Annular heavy-load truss mechanical arm system and control method thereof

Abstract

The invention discloses an annular heavy-load truss mechanical arm system and a control method thereof.The annular heavy-load truss mechanical arm system comprises an annular rail installed in a waterwheel room and an annular heavy-load truss mechanical arm installed on the annular rail, and the annular heavy-load truss mechanical arm comprises a cross beam, a walking unit, a turnover device, a transverse moving unit and a clamping mechanism; walking units are rotationally installed at the two ends of the cross beam respectively, a turnover device is installed on one walking unit, the turnover device is in transmission connection with the cross beam, a transverse moving unit is installed on the cross beam in a sliding mode, a sliding base is installed on the transverse moving unit in a sliding mode, and a plurality of clamping mechanisms are detachably installed on the side, away from the transverse moving unit, of the sliding base. One end of the sliding seat is provided with a supporting seat, and the other end is provided with a connecting seat. By means of the structure, mechanical disassembly and assembly of the waterwheel indoor cooler and the hydraulic oil pump are achieved, the operation difficulty and risk are reduced, and meanwhile the installation precision can be improved.

Description

Technical Field

[0001] This invention relates to the field of waterwheel room equipment maintenance technology, and in particular to a ring-shaped heavy-duty truss robotic arm system and its control method. Background Technology

[0002] The turbine chamber of a large hydropower station is mainly used to install key equipment such as turbines and generator sets. It converts the potential energy of water flow into mechanical energy through components such as the turbine shaft, servo motor, and control loop. It is a core component of the hydropower station, and the regular maintenance and replacement of its internal cooler 1 and hydraulic oil pump 8 are crucial for ensuring the efficient operation of the turbine. (See also...) Figure 1 , 2 Multiple lower frame arms 3 are arranged circumferentially inside the waterwheel chamber. Coolers 1 are installed on both sides of some of these lower frame arms 3. An oil pump platform is located on one side of some of the lower frame arms 3, and a hydraulic oil pump 8 is installed on the platform. A control ring and annular hydraulic oil pipe 5 are also located on the lower side of the lower frame arms 3. The control ring is driven by a relay rod 2. An oil pipe flange 4 is installed on the annular hydraulic oil pipe 5 for connecting to the cooler 1. Because the cooler and hydraulic oil pump are usually installed at a high position and are heavy, traditional disassembly and assembly operations mostly rely on manual operation or semi-mechanized assistance, resulting in low work efficiency, high labor intensity, poor positioning accuracy, and a high risk of equipment collisions or personnel accidents. Especially in the space-constrained and complex environment of the waterwheel chamber, manual operation is difficult and risky, and the disassembly and assembly process requires extremely high positioning and docking accuracy of the cooler. Therefore, we propose a circular heavy-duty truss robotic arm system and its control method according to this application. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a ring-shaped heavy-duty truss robotic arm system and its control method to realize the mechanized disassembly and assembly of the water turbine indoor cooler and hydraulic oil pump, thereby reducing the difficulty and risk of operation and improving the installation accuracy.

[0004] To achieve the above objectives, in a first aspect, this application provides a ring-shaped heavy-duty truss robotic arm system, including a ring-shaped rail installed inside a waterwheel chamber, and a ring-shaped heavy-duty truss robotic arm installed on the ring-shaped rail. The ring-shaped heavy-duty truss robotic arm includes a crossbeam, a traveling unit, a tilting device, a lateral movement unit, and a clamping mechanism. Traveling units are rotatably mounted on both ends of the crossbeam, and the two traveling units travel in coordination on the ring-shaped rail. A tilting device is mounted on one of the traveling units and is connected to the crossbeam to drive the crossbeam to rotate. A lateral movement unit is slidably mounted on the crossbeam and is arranged intersecting the crossbeam. The lateral movement unit and the crossbeam are connected and driven by a lateral movement drive mechanism. A slide block is slidably mounted on the lateral movement unit and is connected and driven by the slide block and the lateral movement unit by a sliding drive mechanism. Multiple clamping mechanisms are detachably mounted on the slide block on the side away from the lateral movement unit. A support seat is mounted on one end of the slide block and a connecting seat is mounted on the other end. The clamping mechanisms are used to clamp a cooler, the support seat is used to support the cooler, and the connecting seat is used to mount a bracket.

[0005] The circular track includes an outer circular track and an inner circular track. The outer circular track is installed on the waterwheel chamber ring seat, and the inner circular track is installed on the lower side of the centerline ring of the lower frame support arm. The traveling unit located on the inner circular track is suspended and installed on the lower side of the inner circular track, and the traveling unit located on the outer circular track is installed on the upper side of the outer circular track. The tilting device is installed at the bottom of the traveling unit on the inner circular track.

