Steel pipe grabbing and transporting device of power transformation converter station transport vehicle

Abstract

A steel pipe grabbing and transporting device of a power transformation and convertor station transport vehicle comprises a bottom frame installed on a vehicle chassis, the bottom frame is connected with a main suspension arm through a rotary supporting unit, and one end of the main suspension arm is connected with a steel pipe grabbing hand through a suspension arm connector. The steel pipe grabbing and transporting device provided by the utility model is provided with the steel pipe grabbing hand capable of rotating along three axes, so that the steel pipe can be grabbed, transported, loaded and unloaded in any orientation posture. The steel pipe grabbing and transporting vehicle is further provided with an integrated installation platform underframe, the steel pipe bracket and the supporting legs are integrally installed through the underframe, the transverse space occupation of the vehicle is reduced, the vehicle can be integrated and miniaturized, and the steel pipe grabbing and transporting vehicle is suitable for grabbing and transporting steel pipes in narrow and complex operation environments such as substations and converter stations.

Description

Technical Field

[0001] The utility model relates to on-site maintenance and transportation equipment for a transformer substation or a converter station, in particular to a steel pipe grabbing and transportation device for a transformer substation and converter station transport vehicle. Background Art

[0002] During the construction or maintenance of a substation or converter station, it is necessary to transport and hoist the steel pipes to be installed on site. In the current existing technology, the transportation and hoisting of steel pipes are all carried out by conventional hoisting equipment or manual operation, which has low operating efficiency. After the steel pipes are transported to the installation site, if the steel pipes need to be installed vertically, they still need to go through a complex hoisting and transporting process. The entire operation process is time-consuming, requires more manpower, and has certain safety hazards. Since the construction site routes of substations or converter stations are relatively complex and there are many related equipment, the hoisting and transportation of steel pipes often requires passing through a relatively complex and crowded environment. Using conventional hoisting devices will make the operation process more difficult and less adaptable.

[0003] Through searching, technical documents on maintenance equipment for transformer substations and converter stations or handling and grabbing devices for tubular objects have been disclosed in the prior art. For example, the utility model authorization announcement document with the publication number "CN213537194U" and the name "A multifunctional substation equipment micro maintenance vehicle" is disclosed. A multifunctional substation equipment micro maintenance vehicle is disclosed. It is equipped with a rubber crawler chassis at the bottom of the main frame, hydraulic legs at the four corners of the main frame, a generator is fixed at the center of one side of the main frame, and a lift and a hydraulic pump station are respectively located in front and behind the generator. At the bottom of the other side of the main frame are an air compressor and a tool box, and at the top is a rotating telescopic micro crane arm. A traction winch is also fixed at the front end of the main frame, and a standing pedal and control panel are fixed at the rear end. And all kinds of control valve stems, buttons or switches are connected and installed on the control panel by pipelines. Although this comparative document provides a maintenance vehicle for substations, it does not involve equipment solutions related to steel pipe grabbing and handling.

[0004] For example, the invention patent publication document with the publication number "CN115817658A" and the name "All-terrain multifunctional transport equipment for substations". The all-terrain multifunctional transport equipment for substations includes a crawler walking part, a bottom box and a bucket; the crawler walking part is used to drive the bottom box and the bucket to move; the bottom box is used to connect the crawler walking part and the bucket, and is arranged above the crawler walking part; the bucket is used to load conventional power working tools; through the crawler walking part, bottom box and bucket: the power working construction tools are placed in the bucket for loading, and when transporting the tools, the bottom box and the bucket can be driven by the electric crawler walking part to facilitate the transportation of the construction tools to the construction site. The transport equipment disclosed in this comparative document can transport steel pipes, but does not involve equipment solutions related to grabbing and handling steel pipes.

