] Figure 5 Schematic diagram of the first four steps of the alternate walking of the synchronous walking device according to an embodiment of the present application;

[0023] Figure 6 Schematic diagram of the last four steps of the alternate walking of the synchronous walking device according to an embodiment of the present application;

[0024] Figure 7 Schematic diagram of the movement trajectory of the synchronous walking device according to an embodiment of the present application;

[0025] Figure 8 Circuit diagram of the hydraulic drive system in the synchronous walking device according to an embodiment of the present application;

[0026] Figure 9 Circuit diagram of the centralized and distributed control system in the synchronous walking device according to an embodiment of the present application.

[0027] 1, sliding assembly, 2, jacking assembly, 3, rotary servo mechanism, 4, building base, 5, bottom surface;

[0028] 101, total sliding plate, 102, sliding track, 103, limiting module, 104, jacking hydraulic cylinder;

[0029] 201, sliding plate, 202, jacking hydraulic cylinder, 203, lifting plate;

[0030] 301, servo motor, 302, transmission gear, 303, driven gear;

[0031] A, first group of synchronous walking devices, B, second group of synchronous walking devices, C, movement trajectory of the synchronous walking device.

[0032] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation of the present application. DETAILED DESCRIPTION

[0033] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments; based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0034] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0035] As shown in Figures 1 to 9 The present application provides a multi-degree-of-freedom heavy load synchronous moving machine, which comprises at least two groups of synchronous walking devices, and the two groups of synchronous walking devices can perform alternating motion.

[0036] The synchronous walking device comprises a sliding assembly 1, a jacking assembly 2 and a rotary servo mechanism 3, the jacking assembly 2 is arranged at the upper part of the sliding assembly 1, and the rotary servo mechanism 3 is arranged at the rear part of the jacking assembly 2.

[0037] The sliding assembly 1 comprises an assembly slide plate 101, a sliding track 102 and a limiting module 103, one group of sliding tracks 102 is arranged on each side of the assembly slide plate 101, and one group of limiting modules 103 is arranged at the upper part of each group of sliding tracks 102.

[0038] The limiting module 103 is in the shape of L, the shorter edge of the limiting module 103 is fixed on the sliding track 102, and a gap is formed between the longer edge of the limiting module 103 and the assembly slide plate 101.

[0039] Further, the sliding assembly 1 further comprises a pushing hydraulic cylinder 104, and the tail part of the assembly slide plate 101 is provided with two groups of pushing hydraulic cylinders 104.

[0040] The jacking assembly 2 comprises a slide plate 201, a jacking hydraulic cylinder 202 and a lifting plate 203, the slide plate 201 is arranged in the gap formed between the longer edge of the limiting module 103 and the assembly slide plate 101, the jacking hydraulic cylinder 202 is arranged at the middle part of the slide plate 201, and the lifting plate 203 is arranged at the upper part of the jacking hydraulic cylinder 202.

[0041] Further, the tail of the two groups of said pushing hydraulic cylinders 104 is movably connected to the assembly slide plate 101, and the front of the two groups of said pushing hydraulic cylinders 104 is movably connected to the slide plate 201.

[0042] The said rotating servo mechanism 3 comprises a servo motor 301, a transmission gear 302 and a driven gear 303, the servo motor 301 is arranged at the end of the slide plate 201, the lower part of the servo motor 301 is fixedly connected with the transmission gear 302, and the driven gear 303 and the transmission gear 302 are movably connected through the meshing of the gears.

[0043] Further, the driven gear 303 is fixedly connected to the upper part of the slide plate 201.

[0044] As shown in Figure 2 , Figure 3 and Figure 4 , in the embodiment, the lifting assembly 1 in the synchronous walker carries a displacement sensor itself, which is used for lifting the heavy object, and the sliding assembly 1 carries a displacement sensor itself, which is used for pushing the slide plate 201 of the lifting assembly 1 to realize forward and backward movement. The rotating servo mechanism 3 is a rotating adjuster assembly composed of a servo motor 301, a transmission gear 302 and a driven gear 303, which is used for realizing rotating movement of the slide plate 201 of the lifting assembly 1.

[0045] The synchronous walker is innovatively designed with a slide plate 201 and a rotating servo mechanism 3, so that the lifting hydraulic cylinder 202 and the pushing hydraulic cylinder 104 can exist on the same mechanism at the same time. While lifting, the pushing and walking are realized. In addition, the added knob servo mechanism 3 can realize walking and rotating at the same time. The two innovations avoid the traditional method of constantly changing the position of the pushing hydraulic cylinder 104.