[0006] On the other hand, this application also provides a control method for a ring-shaped heavy-duty truss robotic arm system for disassembling or installing a waterwheel indoor cooler and a hydraulic oil pump. The ring-shaped heavy-duty truss robotic arm system is used, and the control method includes a control method for disassembling the cooler, a control method for installing the cooler, a control method for disassembling the hydraulic oil pump, and a control method for installing the hydraulic oil pump. The control method for installing the cooler is the reverse step of the control method for disassembling the cooler, and the control method for installing the hydraulic oil pump is the reverse step of the control method for disassembling the hydraulic oil pump.

[0007] The control method for disassembling the cooler includes: SA1. Move the circular heavy-duty truss robotic arm to the cooler to be disassembled using the walking unit. SA2. Adjust the transverse unit to the longitudinal position using the flipping device; SA3. The clamping mechanism opens, the slide rises, and the position of the clamping mechanism is adjusted so that the clamping mechanism is aligned with the cooler to be disassembled. SA4. The circular heavy-duty truss robotic arm is brought closer to the cooler by the walking unit, so that the clamping mechanism is moved to the outside of the cooler. SA5, the clamping mechanism holds the cooler tightly and makes the support base abut against the bottom of the cooler; SA6. After the fixing bolts of the cooler are manually removed, the circular heavy-duty truss robot arm is moved a distance away from the corresponding lower frame support arm by the walking unit. SA7, the slide lowers to reduce the radius of the cooler's rotation; SA8, the transverse unit moves radially outward a certain distance, moving the cooler to the outer area with a larger space between the adjacent lower frame arms; SA9, the tilting device drives the crossbeam to rotate clockwise by a certain angle. During the rotation, the safe distance between the cooler and the oil pipe flange is controlled. The circular heavy-duty truss robotic arm is moved a distance to the water turbine chamber outlet side by the walking unit, so that the cooler is away from the oil pipe flange. At this time, the crossbeam is located on the lower side of the adjacent lower frame support arm. SA10, the flipping device drives the crossbeam to rotate clockwise by a certain angle; the walking unit moves the ring heavy-duty truss robotic arm a certain distance to the waterwheel chamber outlet side, at which time the cooler is located above the relay tie rod; SA11, the flipping device drives the crossbeam to rotate clockwise by a certain angle. At this time, the cooler is still tilted at a certain angle, so that the rear support of the cooler does not contact the relay rod. The circular heavy-duty truss robot arm is moved a distance to the waterwheel chamber outlet side through the walking unit, so that the cooler is away from the relay push rod. SA12, the flipping device drives the crossbeam to rotate clockwise by a certain angle, so that the cooler is in a horizontal state. The circular heavy-duty truss robot arm is moved to the waterwheel chamber outlet by the walking unit. Then the lateral movement unit moves radially outward by a certain distance, and the cooler is moved to the waterwheel chamber outlet.

[0008] In SA1, when the ring-shaped heavy-duty truss robotic arm moves in the waterwheel chamber, the tilting device is in a horizontal state, the clamping mechanism faces downward, and the horizontal movement drive mechanism controls the horizontal movement unit to move and adjust its position on the crossbeam to avoid interference from the relay tie rod and oil pipe flange.

[0009] In SA3, after the clamping mechanism is opened, the sliding drive mechanism drives the slide to rise, so that the clamping mechanism is located on one side of the cooler. Then, the transverse drive mechanism controls the left and right position of the transverse unit on the crossbeam, so that the clamping mechanism is aligned with the cooler to be disassembled.

[0010] In SA5, the clamping mechanism first pre-clamps the cooler. At this time, the clamping mechanism and the cooler can slide relative to each other. The sliding drive mechanism drives the slide to rise and adjust, so that the support seat abuts against the bottom of the cooler. Then the clamping mechanism further clamps the cooler.

[0011] The control method for disassembling the hydraulic oil pump includes: S B1. Install a bracket on the connecting seat of the circular heavy-duty truss robot arm. If a clamping mechanism is installed on the slide, remove the clamping mechanism. Move the circular heavy-duty truss robot arm to the hydraulic oil pump to be disassembled via the walking unit. SB2, adjust the transverse unit to the longitudinal position using the flipping device; drive the slide to rise and move the bracket to the side of the hydraulic pump; SB3. After removing the hydraulic oil pump, install it vertically on the bracket with bolts. S B4. Move the circular heavy-duty truss robotic arm outward a certain distance using the walking unit, and move the hydraulic oil pump out of the oil pump mounting platform to avoid collision between the hydraulic oil pump and the oil pump platform during the downward movement. SB5, the slide lowers, reducing the radius of the hydraulic pump's tilt; S B6, the tilting device drives the crossbeam to rotate 90°, so that the transverse unit is in a transverse state. During the rotation, it avoids interference from the relay rod, the lower frame support arm and the oil pipe flange. S B7. The circular heavy-duty truss robotic arm is moved to the waterwheel chamber outlet by the walking unit. Then the lateral unit moves radially outward a certain distance to move the hydraulic oil pump to the waterwheel chamber outlet.