[0005] For example, the invention patent publication document with the publication number of "CN105438292A" and the name of "A Multifunctional Pipeline Anchor Transport Vehicle" discloses a multifunctional pipeline anchor transport vehicle, including a crawler-type walking chassis driven by a power system and a 360° rotatable slewing platform installed on the crawler-type walking chassis, a driver's cab, a control system and a monitoring system are provided on the fully slewing platform, and a foldable pipeline bracket, a fixed ground pile bracket, a 180° rotatable slewing arm assembly and a ground pile drilling assembly are also provided on the slewing platform. The slewing platform, the slewing arm assembly and the ground pile drilling assembly are driven by a hydraulic system, a display device of the monitoring system is installed in the driver's cab, and a monitoring device of the monitoring system is arranged outside the driver's cab to monitor the operation of the slewing arm assembly and the ground pile drilling assembly, and the control system controls the operation of the power system, the monitoring system and the hydraulic system. The technical solution disclosed in the comparative document can anchor pipelines for transportation, but the motion trajectory of its pipeline grabbing and transporting device is relatively simple, and there is no targeted integrated structural improvement. It cannot be used for steel pipe grabbing and transporting in narrow and complex working environments such as substations and converter stations.

[0006] Therefore, it is of great significance to propose a steel pipe grabbing and transporting device suitable for use in a transformer substation transport vehicle in the art. Utility Model Content

[0007] In view of the deficiencies in the prior art, the utility model provides a steel pipe grabbing and transporting device for a substation transport vehicle, comprising a chassis mounted on a vehicle chassis, the chassis being connected to a main boom via a slewing support unit, and one end of the main boom being connected to a steel pipe grabber via a boom interface.

[0008] Furthermore, the steel pipe grabber includes a telescopic arm, a beam, and a clamping claw. The beam is connected to one end of the telescopic arm, and the clamping claw is respectively connected to both ends of the beam. It also includes a clamping cylinder that can drive the clamping claw to open and close. The telescopic arm has a swing interface at one end relative to the beam, and the swing interface is connected to a swing unit. The swing unit is connected to the boom through the boom interface, and the swing unit can drive the telescopic arm to swing around the A axis.

[0009] Furthermore, one end of the telescopic arm 1 relative to the swing unit is connected to the beam 1 through a rotating unit, and the rotating unit can drive the beam 1 to rotate around the B axis.

[0010] Furthermore, the rotary unit is connected to beam 2, one end of beam 2 is hinged to the middle of beam 1 through pin 4, and the other end is connected to beam 1 through a fine-tuning cylinder, and the movable end of the fine-tuning cylinder is telescopic to drive beam 1 to swing around the C axis.

[0011] Furthermore, the two ends of the cross beam are respectively fixedly connected to the longitudinal beam, one end of the clamping cylinder is fixedly connected to the longitudinal beam, and the clamping claw includes a pair of clamping arms and transmission arms arranged opposite to each other. The clamping arm is hinged to the longitudinal beam through pin shaft 1, and the clamping arm is also hinged to the transmission arm through pin shaft 2. The transmission arm is hinged to the movable end of the clamping cylinder through pin shaft 3.

[0012] Furthermore, steel pipe brackets are installed at both ends of the base frame, one end of the steel pipe bracket is connected to one end of the base frame through telescopic arm 2, and the other end is hinged to the steel pipe bracket arm.

[0013] Furthermore, legs are installed at both ends of the base frame, and one end of the leg is connected to the base frame via a leg telescopic unit.

[0014] Furthermore, the leg telescopic unit is a telescopic arm three, and the telescopic arm three and the telescopic arm two are connected side by side to one end of the base frame.

[0015] Alternatively, the outrigger telescopic unit is the telescopic arm 2, the outrigger is connected to one end of the telescopic arm 2 through an outrigger bracket, and a steel pipe support arm is hinged on the outrigger bracket.

[0016] Furthermore, the swivel support unit is located in the middle of the chassis, and a storage box is connected to the chassis space between the swivel support unit and the steel pipe bracket.

