Transportation and installation device for top cover of horizontal micro-reactor container

Abstract

The utility model provides a horizontal type micro-reactor container top cover transportation and installation device which comprises an installation frame body, a connecting rod mechanism, a clamp lifting mechanism, a clamp mechanism, a pitching fine adjustment mechanism, a pose measurement and detection device and a controller. The pitching driving mechanism drives the clamp lifting mechanism to rotate and further drives the clamp mechanism to rotate in a pitching mode, the pitching fine adjustment mechanism drives the clamp mechanism to rotate and further conducts pitching fine adjustment on the clamp head mechanism, and the pose measurement and detection device conducts measurement and positioning on position coordinates of a target object. And finally, the top cover clamped on the clamp mechanism is driven to adjust the pose of the top cover in a multi-degree-of-freedom manner, so that bolt hole positioning of the top cover and the shell is completed, and full-automatic mounting and dismounting of the top cover are realized.

Description

Technical Field

[0001] The utility model relates to the technical field of horizontal micro-reactor vessel top cover transportation, in particular to a transportation and installation device for a horizontal micro-reactor vessel top cover. Background Art

[0002] A horizontal micro-reactor vessel refers to a horizontal vessel, whose structure includes a top cover and a shell. The shell is of a rotary body structure, the axis of the shell is parallel or substantially parallel to the ground plane, one end of the shell along the axis is provided with an opening, and the top cover is fixedly installed at the opening end of the shell through bolts; when installing and connecting the top cover and the shell, it is necessary to align the bolt holes of the top cover with those of the shell before bolt connection can be carried out. During the installation and disassembly of the top cover and the shell, the flexibility of the position adjustment of the top cover in the hoisting state by the crane is poor, and manual assistance is required for adjustment and positioning, resulting in a time-consuming and laborious installation process. Content of the Utility Model

[0003] The utility model provides a transportation and installation device for a horizontal micro-reactor vessel top cover to solve the technical problem that the flexibility of the top cover adjustment is poor during the disassembly and assembly of the top cover and the shell, and the disassembly and assembly with the shell cannot be completed quickly.

[0004] A transportation and installation device for a horizontal micro-reactor vessel top cover provided by the utility model, the transportation and installation device for a horizontal micro-reactor vessel top cover includes:

[0005] An installation frame body,

[0006] A connecting rod mechanism, the connecting rod mechanism includes a rear connecting plate and an upper and lower connecting plate respectively rotatably installed on the installation frame body; the rear connecting plate and the upper and lower connecting plates are hinged and connected through a connecting rod;

[0007] A clamp lifting mechanism, the clamp lifting mechanism includes a clamp hanging plate mechanism, a lifting driving mechanism and a pitching driving mechanism; the clamp hanging plate mechanism is rotatably installed on the upper and lower connecting plates, the lifting driving mechanism is rotatably installed on the installation frame body, and the output end of the lifting driving mechanism is connected to the upper and lower connecting plates to drive the upper and lower connecting plates to rotate;

[0008] The pitching driving mechanism is rotatably installed on the installation frame body, and the pitching driving mechanism is connected to the clamp hanging plate mechanism to drive the clamp hanging plate mechanism to rotate;

[0009] The clamp mechanism comprises a clamp cover mechanism, a clamp frame mechanism, a rotary drive mechanism, a clamp head mechanism and a clamp drive mechanism; the clamp cover mechanism is fixedly mounted on the clamp hanging plate mechanism, the clamp frame mechanism is rotatably mounted on the clamp cover mechanism, the rotary drive mechanism is transmission-connected to the clamp frame mechanism for driving the clamp frame mechanism to rotate; one end of the clamp frame mechanism is hingedly connected to the clamp head mechanism, and the clamp drive mechanism is connected to the clamp frame mechanism for driving the clamp head mechanism to clamp;

[0010] A pitch fine-tuning mechanism, wherein the pitch fine-tuning mechanism is mounted on the rear connecting plate and connected to the clamping driving mechanism to drive the clamping mechanism to move in pitch;

[0011] A posture measurement and detection device, which is installed on the clamp head mechanism and is used to determine the position coordinates of the target object;

[0012] A controller is electrically connected to the slewing drive mechanism, the clamping drive mechanism, the pitch fine-tuning mechanism and the posture measurement and detection device.