[0012] In SB1, the bracket is bolted to the connecting seat. The part of the bracket that is connected to the hydraulic pump extends upward and is provided with bolt mounting holes. The bolt mounting holes are used to connect to the base of the hydraulic pump by bolts.

[0013] In SB6, after the tilting device drives the crossbeam to rotate 90°, the hydraulic oil pump is located below the transverse unit. During the process of the ring heavy-duty truss robotic arm moving towards the waterwheel chamber outlet, the transverse drive mechanism drives the transverse unit to move along the crossbeam to adjust its position in order to avoid interference.

[0014] Compared with the prior art, the above-conceptual technical solution conceived in this application has the following beneficial effects: The crossbeam of this invention connects the traveling units and the load-bearing lateral movement unit at both ends. The traveling units move on a circular track inside the waterwheel chamber. A tilting device drives the crossbeam to rotate, thereby rotating the lateral movement unit and the clamping mechanism. This allows the circular heavy-duty truss robotic arm to avoid obstacles inside the waterwheel chamber during operation. The lateral movement unit is slidably and guideably mounted on the crossbeam. Driven by the lateral movement drive mechanism, the lateral movement unit can slide axially on the crossbeam to adjust its position, thereby adjusting its radial position inside the waterwheel chamber. A sliding block is slidably mounted on the lateral movement unit. The sliding block slides on the lateral movement unit via a sliding drive mechanism, thereby adjusting the height of the clamping mechanism so that the clamping mechanism and / or the bracket can extend to the corresponding height position. The clamping mechanism clamps the cooler, and the support seat supports the cooler to prevent it from slipping in the longitudinal direction. A connecting seat is used to install the bracket, and the bracket is used to install the load hydraulic oil. Combining the device and control method of this invention, mechanized assembly and disassembly of the cooler and hydraulic oil pump inside the waterwheel chamber can be achieved, reducing operational difficulty and risk while improving installation accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1 This is a schematic diagram of the internal structure of the water turbine room in a hydroelectric power station.

[0017] Figure 2 This is a partial structural diagram of the cooler inside the water turbine of a hydroelectric power station.

[0018] Figure 3 This is a schematic diagram of the structure of the ring-shaped heavy-duty truss robotic arm in this invention.

[0019] Figure 4 This is a structural schematic diagram of the annular heavy-duty truss robotic arm from another perspective in this invention.

[0020] Figure 5 This is a schematic diagram of disassembling the cooler, showing the clamping mechanism holding the cooler in place.

[0021] Figure 6 This is a schematic diagram of the cooler being disassembled, showing the cooler being moved outwards.

[0022] Figure 7 This is a schematic diagram of the cooler being disassembled, showing the slide in a lowered position.

[0023] Figure 8 This is a schematic diagram of the cooler being disassembled, showing the radial movement of the transverse unit outwards.

[0024] Figure 9 This is a schematic diagram of the cooler being disassembled, showing the state where the tilting device drives the crossbeam to rotate 25° clockwise.

[0025] Figure 10 This is a schematic diagram of the cooler being disassembled, showing it being moved a certain distance towards the water turbine chamber outlet.

[0026] Figure 11 This is a schematic diagram of the cooler being disassembled, showing the state where the flipping device drives the crossbeam to rotate 10° clockwise.

[0027] Figure 12 This is a schematic diagram of the disassembly of the cooler, showing its position after being moved a certain distance towards the water turbine chamber outlet.

[0028] Figure 13 This is a schematic diagram of the cooler being disassembled, showing the state where the flipping device drives the crossbeam to rotate 45° clockwise.

[0029] Figure 14 This is a schematic diagram of the cooler being disassembled, showing the cooler's rear support bracket avoiding the relay tie rod.

[0030] Figure 15 This is a schematic diagram of the cooler being disassembled, showing the cooler being moved to the waterwheel chamber outlet.

[0031] Figure 16 This is a schematic diagram for disassembling a hydraulic oil pump. The diagram shows the state of the circular heavy-duty truss robotic arm moving to the side of the hydraulic oil pump to be disassembled.

[0032] Figure 17 This is a schematic diagram for disassembling a hydraulic oil pump, showing the hydraulic oil pump mounted on a bracket.

[0033] Figure 18 This is a schematic diagram for disassembling a hydraulic oil pump, showing the pump moving outwards.

[0034] Figure 19 This is a schematic diagram for disassembling a hydraulic pump, showing the slide in a lowered position.