[0017] Compared with the prior art, the technical solution of the present application has the following beneficial effects: the steel pipe grabbing and transporting device provided by the utility model has a steel pipe grabber that can rotate on three axes, and can grab, transport, load and unload steel pipes in any orientation. It also has an integrated mounting platform chassis, which is used to integrate the steel pipe bracket and the legs, reducing the lateral space occupied by the vehicle, making the vehicle integrated and miniaturized, and suitable for steel pipe grabbing and transporting in narrow and complex working environments such as substations and converter stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 : Schematic diagram of the overall structure of the steel pipe grabbing and transporting device;

[0019] Figure 2 : Schematic diagram of the overall structure of the chassis;

[0020] Figure 3 : Schematic diagram of chassis operation status;

[0021] Figure 4 : Schematic diagram of the side structure of the chassis;

[0022] Figure 5 : Schematic diagram of integrated outrigger structure;

[0023] Figure 6 :Integrated outrigger operation status diagram Figure 1 :

[0024] Figure 7 :Integrated outrigger operation status diagram Figure 2 ;

[0025] Figure 8 : Schematic diagram of the overall structure of the steel pipe gripper;

[0026] Fig. 9 : Side view of the steel pipe gripper Figure 1 ;

[0027] Fig.10 : Side view of the steel pipe gripper Figure 2 . DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] like Figure 1 As shown, the present embodiment provides a steel pipe grabbing and transporting device for a substation transport vehicle, including a chassis 51 mounted on a vehicle chassis, the chassis 51 being connected to a main boom 53 via a slewing support unit 52, and one end of the main boom 53 being connected to a steel pipe grab 4 via a boom interface 413. In the present embodiment, the chassis of the substation transport vehicle is a crawler-type walking chassis, and its hydraulic and power systems are irrelevant to the invention concept of the utility model and are not described in detail here. The chassis 51 is a steel frame-type bracket, which is fixedly mounted on the vehicle chassis. The chassis 51 has an installation platform, on which the auxiliary equipment of the transport vehicle is deployed, and the steel pipe grabbing and transporting device is arranged as a whole on the installation platform of the chassis 51. Such a design is considered to be as integrated and miniaturized as possible while meeting the functions of steel pipe transportation, installation and walking, so that it can pass through a relatively narrow and complex environment at the operation site of the substation.

[0030] like Figure 1 as well as Figure 8~Figure 10 The steel pipe gripper 4 includes a telescopic arm 41, a beam 42, and a clamp 43. The beam 42 is connected to one end of the telescopic arm 41. The clamp 43 is respectively connected to both ends of the beam 42. It also includes a clamping cylinder 431 that can drive the clamp 43 to open and close. The telescopic arm 41 has a swing interface 411 at one end relative to the beam 42. The swing interface 411 is connected to a swing unit. The swing unit is connected to the boom through a boom interface 413. The swing unit can drive the telescopic arm 41 to swing around the A axis.

[0031] In this embodiment, the telescopic arm 41 itself is mutually connected and can be extended and retracted, and one end thereof is connected to the main boom 53 of the transport and maintenance vehicle. The two ends of the cross beam 42 are respectively connected to the clamping claws 43. The swing unit is connected to the telescopic arm 41 on one hand and to the boom on the other hand. Under the drive of the swing unit, the entire telescopic arm 41, the cross beam 42, and the clamping claw 43 can swing around the A axis. The main boom 53 is also connected and retractable, and in this embodiment, there are four sections of retractability.

[0032] A more preferred specific implementation of the swing unit may be that the swing interface 411 is a swing connection ear 414 fixedly connected to one end of the telescopic arm 41, the swing unit is a spiral swing cylinder 44, the output shaft of the spiral swing cylinder 44 is connected to the swing connection ear 414 and can drive the swing connection ear 414 to drive the telescopic arm 41 to swing around the A axis, and the boom interface 413 is located on the spiral swing cylinder 44. The output shaft of the spiral swing cylinder 44 is rotatable, and since it is connected to the swing connection ear 414, it can drive the swing connection ear 414 and ultimately drive the entire telescopic arm 41, the crossbeam 42, and the clamp 43 to swing around the A axis. Alternatively, the spiral swing cylinder 44 can also realize the A axis swing through a motor combined with a gear transmission, but it has more transmission structures and occupies a larger space than the aforementioned implementation.