[0013] In one embodiment of the utility model, the mounting frame includes a frame, wheels, a traveling sprocket and a sprocket drive mechanism, the wheels and the traveling sprocket are rotatably mounted on both sides of the bottom of the frame respectively, and the sprocket drive mechanism is drivingly connected to the traveling sprocket.

[0014] In one embodiment of the utility model, the posture measurement and detection device includes a plurality of laser displacement sensors, the laser displacement sensors are electrically connected to the controller, and the laser displacement sensors are mounted on the clamp head mechanism.

[0015] In one embodiment of the utility model, the clamp hanging plate mechanism includes a transverse hanging shaft, a clamp and a hanging ring plate. The transverse hanging shaft is rotatably mounted on the upper and lower connecting plates. The hanging ring plate is rotatably mounted on the transverse hanging shaft through the clamp. The clamp mechanism is installed on the hanging ring plate, and the hanging ring plate is connected to the output end of the pitch drive mechanism.

[0016] In one embodiment of the utility model, the pitch drive mechanism includes a forward push bracket and a pitch drive cylinder, the forward push bracket is rotatably mounted on the mounting frame, the pitch drive cylinder is hingedly connected to both ends of the forward push bracket, and the output end of the pitch drive cylinder is ball-jointedly connected to a lifting ring plate.

[0017] In one embodiment of the utility model, it also includes a first displacement driving cylinder, two groups of the first displacement driving cylinders are fixedly installed on both sides of the mounting frame, and the output ends of the two groups of the first displacement driving cylinders are respectively connected to the two ends of the horizontal hanging shaft to drive the displacement movement of the horizontal hanging shaft.

[0018] In an embodiment of the present utility model, it further includes a second displacement driving oil cylinder. Two groups of the second displacement driving oil cylinders are fixedly installed on the rear connecting plate, and the output ends of the two groups of the second displacement driving oil cylinders embrace and connect a pitching fine-tuning mechanism.

[0019] In an embodiment of the present utility model, the clamp sleeve mechanism includes a rotating sleeve and a slewing bearing sleeve. The outer rings of the rotating sleeve and the slewing bearing sleeve are fixedly installed on the lifting ring plate, and the inner ring of the slewing bearing sleeve is fixedly connected to the clamp frame mechanism.

[0020] In an embodiment of the present utility model, the clamp frame mechanism includes a telescopic shaft, a hinge connecting plate and a slewing connecting sleeve. The telescopic shaft is in transmission connection with a slewing driving mechanism; one end of the telescopic shaft is rotatably connected to a clamping driving mechanism, the other end is hingedly connected to the hinge connecting plate, the clamp head mechanism is respectively hingedly connected to the hinge connecting plate and the slewing connecting sleeve, and the slewing connecting sleeve is fixedly connected to the inner ring of the slewing bearing sleeve.

[0021] In an embodiment of the present utility model, it further includes a lock bolt machine, and the lock bolt machine is fixedly installed on the slewing connecting sleeve.

[0022] The beneficial effects of the present utility model: A transportation and installation device for the top cover of a horizontal micro-reactor vessel proposed by the present utility model drives the upper and lower connecting plates to rotate through a lifting driving mechanism, and then drives the clamp mechanism to lift in parallel. The pitching driving mechanism drives the clamp lifting mechanism to rotate, and then drives the clamp mechanism to pitch and rotate. The pitching fine-tuning mechanism drives the rotation of the clamp mechanism, and then finely tunes the pitch of the clamp head mechanism, as well as the measurement and positioning of the position coordinates of the target object by the pose measurement and detection device. Finally, it drives the top cover clamped on the clamp mechanism to adjust the pose of the top cover with multiple degrees of freedom, so as to complete the bolt hole positioning of the top cover and the shell, and realize the automatic installation and disassembly of the top cover. Brief Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of an example of the transportation and installation device for the top cover of a horizontal micro-reactor vessel of the present utility model;

[0024] Figure 2 It is a schematic bottom view of the structure of an example of the transportation and installation device for the top cover of a horizontal micro-reactor vessel of the present utility model;

[0025] Figure 3 It is a schematic structural diagram of the connection structure of the link mechanism and the clamp lifting mechanism in an example of the transportation and installation device for the top cover of a horizontal micro-reactor vessel of the present utility model;

[0026] Figure 4 It is a schematic structural diagram of the clamp mechanism in an example of the transportation and installation device for the top cover of a horizontal micro-reactor vessel of the present utility model;

[0027] Figure 5Schematic diagram of the clamp frame mechanism and its connection structure in an example of the transportation and installation device for the top cover of a horizontal micro-reactor vessel of the present utility model;

[0028] Figure 6 Cross-sectional view of the clamp mechanism structure in an example of the transportation and installation device for the top cover of a horizontal micro-reactor vessel of the present utility model.