[0035] Figure 20 This is a schematic diagram for disassembling the hydraulic oil pump. The diagram shows the state where the tilting device drives the crossbeam to rotate 90°.

[0036] Figure 21 This is a schematic diagram for disassembling the hydraulic oil pump, showing the pump being moved to the outlet of the water turbine chamber.

[0037] Figure label: Cooler 1, Relay rod 2, Lower frame support arm 3, Oil pipe flange 4, Annular hydraulic oil pipe 5, Outer annular track 6, Inner annular track 7, Hydraulic oil pump 8. Crossbeam 10, gear ring 11, traveling unit 20, tilting device 30, gear 31, lateral movement unit 40, slide 41, clamping mechanism 50, support seat 60, connecting seat 70, bracket 80. Detailed Implementation

[0038] To more clearly illustrate the purpose, technical solution, and beneficial effects of this application, a further detailed description of this application is provided below in conjunction with illustrations and specific embodiments. It should be specifically noted that the specific embodiments described below are only for illustrating the technical content of this application and do not constitute a limitation on the scope of protection of this application.

[0039] Regarding the explanation of terminology: In this application, "and / or" is used to describe the relationship between related objects, covering three possible situations: taking "A and / or B" as an example, it can indicate the situation where only A exists, A and B exist simultaneously, or only B exists; the symbol " / " indicates the "or" relationship between related objects, such as "A / B" which refers to A or B.

[0040] Regarding the description of the embodiments: The terms "exemplary" and "for example" appearing in this application are only used to illustrate the technical solutions through specific examples. It should be particularly emphasized that any implementation method or design scheme marked as "exemplary" or "for example" should not be construed as having an advantage over other solutions. Such expressions are only used to present the technical concepts more intuitively.

[0041] Example 1: See Figure 3 , 4This invention provides a circular heavy-duty truss robotic arm system, including a circular rail installed inside a waterwheel chamber, and a circular heavy-duty truss robotic arm installed on the circular rail. The circular heavy-duty truss robotic arm includes a crossbeam 10, a traveling unit 20, a tilting device 30, a lateral movement unit 40, and a clamping mechanism 50. Traveling units 20 are rotatably mounted at both ends of the crossbeam 10, and the two traveling units 20 move in coordination on the circular rail. One of the traveling units 20 is equipped with a tilting device 30, which is connected to the crossbeam 10. The beam 10 is driven to rotate. The transverse unit 40 is slidably mounted on the beam 10. The transverse unit 40 is perpendicularly intersecting the beam 10. The transverse unit 40 and the beam 10 are connected and driven by a transverse drive mechanism. A slide block 41 is slidably mounted on the transverse unit 40. The slide block 41 and the transverse unit 40 are connected and driven by a sliding drive mechanism. Multiple clamping mechanisms 50 are detachably mounted on the slide block 41 on the side away from the transverse unit 40. A support seat 60 is mounted on one end of the slide block 41 and a connecting seat 70 is mounted on the other end. The clamping mechanism 50 is used to clamp the cooler 1, the support seat 60 is used to support the cooler 1, and the connecting seat 70 is used to mount the bracket 80.

[0042] The crossbeam 10 connects the traveling units 20 at both ends and the load-bearing lateral movement unit 40. The traveling units 20 move on a circular track inside the waterwheel chamber. The tilting device 30 drives the crossbeam 10 to rotate, thereby causing the lateral movement unit 40 and the clamping mechanism 50 to rotate, enabling the circular heavy-duty truss robotic arm to avoid obstacles inside the waterwheel chamber during operation. The lateral movement unit 40 is slidably guided onto the crossbeam 10. Driven by the lateral movement drive mechanism, the lateral movement unit 40 can axially slide and adjust its position on the crossbeam 10. The radial position of the transverse unit 40 within the waterwheel chamber is adjusted. A slide block 41 is slidably mounted on the transverse unit 40, and the slide block 41 slides on the transverse unit 40 via a sliding drive mechanism, thereby adjusting the height position of the clamping mechanism 50 so that the clamping mechanism 50 and / or the bracket 80 can extend to the corresponding height position. The clamping mechanism 50 is used to clamp the cooler 1, and the support seat 60 is used to support the cooler 1 to prevent it from slipping in the longitudinal position. The connecting seat 70 is used to install the bracket 80, and the load hydraulic oil 8 is installed on the bracket 80. Through the above structure, the mechanized assembly and disassembly of the cooler and hydraulic oil pump in the waterwheel chamber is realized, and the installation accuracy is improved while reducing the difficulty and risk of operation.

