Flexible hoisting adaptive movable pulley seat underneath type component three-direction degree-of-freedom adjusting equipment

Abstract

The invention discloses flexible hoisting adaptive movable pulley base underneath type component three-direction freedom degree adjusting equipment which comprises an adjusting shell which is of a hollow shell structure, four posture adjusting oil cylinders which are located in the adjusting shell, and a movable pulley base which is arranged in the adjusting shell, and the upper ends of the posture adjusting oil cylinders are fixed to the top of an inner cavity of the adjusting shell through hooke joints. The lower end of each posture adjusting oil cylinder penetrates through the corresponding posture adjusting hole, extends downwards and extends out of the adjusting shell, and the lower end of each posture adjusting oil cylinder is hinged to a lifting lug ball of the lifting appliance mechanism; wherein the four posture adjusting oil cylinders are used for being matched with one another, and the supporting height of any side of the lifting appliance mechanism is changed by adjusting the expansion and contraction amounts of the four posture adjusting oil cylinders, so that the pitch angle and the roll angle of the lifting appliance mechanism are changed, and posture correction of a to-be-lifted workpiece is achieved; the structure layout is optimized, the shield tunnel narrow operation working condition is adapted, structural interference is avoided, the space adaptability and the flexible buffering capacity of hoisting operation are improved, and collision damage of a box culvert component and a peripheral structure is reduced.

Description

Technical Field

[0001] This invention belongs to the field of tunnel construction equipment, and particularly relates to a flexible hoisting adaptable type of three-dimensional freedom adjustment device for a component with a lower-mounted dynamic pulley seat. Background Technology

[0002] In the field of shield tunnel construction, prefabrication and assembly technology has become a core solution for ensuring the quality of internal structure construction and improving operational efficiency. Currently, the industry generally uses manually operated box culvert cranes for box culvert component assembly, but the operational precision and efficiency are difficult to meet the needs of tunnel construction. Therefore, achieving fully automated assembly of box culverts using cranes has become an inevitable development direction. However, the extremely limited space inside tunnels places stringent requirements on the structural dimensions of hoisting equipment; box culvert assembly requires precise 6-DOF attitude adjustment, which places high demands on the positioning and adjustment accuracy of the crane. Based on this, it is urgent to add a flexible hoisting adaptable type of three-DOF component adjustment device with a lower-mounted moving pulley seat to the existing box culvert cranes, adapting to the constraints of the confined space inside the tunnel and the 6-DOF precision adjustment requirements of the box culvert, and helping the crane achieve fully automated control of the entire process of box culvert component assembly, from lifting, transportation, attitude adjustment to precise assembly. Summary of the Invention

[0003] The purpose of this invention is to provide a flexible hoisting adaptable three-dimensional freedom adjustment device for components with a lower-mounted dynamic pulley seat, in order to solve the problems of high reliance on manual labor and poor assembly accuracy of box culverts when using dedicated cranes for assembly.

[0004] This invention adopts the following technical solution: a flexible hoisting adaptable type of three-dimensional freedom adjustment device for a component with a lower-mounted moving pulley seat, comprising: The adjusting housing is a hollow shell structure. Ear plates are fixedly connected to the outer wall of the top of the shell, and pulley mounting holes are provided on the ear plates. A movable pulley is hinged to the pulley mounting hole via a pulley shaft. A steel wire rope is wound around the movable pulley, with one end fixed to a preset anchor point and the other end passing over the movable pulley and fixedly connected to the drum of a winch separately located above the adjusting housing. The adjusting housing is used for vertical movement driven by the winch and adjustment to a preset height suitable for the workpiece to be lifted, providing a basis for subsequent attitude adjustment of the lifting mechanism and precise workpiece alignment. Four attitude adjustment holes are provided through the bottom of the adjusting housing. Four attitude adjustment cylinders are located inside the adjustment housing. Their upper ends are all fixed to the top of the inner cavity of the adjustment housing by Hooke hinges, and their lower ends extend downward through the corresponding attitude adjustment holes and out of the adjustment housing. The lower ends of the attitude adjustment cylinders are hinged to the lifting lugs of the lifting mechanism. The lifting mechanism is used to lift the workpiece. The four attitude adjustment cylinders work together to change the support height on either side of the lifting mechanism by adjusting their respective extension and retraction, thereby changing the pitch and roll angles of the lifting mechanism and thus correcting the attitude of the workpiece to be lifted.