[0029] 100, mounting frame body; 110, vehicle frame; 120, wheels; 130, traveling sprockets; 140, sprocket drive mechanism;

[0030] 200, link mechanism; 210, rear connecting plate; 211, first hinge shaft hole; 212, second hinge shaft hole; 220, upper and lower connecting plates; 221, third hinge shaft hole; 222, fourth hinge shaft hole; 230, link;

[0031] 300, clamp lifting mechanism; 310, clamp hanging plate mechanism; 311, horizontal hanging shaft; 312, clamp; 313, hanging ring plate;

[0032] 320, lifting drive mechanism;

[0033] 330, pitching drive mechanism; 331, front push bracket; 332, pitching drive oil cylinder; 333, bracket rotating shaft;

[0034] 400, clamp mechanism; 410, clamp sleeve mechanism; 411, rotating sleeve; 412, slewing support sleeve; 4121, slewing support outer ring; 4122, slewing support inner ring;

[0035] 420, clamp frame mechanism; 421, telescopic shaft; 4221, large gear ring; 422, hinge connecting plate; 423, slewing connecting sleeve;

[0036] 430, slewing drive mechanism; 431, output pinion; 440, clamp head mechanism; 450, clamping drive mechanism;

[0037] 500, pitching fine adjustment mechanism;

[0038] 600, pose measurement and detection device;

[0039] 700, first displacement drive oil cylinder; 800, second displacement drive oil cylinder; 900, lock bolt machine. Detailed implementation manners

[0040] The following specific examples illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. It should also be understood that the terms used in the embodiments of the present utility model are for describing specific specific implementation manners, rather than for limiting the protection scope of the present utility model. The test methods without specific conditions noted in the following embodiments are usually in accordance with conventional conditions or in accordance with the conditions recommended by each manufacturer.

[0041] When the embodiments give a numerical range, it should be understood that, unless otherwise stated in the present utility model, any value between the two endpoints of each numerical range and either of the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present utility model, based on the understanding of those skilled in the art of the prior art and the description of the present utility model, can also use any methods, devices, and materials of the prior art similar to or equivalent to those described in the embodiments of the present utility model to implement the present utility model.

[0042] It should be noted that the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, rather than for limiting the scope of implementation of the present utility model. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope of implementation of the present utility model.

[0043] Please refer to Figures 1-6The utility model provides a device for transporting and installing the top cover of a horizontal micro-pile container, which includes a mounting frame 100, a connecting rod mechanism 200, a clamp lifting mechanism 300, a clamp mechanism 400, a pitch fine-tuning mechanism 500, a posture measurement and detection device 600 and a controller; wherein the connecting rod mechanism 200 includes a rear connecting plate 210 and upper and lower connecting plates 220 respectively rotatably mounted on the mounting frame 100; the rear connecting plate 210 and the upper and lower connecting plates 220 are hingedly connected by a connecting rod 230, and the rear connecting plate 210, the upper and lower connecting plates 220 are hingedly connected by a connecting rod 230. 20 and two connecting rods 230 respectively hingedly connected at the connecting ends of the rear connecting plate 210 and the upper and lower connecting plates 220 form a parallel four-bar linkage; specifically, the rear connecting plate 210 is provided with a first hinge shaft hole 211 and a second hinge shaft hole 212, and the upper and lower connecting plates 220 are provided with a third hinge shaft hole 221 and a fourth hinge shaft hole 222; wherein the first hinge shaft hole 211 and the third hinge shaft hole 221 respectively rotatably install the rear connecting plate 210 and the upper and lower connecting plates 220 on the mounting frame 100 through hinge shafts, and the second hinge shaft hole 212 and the fourth hinge shaft hole 222 are used to hinge-connect the connecting rod 230.