[0043] In this embodiment, the crossbeam 10 is a channel-shaped crossbeam. Both ends of the crossbeam 10 are closed and fixed to a central shaft. The central shaft is rotatably connected to the traveling units 20 on both sides via bearings. The traveling units 20 can adopt the existing crane trolley assembly structure. A gear ring 11 is fixedly installed on the crossbeam 10. The tilting device 30 is a worm gear reducer with a motor. A gear 31 is installed on the output shaft of the worm gear reducer. The gear 31 meshes with the gear ring 11, thereby driving the crossbeam 10 to rotate.

[0044] A portal-shaped seat is fixed on the side of the transverse unit 40 opposite to the slide 41. The crossbeam 10 slides through the portal-shaped seat. A transverse drive mechanism is installed in the axial groove of the crossbeam 10. The transverse drive mechanism is connected to the transverse unit 40, thereby driving the transverse unit 40 to move on the crossbeam 10. The transverse drive mechanism can adopt an electric cylinder or a ball screw pair transmission structure.

[0045] See Figure 4 The transverse unit 40 has a groove-shaped structure, and the two side walls inside the groove-shaped structure are provided with sliding grooves. The slide block 41 slides into the sliding grooves on both sides, thereby allowing the slide block 41 to slide in the transverse unit 40. Similarly, a sliding drive mechanism is installed in the groove of the transverse unit 40. The sliding drive mechanism is connected to the slide block 41 for transmission. The sliding drive mechanism can adopt an electric cylinder or a ball screw pair transmission structure.

[0046] See Figure 4 The clamping mechanism 50 can adopt a steel frame stacking clamp disclosed in CN219009293U. In application, the connecting part can be installed and fixed on the slide 41.

[0047] See Figure 1 The circular track includes an outer circular track 6 and an inner circular track 7. The outer circular track 6 is installed on the ring seat of the water turbine chamber, and the inner circular track 7 is installed on the lower side of the centerline ring of the lower frame support arm 3. The traveling unit 20 located on the inner circular track 7 is suspended and installed on the lower side of the inner circular track 7, and the traveling unit 20 located on the outer circular track 6 is installed on the upper side of the outer circular track 6. The tilting device 30 is installed at the bottom of the traveling unit 20 on the inner circular track 7. When the traveling unit 20 is suspended and installed on the lower side of the inner circular track 7, the traveling unit 20 adopts the wheel set structure of a cantilever crane.

[0048] Example 2: This embodiment provides a control method for a ring-shaped heavy-duty truss robotic arm system, used for the disassembly or installation of a waterwheel indoor cooler and a hydraulic oil pump. It employs a ring-shaped heavy-duty truss robotic arm system proposed in Embodiment 1. The control method includes a control method for disassembling the cooler, a control method for installing the cooler, a control method for disassembling the hydraulic oil pump, and a control method for installing the hydraulic oil pump. The control method for installing the cooler is the reverse step of the control method for disassembling the cooler, and the control method for installing the hydraulic oil pump is the reverse step of the control method for disassembling the hydraulic oil pump.

[0049] The control methods for disassembling the cooler include: S A1, see also Figure 5 The circular heavy-duty truss robotic arm is moved to the side of the cooler 1 to be disassembled via the walking unit 20. S A2, see also Figure 5 The lateral moving unit 40 is adjusted to a longitudinal position by the flipping device 30; S A3, see also Figure 5 The clamping mechanism 50 is opened, the slide 41 is raised, and the position of the clamping mechanism 50 is adjusted so that the clamping mechanism 50 is aligned with the cooler 1 to be disassembled. SA4, see also Figure 5 The walking unit 20 moves the ring-shaped heavy-duty truss robot arm toward the cooler 1, so that the clamping mechanism 50 moves to the outside of the cooler 1. SA5, see also Figure 5 The clamping mechanism 50 holds the cooler 1 tightly and makes the support base 60 abut against the bottom of the cooler 1; S A6, see also Figure 6 After the fixing bolts of the cooler 1 are manually removed, the circular heavy-duty truss robot arm is moved a distance away from the corresponding lower frame support arm 3 by the walking unit 20; in this embodiment, the cooler 1 is moved 900mm to the left to move the cooler away from the lower frame support arm 3. S A7, see Figure 7 The slide 41 descends, reducing the radius of the cooler 1's rotation; in this embodiment, the cooler 1 moves downward by 1100mm. S A8, see also Figure 8 The transverse unit 40 moves radially outward a certain distance, moving the cooler 1 to a larger outer area between the adjacent lower frame support arms 3; in this embodiment, the cooler 1 moves outward 550mm, moving the cooler to a larger outer area between the adjacent lower frame support arms 3. S A9, see also Figure 9 The tilting device 30 drives the crossbeam 10 to rotate 25° clockwise. During the rotation, the safe distance between the cooler 1 and the oil pipe flange 4 is controlled. (See also...) Figure 10The circular heavy-duty truss robotic arm is moved 500mm towards the water turbine chamber outlet side by the walking unit 20, so that the cooler 1 is away from the oil pipe flange 4, which is convenient for subsequent overturning. At this time, the crossbeam 10 is located on the lower side of the adjacent lower frame support arm 3. SA10, see also Figure 11 The flipping device 30 drives the crossbeam 10 to rotate clockwise by another 10°; see also Figure 12 The circular heavy-duty truss robotic arm is moved 400mm towards the waterwheel chamber outlet side via the walking unit 20. At this time, the cooler 1 is located above the relay tie rod 2; and the cooler is moved away from the oil pipe flange 4 to facilitate subsequent flipping. S A11, see also Figure 13 The tilting device 30 drives the crossbeam 10 to rotate clockwise by another 45°. After the rotation, the cooler 1 still has a certain angle of tilt, such as... Figure 14 As shown, the rear support of the cooler 1 is prevented from contacting the relay rod 2; further, see... Figure 14 The circular heavy-duty truss robotic arm is moved 3000mm toward the waterwheel chamber outlet side by the walking unit 20, so that the cooler 1 is away from the relay push rod 2. SA12, see also Figure 14 The tilting device 30 drives the crossbeam 10 to rotate clockwise by another 10°, so that the cooler 1 is in a horizontal position. See [link / reference]. Figure 15 The circular heavy-duty truss robotic arm is moved to the waterwheel chamber outlet by the walking unit 20, and then the lateral moving unit 40 moves radially outward by 550mm to move the cooler 1 to the waterwheel chamber outlet.