[0005] The beneficial effects of this invention are: This invention optimizes the structural layout, adapts to the narrow working conditions of shield tunnels, avoids structural interference, improves the spatial adaptability and flexible buffering capacity of hoisting operations, and reduces collision damage between box culvert components and surrounding structures. This invention achieves precise three-degree-of-freedom position and posture adjustment of box culvert components through the coordinated action of the posture adjustment cylinder, overcoming the pain point of insufficient alignment accuracy in traditional hoisting, ensuring high-precision matching of assembly and docking, and avoiding quality hazards such as misalignment and loose joints. This invention can be integrated into existing box culvert cranes. Relying on the crane's overall automated control technology, it eliminates the need for large-scale modifications to the original crane, reducing equipment upgrade costs. At the same time, it enables fully automated operation of box culvert components from grabbing, hoisting, positioning to assembly, significantly reducing manual intervention and adapting to scenarios where manual operation space is limited in tunnels. This invention combines fully automated operation with precise position adjustment, which can significantly improve the efficiency of box culvert assembly and construction, shorten the construction cycle, reduce reliance on manual labor and operating costs, and further improve the safety and stability of the construction process by reducing human error through structural optimization and automated control, thus balancing construction quality, efficiency and safety. Attached Figure Description

[0006] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention installed on the trolley mechanism; Figure 3 Detailed diagram of the winch and wire rope; Figure 4 This is a structural schematic diagram of the trolley mechanism; Figure 5 This is a schematic diagram of the trolley mechanism; Figure 6 This is a schematic diagram of the lifting device mechanism.

[0007] The components include: 1. Adjusting housing; 2. Trolley mechanism; 3. Auxiliary trolley mechanism; 4. Lifting device mechanism; 11. Winch; 12. Wire rope; 13. Adjusting cylinder; 14. Ear plate. Detailed Implementation

[0008] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0009] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more. The term "orientation" in this invention refers to the orientation of the device or element according to the invention. Figure 1 Description of the state's progression.

[0010] This invention discloses a flexible hoisting adaptable type of three-dimensional degree-of-freedom adjustment device for a component with a lower-mounted moving pulley seat, such as... Figure 1 and Figure 2 As shown, it includes: an adjustment housing 1 and four attitude adjustment cylinders 13.

[0011] The adjusting housing 1 is a hollow shell structure. A lug plate 14 is fixedly connected to the outer wall of the top of the adjusting housing 1. A pulley mounting hole is opened on the lug plate 14. The movable pulley is hinged to the pulley mounting hole through the pulley shaft. A steel wire rope 12 is wound on the movable pulley. One end of the steel wire rope 12 is fixed to a preset anchor point, and the other end passes around the movable pulley and is fixedly connected to the drum of the winch 11, which is separately set above the adjusting housing 1. The adjusting housing 1 is used to move vertically under the drive of the winch 11 and adjust to a preset height that matches the workpiece to be lifted, providing a basis for the subsequent attitude adjustment of the lifting mechanism 4 and the precise alignment of the workpiece. Four attitude adjustment holes are opened through the bottom of the adjusting housing 1.

[0012] Four attitude adjustment cylinders 13 are located inside the adjustment housing 1. The upper ends of the four attitude adjustment cylinders 13 are fixed to the top of the inner cavity of the adjustment housing 1 by Hooke hinges. The lower ends of the four attitude adjustment cylinders 13 extend downward through the corresponding attitude adjustment holes and out of the adjustment housing 1. The lower ends of the attitude adjustment cylinders 13 are hinged to the lifting lug ball of the lifting mechanism 4. The lifting mechanism 4 is used to lift the workpiece.

[0013] Among them, the four attitude adjustment cylinders 13 are used to cooperate with each other. By adjusting their respective extension and retraction, they change the support height on any side of the lifting mechanism 4, thereby changing the pitch angle and roll angle of the lifting mechanism 4, and thus realizing the attitude correction of the workpiece to be lifted.

[0014] Four winches 11 are provided and symmetrically installed on the outside of the two main beams of the trolley mechanism 3. The trolley mechanism 3 is installed on the main trolley mechanism 2 and can move horizontally along the guide rail of the main trolley mechanism 2.

[0015] Four attitude adjustment cylinders are arranged in an array of 13; among which: When the two tilting cylinders 13 on the front side extend, they are used to lift the front side of the lifting mechanism 4, so that the lifting mechanism 4 forms a backward tilt angle, thereby driving the workpiece to be transferred to tilt backward synchronously; When the two rear-side adjustment cylinders 13 extend, they are used to lift the rear side of the lifting mechanism 4, so that the lifting mechanism 4 forms a forward tilt angle, thereby driving the workpiece to be transferred to tilt forward synchronously. When the two posture adjustment cylinders 13 on the left extend, they are used to lift the left side of the lifting mechanism 4, so that the lifting mechanism 4 is in a right-side tilted downward posture, thereby adjusting the lateral level of the workpiece to be transferred. When the two position adjustment cylinders 13 on the right side extend, they are used to lift the right side of the lifting mechanism 4, so that the lifting mechanism 4 is tilted downward on the left, thereby adjusting the lateral level of the workpiece to be transferred.