[0044] The clamp lifting mechanism 300 includes a clamp hanging plate mechanism 310, a lifting drive mechanism 320 and a pitch drive mechanism 330; the clamp hanging plate mechanism 310 is rotatably installed on the upper and lower connecting plates 220, the fixed base of the lifting drive mechanism 320 is rotatably installed on the mounting frame 100, and the output end of the lifting drive mechanism 320 is hinged to the upper and lower connecting plates 220 to drive the upper and lower connecting plates 220 to rotate; specifically, the lifting drive mechanism 320 adopts a hydraulic cylinder, and the end of the cylinder body of the hydraulic cylinder away from the piston shaft is rotatably installed on the mounting frame 100 through a bearing and a pin shaft, and the protruding end of the piston shaft of the hydraulic cylinder is rotatably connected to the upper and lower connecting plates 220, and the telescopic movement of the piston shaft of the lifting drive mechanism drives the upper and lower connecting plates 220 to rotate on the mounting frame 100, thereby driving the clamp mechanism 400 to rise and fall in parallel.

[0045] The pitch drive mechanism 330 is rotatably mounted on the mounting frame 100, and the pitch drive mechanism 330 is connected to the clamp suspension plate mechanism 310 to drive the clamp suspension plate mechanism 310 to rotate; and then drives the clamp mechanism 400 to pitch and adjust, and drives the oil cylinders of the lifting drive mechanism 320 and the pitch drive mechanism 330 to drive the clamped top cover to adjust the height and angle.

[0046] The clamp mechanism 400 includes a clamp sleeve mechanism 410, a clamp frame mechanism 420, a rotary drive mechanism 430, a clamp head mechanism 440, and a clamping drive mechanism 450. The clamp sleeve mechanism 410 is fixedly installed on the clamp suspension plate mechanism 310. The clamp frame mechanism 420 is rotatably installed within the clamp sleeve mechanism 410. The rotary drive mechanism 430 is fixedly installed on the clamp sleeve mechanism 410, and the rotary drive mechanism 430 is drivingly connected to the clamp frame mechanism 420 to drive the clamp frame mechanism 420 to rotate within the clamp sleeve mechanism 410. One end of the clamp frame mechanism 420 is hingedly connected to the clamp head mechanism 440, and the clamp head mechanism 440 is used for clamping and fixing the top cover. The clamping drive mechanism 450 is connected to the clamp frame mechanism 420 to drive the clamp head mechanism 440 to perform a clamping motion.

[0047] The pitch fine-tuning mechanism 500 is installed on the rear connecting plate 210. The driving end of the pitch fine-tuning mechanism 500 is connected to the clamping drive mechanism 450 and is used to drive the clamp mechanism 400 to perform a pitch motion.

[0048] The pose measurement and detection device 600 is installed on the clamp head mechanism 440 and is used to determine the position coordinates of the target object.

[0049] A controller, the controller is electrically connected to the rotary drive mechanism 430, the clamping drive mechanism 450, the pitch fine-tuning mechanism 500, and the pose measurement and detection device 600. The controller includes an electrical control system and a hydraulic control system and is used to control the overall operation of the device.

[0050] Please refer to Figures 1-2 , in an example of the transportation and installation device of the present utility model, the mounting frame body 100 includes a vehicle frame 110, wheels 120, traveling sprockets 130, and a sprocket drive mechanism 140. The wheels 120 and the traveling sprockets 130 are respectively rotatably installed on both sides of the bottom of the vehicle frame 110. The sprocket drive mechanism 140 is drivingly connected to the traveling sprockets 130. Specifically, several groups of wheels 120 are respectively installed on both sides of the bottom of the vehicle frame 110. The wheels 120 are in rolling connection with the displacement tracks laid in the workshop, and the wheels 120 are mainly used for supporting the vehicle frame 110 and its upper-mounted components. The traveling sprockets 130 cooperate with the chain tracks laid in the workshop. Under the driving action of the chain drive between the sprocket drive mechanism 140 and the traveling sprockets 130, the traveling sprockets 130 rotate, and then perform a displacement motion on the chain tracks.

[0051] Please refer to Figure 1 and Figure 4, in an example of the transportation and installation device of the present utility model, the pose measurement and detection device 600 can be any suitable device type capable of detecting the position and pose of the container top cover or the container tank body. In this embodiment, a plurality of laser displacement sensors are adopted and respectively installed on the clamp head mechanism 440. By feeding back the position and pose data provided by the plurality of laser displacement sensors to the controller system, real-time pose adjustment of the top cover can be achieved. The laser displacement sensors can be obtained through general commercial means and will not be elaborated here.