[0050] In this embodiment, when the ring-shaped heavy-duty truss robotic arm moves in the waterwheel chamber in SA1, the flipping device 30 is in a horizontal state, the clamping mechanism 50 faces downward, and the horizontal movement drive mechanism controls the horizontal movement unit 40 to move and adjust its position on the crossbeam 10 to avoid interference from the relay tie rod 2 and the oil pipe flange 4.

[0051] In this embodiment, after the clamping mechanism 50 is opened in SA3, the sliding drive mechanism drives the slide block 41 to rise, so that the clamping mechanism 50 is located on one side of the cooler 1. Then, the horizontal movement drive mechanism controls the left and right positions of the horizontal movement unit 40 on the crossbeam 10, so that the clamping mechanism 50 is aligned with the cooler 1 to be disassembled.

[0052] In this embodiment, in SA5, the clamping mechanism 50 first pre-clamps the cooler 1. At this time, the clamping mechanism 50 and the cooler 1 can slide relative to each other. The sliding drive mechanism drives the slide block 41 to rise and adjust, so that the support base 60 abuts against the bottom of the cooler 1. Then the clamping mechanism 50 further clamps the cooler 1, so that the cooler 1 is stably supported on the support base 60, preventing the cooler 1 from suddenly falling after the installation bolts are loosened, thus improving safety.

[0053] The above method enables the disassembly and removal of the cooler 1.

[0054] Example 3: The control methods for disassembling the hydraulic oil pump include: S B1, see also Figure 16 Install bracket 80 on the connecting seat 70 of the ring heavy-duty truss robot arm. If a clamping mechanism 50 is installed on the slide 41, remove the clamping mechanism 50. Move the ring heavy-duty truss robot arm to the side of the hydraulic oil pump 8 to be disassembled via the walking unit 20. S B2, see also Figure 16 The lateral unit 40 is adjusted to the longitudinal position by the flipping device 30; the drive slide 41 is raised, and the bracket 80 is moved to the side of the hydraulic oil pump 8; S B3, see also Figure 17 After removing the hydraulic oil pump 8, install it vertically on the bracket 80 with bolts; S B4, see also Figure 18 The circular heavy-duty truss robotic arm is moved outward a certain distance by the walking unit 20, and the hydraulic oil pump 8 is moved out of the oil pump mounting platform to avoid the hydraulic oil pump 8 colliding with the oil pump platform during the downward movement. S B5, see also Figure 19 The slide 41 descends, reducing the radius of the hydraulic pump 8's tilt; S B6, see also Figure 20 The flipping device 30 drives the crossbeam 10 to rotate 90°, so that the transverse unit 40 is in a transverse state. During the rotation, it avoids interference from the relay rod 2, the lower frame support arm 3 and the oil pipe flange 4. S B7, see also Figure 21 The circular heavy-duty truss robotic arm is moved to the waterwheel chamber outlet by the walking unit 20, and then the lateral moving unit 40 moves radially outward a certain distance to move the hydraulic oil pump 8 to the waterwheel chamber outlet.