[0046] The movement process of the multiple groups of synchronous walkers is shown in Figure 5 and Figure 6 . A support point uses the first group of synchronous walkers A and the second group of synchronous walkers B. The walking process is as follows:

[0047] All the second group of synchronous walkers B are synchronously lifted to support the entire carried object;

[0048] All the second group of synchronous walkers B are synchronously pushed through the slide plate 201, at this time, the carried object moves forward;

[0049] All the first group of synchronous walkers A are synchronously lifted to replace the load of all the second group of synchronous walkers B by about 50%;

[0050] All the second group of synchronous walkers B are vertically retracted (or lifted), releasing all the load to the first group of synchronous walkers A;

[0051] All second-group synchronous walkers B retract horizontally (or are called retracted) to prepare for the next walk;

[0052] All the first group of synchronous walking machines A achieve synchronous pushing through the sliding plate 201, at which time the load moves forward.

[0053] All the second group of synchronous walkers B are lifted synchronously, and the first group of synchronous walkers A are rotated with approximately 50% load.

[0054] All of the first group of synchronous walkers A retract vertically (or lift up), releasing all the load to the second group of synchronous walkers B, and so on in a continuous cycle.

[0055] like Figure 8 As shown, in this embodiment, to achieve the alternating movement of the two sets of synchronous walking devices, a hydraulic drive system is constructed. The rated working pressure of this system is 70 MPa. Based on the rodless chamber diameter Φ186 mm of the lifting hydraulic cylinder and the rodless chamber diameter Φ106 mm of the pushing hydraulic cylinder 104, the rated lifting load of this walking device is 194 tons and the rated pushing load is 61 tons. However, for safety reasons, the commonly used load range should be 0-50%.

[0056] The hydraulic pump is directly driven by a dedicated servo motor, and the maximum working pressure of the system is limited by an overflow valve. A switching valve is designed at the pump outlet for loading and unloading, as well as switching the oil supply to the first group of synchronous walkers A and the second group of synchronous walkers B. It also has an unloading function in the middle, saving unnecessary overflow capacity loss when movement is not required.

[0057] When pushing or moving is required, the working group switching valve 9S or 10S is energized, and the system pressure begins to build up. Then, the 1S to 4S or 5S to 8S solenoid valves are used to drive the pushing and lifting actions of the first group of synchronous walkers A and the second group of synchronous walkers B, respectively.

[0058] The flow rate of hydraulic fluid entering and exiting the hydraulic cylinder determines the cylinder's movement speed, which is also the execution speed of the synchronous travel device. Normally, a proportional valve is used for stepless adjustment. To save on expensive proportional valves, this paper uses a dedicated servo motor to replace the ordinary three-phase asynchronous motor of the hydraulic pump. Stepless speed regulation of the dedicated servo motor achieves stepless adjustment of the hydraulic pump's output flow rate. At this time, all solenoid valves can be fully open or fully closed. The system flow rate is entirely determined by the speed of the dedicated servo motor. However, since hydraulic pumps are typically piston pumps, their minimum speed is approximately 500 rpm, and their maximum speed is approximately 1500–1900 rpm. Therefore, when using a servo motor, the minimum and maximum speeds should be limited to prevent damage to the hydraulic pump's durability.

[0059] Based on the concept of double group walking device, two groups of servo rotating mechanism 3 composed of servo motor 301 and gear assembly are installed below the jacking hydraulic cylinder assembly of the first group of synchronous walking device A and the second group of synchronous walking device B respectively. Various translation, arc or even in-place rotation motion on the plane can be realized, which is called "universal motion". This innovation avoids the use of separate jacking hydraulic cylinder 104 and constant adjustment of jacking position, or the traditional method of pre-made motion guide rail which can only turn through a specific angle. The movement of the walking device becomes very flexible, the movement process is safe and reliable, and the work efficiency is greatly improved.

[0060] As shown in Figure 7 , in this embodiment, taking 4-point synchronous walking device as an example, when the moving direction of the object needs to be turned 90°, the first group of synchronous walking device A and the second group of synchronous walking device B at each point are rotated 90° under the drive of the servo rotating mechanism after being lifted (such as the state of the first group of synchronous walking device A in the first step of Figure 5 and the state of the second group of synchronous walking device B in the third to fourth steps of Figure 5 ), and then continue to move forward, the moving direction of the whole object changes to be perpendicular to the original moving direction. Similarly, if the servo rotates 45° or -45°, the moving direction changes to be inclined to the original moving direction. In this way, the free translation of the object in each direction on the plane can be realized.

[0061] As shown in Figure 7 , in this embodiment, when the object needs to turn in an arc curve, a certain place should be selected as the center of rotation, and the absolute angle at which the first group of synchronous walking device A and the second group of synchronous walking device B at each point should be rotated when the line connecting the front direction of the two and the center of rotation is perpendicular is calculated. At the same time, according to the distance of the walking device from the center of rotation, the distance traveled by the walking device at each point is calculated in proportion. When driving each point to walk a small distance at the angle and in proportion to the distance, the whole object realizes the rotation motion around the center of rotation, which is called arc motion.