[0052] Please refer to Figures 3-4 , in an example of the transportation and installation device of the present utility model, the clamp hanger plate mechanism 310 includes a horizontal hanger shaft 311, a clamp 312, and a hanger plate 313. The two ends of the horizontal hanger shaft 311 are respectively rotatably installed on both sides of the upper and lower connecting plates 220. At the same time, the horizontal hanger shaft 311 can slide axially on the upper and lower connecting plates 220; the hanger plate 313 is rotatably installed on the horizontal hanger shaft 311 through the clamp 312. The clamp mechanism 400 is installed on the hanger plate 313. The hanger plate 313 is connected to the output end of the pitching drive mechanism 330. The telescopic movement of the pitching drive mechanism 330 drives the hanger plate 313 and the horizontal hanger shaft 311 to rotate relative to the upper and lower connecting plates 220, thereby driving the clamp mechanism 400 to perform a large-amplitude pitching up and down to adjust the top cover to a suitable angular installation position.

[0053] Please refer to Figures 3-4 , in an example of the transportation and installation device of the present utility model, the pitching drive mechanism 330 includes a front push support 331 and a pitching drive oil cylinder 332. The front push support 331 is rotatably installed on the mounting frame body 100. Specifically, a rotating shaft hole is provided on the front push support 331, and a support rotating shaft 333 is fixed on the mounting frame body 100. The front push support 331 is rotatably installed on the mounting frame body 100 through the support rotating shaft 333; the cylinder body of the pitching drive oil cylinder 332 is hinged to both ends of the front push support 331, and the output end of the piston shaft of the pitching drive oil cylinder 332 is ball-jointed to the hanger plate 313. When the pitching drive oil cylinder 332 and the hydraulic cylinder of the lifting drive mechanism 320 work simultaneously, it drives the clamp mechanism 400 to perform parallel lifting and lowering movements. When the pitching drive oil cylinder 332 works alone, it drives the clamp lifting mechanism 300 to perform rotational movements, and further drives the clamp mechanism 400 to perform pitching adjustments.

[0054] Please refer to Figures 3-6, in an example of the transportation and installation device of the present utility model, it further includes a first displacement driving oil cylinder 700. The cylinder bodies of the two groups of first displacement driving oil cylinders 700 are fixedly installed on both sides of the installation frame body 100. The output ends of the piston shafts of the two groups of first displacement driving oil cylinders 700 are respectively connected to both ends of the horizontal lifting shaft 311 to drive the horizontal lifting shaft 311 to perform displacement movement. Specifically, the first displacement driving oil cylinder 700 is fixedly installed on the vehicle frame 110, and the output end of the first displacement driving oil cylinder 700 is connected to the end of the horizontal lifting shaft 311. The pulling and pushing movements of the two groups of first displacement driving oil cylinders 700 on both ends of the horizontal lifting shaft 311 drive the horizontal lifting shaft 311 to slide on the upper and lower connecting plates 220, thereby driving the components clamped by the jaw mechanism 440 to perform fine displacement adjustment, facilitating the positioning of the bolt holes of the target object. At the same time, it further includes a second displacement driving oil cylinder 800. The two groups of second displacement driving oil cylinders 800 are fixedly installed on the rear connecting plate 210, and the output ends of the two groups of second displacement driving oil cylinders 800 are clamped and connected to the pitch fine adjustment mechanism 500; the second displacement driving oil cylinder 800 cooperates with the first displacement driving oil cylinder 700 to achieve displacement adjustment. When the action states of the second displacement driving oil cylinder 800 and the first displacement driving oil cylinder 700 are the same, it drives the clamp mechanism 400 to perform translational fine adjustment; when the action states of the second displacement driving oil cylinder 800 and the first displacement driving oil cylinder 700 are opposite or one of them does not act, the lifting ring plate 313 swings relative to the horizontal lifting shaft 311, thereby driving the position of the clamp mechanism 400 to perform fine adjustment.

[0055] Please refer to Figures 4-6 , in an example of the transportation and installation device of the present utility model, the clamp sleeve mechanism 410 includes a rotating sleeve 411 and a slewing support sleeve 412. Specifically, the slewing support sleeve 412 includes a slewing support outer ring 4121 and a slewing support inner ring 4122, adopting a slewing bearing structure, and the slewing support outer ring 4121 and the slewing support inner ring 4122 can perform relative rotational movement; the rotating sleeve 411 is fixedly connected to the slewing support outer ring 4121 and is installed on both sides of the lifting ring plate 313, and the slewing support inner ring 4122 is fixedly connected to the clamp frame mechanism 420, and the clamp frame mechanism 420 can rotate within the slewing support sleeve 412 and the rotating sleeve 411; wherein the clamp frame mechanism 420 includes a telescopic shaft 421, a hinge connecting plate 422, and a slewing connecting sleeve 423.