[0055] See Figure 16 The bracket 80 is mounted on the connecting seat 70 by bolts. The part of the bracket 80 that is connected to the hydraulic oil pump 8 extends upward and is provided with bolt mounting holes. The bolt mounting holes are used to connect to the base of the hydraulic oil pump 8 by bolts.

[0056] In SB6, see Figure 20 After the tilting device 30 drives the crossbeam 10 to rotate 90°, the hydraulic oil pump 8 is located below the transverse unit 40. During the process of moving towards the waterwheel chamber outlet, the ring heavy-duty truss robotic arm drives the transverse unit 40 to move and adjust its position along the crossbeam 10 through the transverse drive mechanism to avoid interference.

[0057] The above method enables the disassembly and removal of the hydraulic oil pump 8.

[0058] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the invention. Modifications and variations made by those skilled in the art in accordance with the spirit of the invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A ring-shaped heavy-duty truss robotic arm system, characterized in that: The system includes a circular track installed inside the waterwheel chamber and a circular heavy-duty truss robotic arm installed on the circular track. The circular heavy-duty truss robotic arm includes a crossbeam (10), a traveling unit (20), a tilting device (30), a lateral movement unit (40), and a clamping mechanism (50). The two ends of the crossbeam (10) are respectively rotatably mounted with traveling units (20). The two traveling units (20) move in coordination on the circular track. One of the traveling units (20) is equipped with a tilting device (30). The tilting device (30) is connected to the crossbeam (10) for transmission to drive it. The crossbeam (10) rotates, and the transverse unit (40) is slidably mounted on the crossbeam (10). The transverse unit (40) and the crossbeam (10) are arranged crosswise. The transverse unit (40) and the crossbeam (10) are connected and driven by a transverse drive mechanism. A slide block (41) is slidably mounted on the transverse unit (40). The slide block (41) and the transverse unit (40) are connected and driven by a sliding drive mechanism. Multiple clamping mechanisms (50) are detachably mounted on the side of the slide block (41) away from the transverse unit (40). A support seat (60) is mounted on one end of the slide block (41), and a connecting seat (70) is mounted on the other end. The clamping mechanism (50) is used to clamp the cooler (1), the support seat (60) is used to support the cooler (1), and the connecting seat (70) is used to install the bracket (80).

2. The ring-shaped heavy-duty truss robotic arm system according to claim 1, characterized in that: The circular track includes an outer circular track (6) and an inner circular track (7). The outer circular track (6) is installed on the waterwheel chamber ring seat, and the inner circular track (7) is installed on the lower side of the centerline ring of the lower frame support arm (3). The walking unit (20) located on the inner circular track (7) is suspended on the lower side of the inner circular track (7), and the walking unit (20) located on the outer circular track (6) is installed on the upper side of the outer circular track (6). The flipping device (30) is installed at the bottom of the walking unit (20) on the inner circular track (7).

3. A control method for a ring-shaped heavy-duty truss robotic arm system, used for the disassembly or installation of a waterwheel indoor cooler and a hydraulic oil pump, characterized in that: The system employs a ring-shaped heavy-duty truss robotic arm system as described in claim 1 or 2. The control method includes a control method for disassembling the cooler, a control method for installing the cooler, a control method for disassembling the hydraulic oil pump, and a control method for installing the hydraulic oil pump. The control method for installing the cooler is the reverse step of the control method for disassembling the cooler, and the control method for installing the hydraulic oil pump is the reverse step of the control method for disassembling the hydraulic oil pump.

4. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 3, characterized in that: The control method for disassembling the cooler includes: SA1, The circular heavy-duty truss robot arm is moved to the side of the cooler (1) to be disassembled by the walking unit (20); SA2, the transverse unit (40) is adjusted to the longitudinal position by means of the flipping device (30); SA3, the clamping mechanism (50) is opened, the slide (41) is raised, and the position of the clamping mechanism (50) is adjusted so that the clamping mechanism (50) is aligned with the cooler (1) to be disassembled; SA4. The circular heavy-duty truss robot arm is brought closer to the cooler (1) by the walking unit (20), so that the clamping mechanism (50) is moved to the outside of the cooler (1). SA5, the clamping mechanism (50) holds the cooler (1) tightly and makes the support seat (60) abut against the bottom of the cooler (1); SA6. After the fixing bolts of the cooler (1) are manually removed, the circular heavy-duty truss robot arm is moved a distance away from the corresponding lower frame support arm (3) by the walking unit (20). SA7, the slide (41) descends, reducing the radius of the cooler (1) flipping; SA8, the transverse unit (40) moves radially outward a certain distance, moving the cooler (1) to the outer area with a larger space between the adjacent lower frame support arms (3); S A9, the flipping device (30) drives the crossbeam (10) to rotate clockwise by a certain angle. During the rotation, the safe distance between the cooler (1) and the oil pipe flange (4) is controlled. The circular heavy-duty truss mechanical arm is moved a distance to the water turbine chamber outlet side by the walking unit (20) so that the cooler (1) is away from the oil pipe flange (4). At this time, the crossbeam (10) is located on the lower side of the adjacent lower frame support arm (3). SA10, the flipping device (30) drives the crossbeam (10) to rotate clockwise by a certain angle; the walking unit (20) moves the ring heavy-duty truss mechanical arm a certain distance to the waterwheel chamber outlet side, at which time the cooler (1) is located above the relay rod (2); S A11, the flipping device (30) drives the crossbeam (10) to rotate clockwise by a certain angle. At this time, the cooler (1) still has a certain angle of inclination, so that the rear support of the cooler (1) does not contact the relay rod (2); the circular heavy-duty truss mechanical arm is moved a distance to the waterwheel chamber outlet side by the walking unit (20), so that the cooler (1) is away from the relay push rod (2). S A12, the flipping device (30) drives the crossbeam (10) to rotate clockwise by a certain angle, so that the cooler (1) is in a horizontal state. The circular heavy-duty truss mechanical arm is moved to the waterwheel chamber outlet by the walking unit (20). Then the lateral movement unit (40) moves radially outward by a certain distance to move the cooler (1) to the waterwheel chamber outlet.

5. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 4, characterized in that: In SA1, when the ring-shaped heavy-duty truss robotic arm moves in the waterwheel chamber, the flipping device (30) is in a horizontal state, the clamping mechanism (50) faces downward, and the horizontal movement drive mechanism controls the horizontal movement unit (40) to move and adjust its position on the crossbeam (10) to avoid interference from the relay tie rod (2) and the oil pipe flange (4).

6. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 4, characterized in that: In SA3, after the clamping mechanism (50) is opened, the slide block (41) is driven to rise by the sliding drive mechanism, so that the clamping mechanism (50) is located on one side of the cooler (1). Then, the horizontal movement drive mechanism controls the left and right position of the horizontal movement unit (40) on the crossbeam (10) so that the clamping mechanism (50) is aligned with the cooler (1) to be disassembled.

7. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 4, characterized in that: In SA5, the clamping mechanism (50) first pre-clamps the cooler (1). At this time, the clamping mechanism (50) and the cooler (1) can slide against each other. The sliding drive mechanism drives the slide (41) to rise and adjust, so that the support (60) abuts against the bottom of the cooler (1). Then the clamping mechanism (50) further clamps the cooler (1).

8. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 3, characterized in that: The control method for disassembling the hydraulic oil pump includes: S B1. Install bracket (80) on the connecting seat (70) of the ring heavy-duty truss robot arm. If a clamping mechanism (50) is installed on the slide (41), remove the clamping mechanism (50). Move the ring heavy-duty truss robot arm to the side of the hydraulic oil pump (8) to be disassembled through the walking unit (20). S B2, adjust the transverse unit (40) to the longitudinal state by means of the flipping device (30); drive the slide (41) to rise and move the bracket (80) to the side of the hydraulic oil pump (8); S B3. After removing the hydraulic oil pump (8), install it vertically on the bracket (80) with bolts; S B4. Move the circular heavy-duty truss robot arm outward a distance using the walking unit (20) to move the hydraulic oil pump (8) out of the oil pump mounting platform to avoid collision between the hydraulic oil pump (8) and the oil pump platform during the downward movement. S B5, slide (41) descends, reducing the radius of the hydraulic oil pump (8) turning; S B6, the flipping device (30) drives the crossbeam (10) to rotate 90°, so that the transverse unit (40) is in a transverse state. During the rotation, it avoids interference from the relay rod (2), the lower frame support arm (3) and the oil pipe flange (4). S B7, the circular heavy-duty truss robot arm is moved to the waterwheel chamber outlet by the walking unit (20), and then the lateral moving unit (40) moves outward radially a distance to move the hydraulic oil pump (8) to the waterwheel chamber outlet.

9. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 8, characterized in that: In SB1, the bracket (80) is bolted to the connecting seat (70). The part of the bracket (80) that is connected to the hydraulic pump (8) extends upward and is provided with bolt mounting holes. The bolt mounting holes are used to connect to the base of the hydraulic pump (8) by bolts.

10. The control method for a ring-shaped heavy-duty truss robotic arm system according to claim 8, characterized in that: In SB6, after the flipping device (30) drives the crossbeam (10) to rotate 90°, the hydraulic oil pump (8) is located on the lower side of the transverse unit (40). During the process of the ring heavy-duty truss robotic arm moving towards the waterwheel chamber outlet, the transverse drive mechanism drives the transverse unit (40) to move and adjust its position along the crossbeam (10) to avoid interference.

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