[0033] In a more preferred embodiment, one end of the telescopic arm 41 relative to the swing unit is connected to the beam 42 via a swivel unit, and the swivel unit can drive the beam 42 to rotate around the B axis. One end of the telescopic arm 41 relative to the swing unit is connected to the beam 42 via a swivel unit, and the swivel unit can drive the beam 42 to rotate around the B axis. The swivel unit is connected between the telescopic arm 41 and the beam 42, so that the entire beam 42 and the clamp 43 can be driven to rotate around the B axis, which further enriches the motion trajectory of the clamp 43 on the basis of the above-mentioned embodiment.

[0034] A more preferred specific implementation of the rotary unit may be that the rotary unit is a rotary reducer 45, and the output shaft of the rotary reducer 45 is connected to the middle part of the beam 1 42.

[0035] In a more preferred embodiment, the two ends of the cross beam 1 42 are respectively fixedly connected to the longitudinal beam 46, one end of the clamping cylinder 431 is fixedly connected to the longitudinal beam 46, and the clamping jaw 43 includes a pair of clamping arms 432 and a transmission arm 433 arranged opposite to each other, the clamping arm 432 is hinged to the longitudinal beam 46 through the pin 1 434, the clamping arm 432 is also hinged to the transmission arm 433 through the pin 2 435, and the transmission arm 433 is hinged to the movable end of the clamping cylinder 431 through the pin 3 436. In this embodiment, the clamping arm 432 and the transmission arm 433 are two groups and are arranged opposite to each other in the single-side clamping jaw 43. The pair of clamping arms 432 are hinged to the two sides of the longitudinal beam 46 through the pin 1 434, and the pair of transmission arms 433 are also hinged to the pair of clamping arms 432 through the pin 2 435. The aforementioned connection structure enables the clamping arms 432 and the transmission arms 433 disposed opposite to each other to form a diamond-shaped opening and closing structure, and the clamping arms 432 can be driven to open and close by the extension and contraction of the movable end of the clamping cylinder 431 to complete the grasping and placing of the steel pipe. Obviously, the opening and closing method of this structure is that a pair of clamping arms 432 are opened and closed synchronously, and compared with the grasping device with single opening and closing, the opening and closing stroke is shorter, the efficiency is higher, and it is more conducive to grasping and placing the steel pipe.

[0036] In a more preferred embodiment, the output shaft of the rotary reducer 45 is connected to the second beam 47, one end of the second beam 47 is hinged to the middle of the first beam 42 through the pin 471, and the other end is connected to the first beam 42 through the fine-tuning oil cylinder 48, and the movable end of the fine-tuning oil cylinder 48 is extended to drive the first beam 42 to swing around the C axis. In the field environment of the substation or converter station, the placement site of the steel pipe is not flat, and there is a certain slope or inclination. The function of the fine-tuning oil cylinder 48 is to drive the first beam 42 to swing around the C axis, so that the clamps 43 at both ends of the first beam 42 can grasp and place the steel pipe in parallel.

[0037] In a more preferred embodiment, the output shaft of the rotary reducer 45 is connected to the second beam 47, one end of the second beam 47 is hinged to the middle of the first beam 42 through the pin 471, and the other end is connected to the first beam 42 through the fine-tuning oil cylinder 48, and the movable end of the fine-tuning oil cylinder 48 is extended to drive the first beam 42 to swing around the C axis. In the field environment of the substation or converter station, the placement site of the steel pipe is not flat, and there is a certain slope or inclination. The function of the fine-tuning oil cylinder 48 is to drive the first beam 42 to swing around the C axis, so that the clamps 43 at both ends of the first beam 42 can grasp and place the steel pipe in parallel.