[0056] The telescopic shaft 421 is in transmission connection with the slewing drive mechanism 430, and the slewing drive mechanism 430 is fixedly installed on the rotating sleeve 411; a large gear ring 4221 is arranged at the end of the telescopic shaft 421; the slewing drive mechanism 430 includes a hydraulic motor, a speed reducer and an output pinion 431, and the output pinion 431 meshes with the large gear ring 4221 on the telescopic shaft 421 to transmit the rotational power to the telescopic shaft 421, thereby driving the telescopic shaft 421 to rotate within the inner ring of the slewing support sleeve 412, and further driving the jaw mechanism 440 to rotate; the axial direction of one end of the telescopic shaft 421 close to the slewing drive mechanism 430 is rotatably connected to the clamping drive mechanism 450, the other end of the clamping drive mechanism 450 is connected to the output end of the pitch fine-tuning mechanism 500, and the output end of the clamping drive mechanism 450 is rotatably connected to the end of the telescopic shaft 421. When the hydraulic cylinder of the clamping drive mechanism 450 performs telescopic movement, it drives the telescopic shaft 421 to be able to perform axial displacement movement; the other end of the telescopic shaft 421 is hinged to connect two hinge connecting plates 422, the two hinge connecting plates 422 are respectively hinged to connect the jaw mechanism 440, and at the same time the jaw mechanism 440 is hinged to the rotary connecting sleeve 423, and the rotary connecting sleeve 423 is fixedly connected to the inner ring of the slewing support sleeve 412, so that the hinged end of the telescopic shaft 421, the hinge connecting plate 422 and the connecting end of the jaw mechanism 440 form a linkage mechanism. When the telescopic shaft 421 performs displacement movement, it drives the jaw mechanism 440 to generate a rotational movement on the rotary connecting sleeve 423 through the hinge connecting plate 422, thereby realizing the relative opening and closing of the two clamping jaws of the jaw mechanism 440 and realizing the clamping movement of the top cover.

[0057] Please refer to Figures 1-2 , in an example of the transportation and installation device of the present utility model, the transportation and installation device of the present utility model further includes two lock bolt machines 900, and the two lock bolt machines 900 are fixedly installed on the rotary connecting sleeve 423. After the top cover and the housing are positioned, the lock bolt machines 900 are used to tighten the bolts to connect the top cover and the housing, realizing the automatic installation and disassembly of the top cover. In this embodiment, the lock bolt machines 900 can be obtained through general commercial means and will not be elaborated here.

[0058] The working principle of the transportation and installation device for the top cover of the horizontal micro-reactor vessel of the present utility model is as follows: The sprocket drive mechanism 140 and the walking sprocket 130 cooperate with the chain track in the workshop for the displacement movement of the transportation and installation device. The position and pose measurement and detection device 600 determines the position coordinates of the target object, and the control jaw mechanism 440 clamps the top cover. When the top cover and the shell are installed, the lifting drive mechanism 320, the pitching drive mechanism 330, the slewing drive mechanism 430, the pitching fine-tuning mechanism 500, the first displacement drive oil cylinder 700, and the second displacement drive oil cylinder 800 control the top cover on the control jaw mechanism 440 to perform multi-degree-of-freedom lifting, pitching, and rotational position adjustment under the action of the controller to adjust to the installation angle adapted to the shell. After the installation connection between the top cover and the shell is completed, and the position and pose are adjusted in place, the bolt locking machine 900 will lock and connect the top cover and the shell through bolts.