[0016] like Figure 3 As shown, four winches 11 are symmetrically installed on the outer sides of the two main beams of the trolley mechanism 3, and four sets of fixed pulley groups 14 are symmetrically installed on the inner sides of the two main beams of the trolley mechanism 3. The wire ropes 12 of both are respectively connected to the four sets of movable pulley groups installed below. During operation, the winding and releasing of the wire ropes 12 are achieved by controlling the forward and reverse rotation of the drums of the winches 11. With the help of the labor-saving and speed-stabilizing effect of the movable pulley groups, the lower lifting device mechanism 4 and the box culvert components are driven to complete the smooth lifting and lowering.

[0017] During operation, by coordinating the extension and retraction of the four attitude adjustment cylinders 13, the elevation (Z-axis) of the lifting device and box culvert components can be precisely finely adjusted. On the other hand, the lifting device mechanism 4 can be driven to complete the bidirectional attitude adjustment of the pitch angle and roll angle, ultimately achieving high-precision positioning of the box culvert components rotating around the X-axis and Y-axis of the spatial coordinate system, providing attitude assurance for assembly and alignment.

[0018] Large vehicle mechanism 2 Figure 4 As shown, it can drive the entire equipment to move along the tunnel excavation direction (Y-axis). Its gear part is precisely meshed with the rack mechanism installed on the shield machine trailer. The reduction motor serves as the power output unit, driving the wheels to rotate by outputting stable torque. The trolley mechanism 2 is also equipped with two manual operation platforms and an electrical cabinet installation platform.

[0019] The trolley walking mechanism 3, as shown in Figure 3 Figure 5 As shown, it is mounted on the trolley mechanism 2 and is a lateral displacement adjustment unit for box culvert hoisting, which can realize precise lateral (X-axis) positioning and translation of box culvert components.

[0020] like Figure 6 As shown, the lifting mechanism 4 is the actuator for clamping the box culvert component. The lifting points at the four corners of the lifting mechanism 4 are connected to the piston rod of the attitude adjustment cylinder 13 by ball joints. The lifting mechanism 4 is driven by the extension and retraction of the attitude adjustment cylinder 13, thereby realizing the displacement adjustment of the box culvert component along the Z-axis and the fine adjustment of the pitch and roll angles. At the same time, the lifting mechanism 4 is equipped with a rotary motor and a slewing bearing. Through this rotary drive assembly, the box culvert component can be rotated around the Z-axis of the spatial coordinate system, and the precise positioning during the rotation process can be ensured.

[0021] This invention enables precise adjustment of the box culvert's three degrees of freedom: the height (Z-axis direction) posture is controlled by a two-stage "coarse adjustment + fine adjustment" system. First, the hoist 11 pulls the lifting device to make coarse adjustment, and then the four posture adjustment cylinders 13 coordinate to extend and retract for fine adjustment. The pitch angle (around the X-axis) and roll angle (around the Y-axis) are adjusted by the rotation of the bearing platform driven by the coordinated control of the four posture adjustment cylinders 13 in pairs.

[0022] To address the issues of traditional box culvert cranes requiring full manual operation and having low automation levels, making them unsuitable for efficient and precise construction, this invention integrates all existing and newly added position adjustment mechanisms of the crane through an automated control system and achieves coordinated control. Ultimately, it achieves fully automated assembly of the entire shield tunnel box culvert construction process, eliminating the need for manual intervention and process connections, effectively improving construction efficiency and assembly accuracy.

[0023] The specific method of using this invention is as follows: The first step is component positioning and gripping preparation. After the assembled box culvert components are transported to the designated area for positioning, the automated control system starts operation, controlling the trolley mechanism 2 and the gantry mechanism 3 to move the C-type lifting device mechanism 4 to the preset gripping area. After positioning with the help of a vision camera, it accurately aligns with the center of the box culvert to complete the automatic gripping.

[0024] The second step is the clamping and smooth lifting of the box culvert. After the C-type lifting mechanism 4 grabs the box culvert into place, it triggers the clamping cylinder to clamp the box culvert. Subsequently, the four heavy-duty winches 11 equipped with the equipment operate synchronously, winding the steel wire rope 12 and linking it with the pulley block under the pulley seat to drive the box culvert to be lifted smoothly, achieving flexible lifting adaptation.

[0025] The third step involves the precise transfer of the box culvert to the assembly area. After the box culvert is detached from the transport equipment, it is transferred to the target assembly position by the coordinated action of the trolley mechanism 2 and the auxiliary trolley mechanism 3. During the transfer, anti-sway control technology is used to suppress the swaying of the wire rope, ensuring the stability of the hoisting.

[0026] The fourth step is attitude data acquisition and attitude adjustment parameter calculation. After the box culvert is transported to the assembly position, the system acquires attitude data of the benchmark box culvert and the box culvert to be assembled through vision cameras and sensors. The adjustment values ​​of each degree of freedom are obtained through six-degree-of-freedom attitude calculation, providing data support for attitude adjustment.