[0038] In a more preferred embodiment, the movable end of the fine-tuning cylinder 48 is hinged to the beam 1 42 , and the fixed end is hinged to the beam 2 47 .

[0039] In a more preferred embodiment, the inner side of the clamping arm 432 has an arc surface 4321. The bottom of the beam 1 42 is connected to an arc pad 421, and when the clamping arm 432 is close together, the arc pad 421 and the arc surface 4321 are in contact with the outer wall of the steel pipe. The arrangement of the arc surface 4321 and the arc pad 421 makes the contact part of the clamping jaw 43 and the steel pipe fit the steel pipe as closely as possible, ensuring that the clamping is not loose during the steel pipe grasping process.

[0040] like Figure 1 , Figure 2~Figure 7 As shown, in a more preferred embodiment, steel pipe brackets 511 are installed at both ends of the base frame 51, one end of the steel pipe bracket 511 is connected to one end of the base frame 51 through the telescopic arm 2 512, and the other end is hinged to the steel pipe bracket arm 513. The steel pipe bracket arm 513 has a plurality of arc-shaped support blocks 5131 arranged side by side, and the arc-shaped support blocks 5131 are movably connected to the steel pipe bracket arm 513 through the U-shaped groove 5132 and the bolt, so the spacing between the arc-shaped support blocks 5131 can be adjusted. When the outer diameter of the transported steel pipe changes, the spacing can be adjusted to prevent collision and interference when the steel pipe is placed. When loading, unloading and carrying the steel pipe, the steel pipe bracket 511 is first extended horizontally through the telescopic arm 2 512, and the steel pipe bracket arm 513 is flipped and swung to the horizontal, and the steel pipe is placed on the arc-shaped support block 5131 by using the aforementioned steel pipe gripper 4, thereby completing the loading, unloading and carrying of the steel pipe.

[0041] Legs 514 are also installed at both ends of the base frame 51, and one end of the leg 514 is connected to the base frame 51 through a leg telescopic unit. During operation, the leg 514 is first extended horizontally through the leg telescopic unit, and then longitudinally telescoped to contact the ground, providing ground support for the lifting and installation of the steel pipe. The steel pipe bracket 511 and the leg 514 can be retracted, folded and recovered. When the operation is completed or when walking to the operation point, the steel pipe bracket 511 and the leg 514 can be recovered and folded. Since the two are respectively installed at the two ends of the base frame 51, that is, the steel pipe bracket 511 and the leg 514 are installed at the two ends of the base frame 51 along the walking direction of the vehicle, the lateral space of the vehicle is reduced, which is conducive to the vehicle walking and shuttling in a small space.

[0042] In a more preferred embodiment, the leg telescopic unit is a telescopic arm 3 515, and the telescopic arm 3 515 and the telescopic arm 2 512 are connected side by side to one end of the base frame 51. In this embodiment, the leg telescopic unit is independent of the telescopic arm 2 512 of the steel pipe bracket 511, and both are installed side by side at both ends of the base frame 51.

[0043] Another more preferred embodiment is as follows Figure 5~Figure 7As shown, the leg telescopic unit is the telescopic arm 2 512, the leg 514 is connected to one end of the telescopic arm 2 512 through the leg bracket 516, and the steel pipe bracket 513 is hinged on the leg bracket 516. In this embodiment, the leg telescopic unit and the telescopic arm 2 512 of the steel pipe bracket 511 reuse the telescopic unit, the leg bracket 516 is installed longitudinally, the leg 514 is installed in the leg bracket 516, and the upper end of the leg bracket 516 is hinged to the steel pipe bracket 513. The folding and turning of the steel pipe bracket 513 is manual, and the specific operation is to pull out the pin 5131 in the folded steel pipe bracket 513, and then insert the pin 5131 into another pin hole after the steel pipe bracket 513 is turned horizontally.