[0062] As shown in Figure 7 , in this embodiment, when the center of rotation of the above-mentioned arc motion is selected as the object itself, the motion becomes in-place rotation motion.

[0063] As shown in Figure 9As shown, in the present embodiment, the distributed control system (DCS), also known as distributed control system, is an automation control system that disperses control functions and centralizes management functions. It integrates computer technology, control technology, communication technology and graphic display technology, and is mainly used for monitoring, control and management of industrial production processes. Especially in large industrial sites with multi-point synchronous motion control, the DCS system shows its strong advantages in integration and process control.

[0064] The present embodiment creates up to 250 Siemens Smart200 ST30 series PLCs to build slave stations, which directly control and drive 250 sets of walker electro-hydraulic assemblies (each set consisting of two groups of walkers). A host station (Host) is also built with Siemens S7-1517 series PLC as the core, and ProfiNET intelligent I / O technology is used to realize high-speed data interaction between the master station and the slave station. Among them, the data interaction frequency is 10 Hz, and the maximum data interaction amount is about 100 bytes.

[0065] Then, the dual-network port technology of S7-1517 is applied to aggregate network IP addresses, and form an independent local area network with the second cluster master station PLC and the central coordination control system based on IPC (industrial personal computer). LabVIEW or Kingview can be used to build the master control system.

[0066] Among them, the main function of the master control system is to send and receive instructions, set parameters, and display data and alarm information. The main function of the master station PLC is to upload data and status, issue instructions and parameters, and make appropriate corrections and adjustments to the issued parameters. For example: converting floating-point type to integer type to compress data size and improve communication efficiency; converting arc-shaped and rotational motion distances at equal proportions; and coordinating and monitoring synchronous motion. The main function of the slave station PLC is to drive the synchronous walker electro-hydraulic assembly and collect signals from displacement and pressure sensors. At the same time, it provides various bottom-layer monitoring and alarm functions for safe operation.

[0067] It should be noted that in this document, relational terms such as first and second and the like can merely be used to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between or among the entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0068] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary and that changes in form and detail can be made without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

[0069] The above description of the application and its embodiments is not restrictive, and the embodiments shown in the drawings are only one of the embodiments of the application, and the actual structure is not limited thereto. In general, if a person skilled in the art is inspired by it, without departing from the purpose of the application, without creative design, similar structure and embodiments of the technical solution should belong to the protection scope of the application.

Claims

1. A multi-degree-of-freedom heavy-duty synchronous material handling machine, characterized in that: It includes at least two sets of synchronized walkers, and the two sets of synchronized walkers can move alternately; The synchronous walking device includes a sliding component (1), a lifting component (2), and a rotary servo mechanism (3). The lifting component (2) is located on the upper part of the sliding component (1), and the rotary servo mechanism (3) is located on the rear part of the lifting component (2).

2. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 1, characterized in that: The sliding component (1) includes an assembly slide plate (101), a sliding rail (102) and a limiting module (103). Each side of the assembly slide plate (101) is provided with a set of sliding rails (102), and each set of sliding rails (102) is provided with a limiting module (103) on its upper part.

3. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 2, characterized in that: The limiting module (103) is L-shaped, and the shorter edge of the limiting module (103) is fixed on the sliding track (102), while the longer edge of the limiting module (103) forms a gap with the assembly slide plate (101).

4. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 3, characterized in that: The sliding assembly (1) also includes a push hydraulic cylinder (104), and the tail of the assembly slide plate (101) is provided with two sets of push hydraulic cylinders (104).

5. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 4, characterized in that: The lifting assembly (2) includes a sliding plate (201), a lifting hydraulic cylinder (202), and a lifting plate (203). The sliding plate (201) is located in the gap formed between the longer edge of the limiting module (103) and the assembly sliding plate (101). The lifting hydraulic cylinder (202) is located in the middle of the sliding plate (201), and the lifting plate (203) is located above the lifting hydraulic cylinder (202).

6. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 5, characterized in that: The tail of both sets of push hydraulic cylinders (104) is movably connected to the assembly slide plate (101), and the front of both sets of push hydraulic cylinders (104) is movably connected to the slide plate (201).

7. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 6, characterized in that: The rotary servo mechanism (3) includes a servo motor (301), a transmission gear (302), and a driven gear (303). The servo motor (301) is located at the far end of the slide plate (201). The transmission gear (302) is fixedly connected to the lower part of the servo motor (301). The driven gear (303) and the transmission gear (302) are interactively connected through gear meshing.

8. The multi-degree-of-freedom heavy-duty synchronous material transfer machine according to claim 7, characterized in that: The driven gear (303) is fixed to the upper part of the slide plate (201).

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