[0027] The fifth step is precise attitude adjustment and alignment assembly with multiple degrees of freedom. Based on the attitude adjustment parameters, multi-mechanism coordinated attitude adjustment is initiated: the Y-axis and X-axis directions are initially aligned by the trolley mechanism 2 and the gantry mechanism 3; the Z-axis direction adopts a "coarse adjustment + fine adjustment" mode, firstly, four winches 11 coordinately adjust the length of the wire rope 12 to complete the coarse adjustment of lifting, and then the four attitude adjustment cylinders 13 extend and retract to achieve precise fine adjustment; the roll angle (around the X-axis) and pitch angle (around the Y-axis) are precisely adjusted by the coordinated extension and retraction of the four attitude adjustment cylinders 13, driving the lower support platform to rotate; the yaw angle (around the Z-axis) is adjusted by the rotation drive mechanism driving the spreader mechanism 4 to rotate. After the adjustment of each degree of freedom is completed, the box culvert to be assembled is driven to fit against the reference box culvert, completing the precise assembly.

[0028] Step 6: Full-process operation monitoring and safety assurance. The automated control system monitors the equipment's operating status throughout the process, focusing on collecting operating parameters of core components such as wire rope tension and winch synchronization error. If any abnormality is detected, it immediately triggers emergency braking or a shutdown alarm. Under normal operating conditions, the entire process takes no more than 20 minutes, significantly improving assembly efficiency and achieving fully automated and precise assembly of the box culvert.

[0029] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible hoisting adaptable type of three-dimensional freedom adjustment device for a component with a lower-mounted movable pulley seat, characterized in that, include: The adjusting housing (1) is a hollow housing structure. An ear plate (14) is fixedly connected to the outer wall of the top of the housing. A pulley mounting hole is provided on the ear plate (14). The movable pulley is hinged to the pulley mounting hole through the pulley shaft. A steel wire rope (12) is wound on the movable pulley. One end of the steel wire rope (12) is fixed to a preset anchor point, and the other end passes around the movable pulley and is fixedly connected to the drum of the winch (11) which is separately set above the adjusting housing (1). The adjusting housing (1) is used to move vertically under the drive of the winch (11) and adjust to a preset height that matches the workpiece to be lifted, providing a basis for the subsequent posture adjustment of the lifting mechanism (4) and the precise alignment of the workpiece. Four posture adjustment holes are provided through the bottom of the adjusting housing (1). Four posture adjustment cylinders (13) are located inside the adjustment housing (1). Their upper ends are all fixed to the top of the inner cavity of the adjustment housing (1) by a Hooke hinge. Their lower ends extend downward through the corresponding posture adjustment holes and out of the adjustment housing (1). The lower ends of the posture adjustment cylinders (13) are hinged to the lugs of the lifting mechanism (4). The lifting mechanism (4) is used to lift the workpiece. Among them, the four posture adjustment cylinders (13) are used to cooperate with each other to change the support height of any side of the lifting mechanism (4) by adjusting their respective extension and retraction, thereby changing the pitch angle and roll angle of the lifting mechanism (4) and thus realizing the posture correction of the workpiece to be lifted.

2. The flexible hoisting adaptable type three-dimensional freedom adjustment device for a component with a lower-mounted movable pulley seat as described in claim 1, characterized in that, The winches (11) are provided in four units and are symmetrically installed on the outside of the two main beams of the trolley mechanism (3). The trolley mechanism (3) is installed on the main trolley mechanism (2) and can move horizontally along the guide rail of the main trolley mechanism (2).

3. The flexible hoisting adaptable type three-dimensional freedom adjustment device for a component with a lower-mounted movable pulley seat as described in claim 1, characterized in that, The four attitude adjustment cylinders (13) are arranged in an array; wherein: When the two posture adjustment cylinders (13) on the front side extend, they are used to lift the front side of the lifting mechanism (4), so that the lifting mechanism (4) forms a backward tilt angle, thereby driving the workpiece to be transferred to tilt backward synchronously; When the two rear adjustment cylinders (13) extend, they are used to lift the rear side of the lifting mechanism (4), so that the lifting mechanism (4) forms a forward tilt angle, thereby driving the workpiece to be transferred to tilt forward synchronously; When the two posture adjustment cylinders (13) on the left side extend, they are used to lift the left side of the lifting mechanism (4), so that the lifting mechanism (4) forms a right-side tilted downward posture, thereby adjusting the lateral level of the workpiece to be transferred. When the two posture adjustment cylinders (13) on the right side extend, they are used to lift the right side of the lifting mechanism (4), so that the lifting mechanism (4) forms a left-side tilted downward posture, thereby adjusting the lateral level of the workpiece to be transferred.

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