[0044] In a more preferred embodiment, the slewing support unit 52 is located in the middle of the chassis 51, and a storage box 517 is connected to the chassis 51 space between the slewing support unit 52 and the steel pipe bracket 511. The storage box 517 can be used to hold relevant tools. The chassis 51 is used as an installation platform and is also equipped with the steel pipe bracket 511 and the legs 514. The entire steel pipe grabbing and transporting device does not occupy too much lateral space of the vehicle, making the vehicle more integrated and miniaturized, and can be used in complex and narrow working environments such as substations and converter stations.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steel pipe grabbing and transporting device for a transformer substation transport vehicle, comprising a chassis (51) mounted on a vehicle chassis, the chassis (51) being connected to a main boom (53) via a slewing support unit (52), characterized in that: One end of the main boom (53) is connected to the steel pipe gripper (4) via a boom interface (413); The steel pipe gripper (4) comprises a telescopic arm (41), a crossbeam (42), and a clamping claw (43), wherein the crossbeam (42) is connected to one end of the telescopic arm (41), and the clamping claw (43) is respectively connected to both ends of the crossbeam (42), and further comprises a clamping cylinder (431) capable of driving the clamping claw (43) to open and close. The telescopic arm (41) has a swing interface (411) at one end relative to the crossbeam (42), and the swing interface (411) is connected to a swing unit, which is connected to the boom via a boom interface (413), and the swing unit can drive the telescopic arm (41) to swing around an A axis.

2. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 1, characterized in that: One end of the telescopic arm 1 (41) relative to the swing unit is connected to the crossbeam 1 (42) via a rotation unit, and the rotation unit can drive the crossbeam 1 (42) to rotate around the B axis.

3. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 2, characterized in that: The rotary unit is connected to the second crossbeam (47), one end of the second crossbeam (47) is hinged to the middle of the first crossbeam (42) via a fourth pin (471), and the other end is connected to the first crossbeam (42) via a fine-tuning oil cylinder (48), and the movable end of the fine-tuning oil cylinder (48) is extended and retracted to drive the first crossbeam (42) to swing around the C axis.

4. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 3, characterized in that: The two ends of the cross beam (42) are respectively fixedly connected to the longitudinal beam (46); one end of the clamping cylinder (431) is fixedly connected to the longitudinal beam (46); the clamping claw (43) comprises a pair of clamping arms (432) and a transmission arm (433) arranged opposite to each other; the clamping arm (432) is hinged to the longitudinal beam (46) through a pin shaft (434); the clamping arm (432) is also hinged to the transmission arm (433) through a pin shaft (435); and the transmission arm (433) is hinged to the movable end of the clamping cylinder (431) through a pin shaft (436).

5. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 4, characterized in that: Steel pipe brackets (511) are installed at both ends of the base frame (51); one end of the steel pipe bracket (511) is connected to one end of the base frame (51) through a second telescopic arm (512), and the other end is hinged to a steel pipe bracket arm (513).

6. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 5, characterized in that: Support legs (514) are also installed at both ends of the base frame (51), and one end of the support leg (514) is connected to the base frame (51) via a support leg telescopic unit.

7. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 6, characterized in that: The leg telescopic unit is a telescopic arm three (515), and the telescopic arm three (515) and the telescopic arm two (512) are connected side by side to one end of the base frame (51).

8. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 7, characterized in that: The leg telescopic unit is the second telescopic arm (512), the leg (514) is connected to one end of the second telescopic arm (512) through a leg bracket (516), and the steel pipe support arm (513) is hinged on the leg bracket (516).

9. The steel pipe grabbing and transporting device for a transformer substation transport vehicle according to claim 8, characterized in that: The slewing support unit (52) is located in the middle of the base frame (51), and a storage box (517) is connected to the space of the base frame (51) between the slewing support unit (52) and the steel pipe bracket (511).

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