[0059] The above embodiments only illustrate the principle and its effects of the present utility model, rather than limiting the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. A device for transporting and installing the top cover of a horizontal micro-pile container, characterized in that: include Install the frame, A connecting rod mechanism, the connecting rod mechanism comprising a rear connecting plate and upper and lower connecting plates respectively rotatably mounted on the mounting frame; the rear connecting plate and the upper and lower connecting plates are hingedly connected via a connecting rod; A clamp lifting mechanism, the clamp lifting mechanism comprising a clamp hanging plate mechanism, a lifting drive mechanism and a pitching drive mechanism; the clamp hanging plate mechanism is rotatably mounted on the upper and lower connecting plates, the lifting drive mechanism is rotatably mounted on the mounting frame, and the output end of the lifting drive mechanism is connected to the upper and lower connecting plates to drive the upper and lower connecting plates to rotate; The pitch drive mechanism is rotatably mounted on the mounting frame, and the pitch drive mechanism is connected to the clamp and hanger plate mechanism to drive the clamp and hanger plate mechanism to rotate; The clamp mechanism comprises a clamp cover mechanism, a clamp frame mechanism, a rotary drive mechanism, a clamp head mechanism and a clamp drive mechanism; the clamp cover mechanism is fixedly mounted on the clamp hanging plate mechanism, the clamp frame mechanism is rotatably mounted on the clamp cover mechanism, the rotary drive mechanism is transmission-connected to the clamp frame mechanism for driving the clamp frame mechanism to rotate; one end of the clamp frame mechanism is hingedly connected to the clamp head mechanism, and the clamp drive mechanism is connected to the clamp frame mechanism for driving the clamp head mechanism to clamp; A pitch fine-tuning mechanism, wherein the pitch fine-tuning mechanism is mounted on the rear connecting plate and connected to the clamping driving mechanism to drive the clamping mechanism to move in pitch; A posture measurement and detection device, which is installed on the clamp head mechanism and is used to determine the position coordinates of the target object; A controller is electrically connected to the slewing drive mechanism, the clamping drive mechanism, the pitch fine-tuning mechanism and the posture measurement and detection device.

2. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 1 is characterized in that: The mounting frame comprises a vehicle frame, wheels, a traveling sprocket and a sprocket driving mechanism. The wheels and the traveling sprocket are rotatably mounted on both sides of the bottom of the vehicle frame respectively, and the sprocket driving mechanism is drivingly connected with the traveling sprocket.

3. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 1 is characterized in that: The posture measurement and detection device comprises a plurality of laser displacement sensors, the laser displacement sensors are electrically connected to a controller, and the laser displacement sensors are mounted on a clamp head mechanism.

4. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 1, characterized in that: The clamp hanging plate mechanism includes a transverse hanging shaft, a clamp and a lifting ring plate. The transverse hanging shaft is rotatably mounted on the upper and lower connecting plates. The lifting ring plate is rotatably mounted on the transverse hanging shaft through the clamp. The clamp mechanism is installed on the lifting ring plate, and the lifting ring plate is connected to the output end of the pitch driving mechanism.

5. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 4 is characterized in that: The pitch drive mechanism comprises a forward push bracket and a pitch drive cylinder. The forward push bracket is rotatably mounted on the mounting frame. The pitch drive cylinder is hingedly connected to both ends of the forward push bracket. The output end of the pitch drive cylinder is ball-jointedly connected to a lifting ring plate.

6. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 4, characterized in that: It also includes a first displacement drive cylinder, two groups of which are fixedly installed on both sides of the mounting frame, and the output ends of the two groups of which are respectively connected to the two ends of the horizontal hanging shaft to drive the horizontal hanging shaft to move.

7. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 6 is characterized in that: It also includes a second displacement driving cylinder, two groups of which are fixedly mounted on the rear connecting plate, and the output ends of the two groups of which are connected to a pitch fine-tuning mechanism.

8. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 4, characterized in that: The clamp sleeve mechanism comprises a rotating sleeve and a slewing support sleeve. The outer rings of the rotating sleeve and the slewing support sleeve are fixedly mounted on the ring plate, and the inner ring of the slewing support sleeve is fixedly connected to the clamp frame mechanism.

9. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 8, characterized in that: The clamp frame mechanism includes a telescopic shaft, a hinged connecting plate and a rotary connecting sleeve. The telescopic shaft is transmission-connected to the rotary driving mechanism. One end of the telescopic shaft is rotationally connected to the clamping driving mechanism, and the other end is hingedly connected to the hinged connecting plate. The clamp head mechanism is hingedly connected to the hinged connecting plate and the rotary connecting sleeve respectively, and the rotary connecting sleeve is fixedly connected to the inner ring of the rotary support sleeve.

10. The device for transporting and installing the top cover of a horizontal micro-pile container according to claim 9, characterized in that: It also includes a bolt locking machine, which is fixedly installed on the rotary connecting sleeve.

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