Multi-piece type head rotation deformation mechanism and four-column tower assembling equipment

Abstract

The multi-piece head rotation deformation mechanism comprises a hoisting platform and a tower body rotary table, the hoisting platform is connected with the tower body rotary table, the tower body rotary table is suitable for rotating relative to the hoisting platform, the tower body rotary table comprises a shaft barrel and a connecting assembly, the shaft barrel is connected with the hoisting platform in a nested mode, and the connecting assembly is arranged in the circumferential direction of the shaft barrel; the connecting assembly comprises at least one rotary table and a supporting leg lug plate, the supporting leg lug plate is connected with the rotary table, the rotary table is suitable for being rotationally arranged on the shaft barrel in a sleeving mode, and the rotary plane of the rotary table is perpendicular to the axis of the shaft barrel, so that the supporting leg lug plate is suitable for rotating along the axis of the shaft barrel. The movable supporting leg has the advantages of being high in flexibility and stability, and the movable supporting leg connected with the tower body rotary table can obtain the higher movement freedom degree while the movement stability is guaranteed.

Description

Technical Field

[0001] This application relates to the technical field of transmission line construction, and particularly relates to a multi-piece head rotation and deformation mechanism and a four-column tower erection equipment. Background Art

[0002] In recent years, with the continuous increase in the demand for electric power energy in the social development of our country, the demand for the construction of overhead transmission lines has also been growing continuously. Tower erection for transmission lines is a basic operation. Due to external factors such as terrain environment, meteorological conditions, adjacent interference, and mechanical limitations, there are various tower erection operation methods, and the construction conditions and selected machinery are diverse and complex. The tower erection operation environment includes various terrain sites such as cities, rural areas, lakes, islands, and mountains, and there are also various adjacent interferences such as adjacent to railways, power lines, and buildings.

[0003] Common tower erection methods for transmission lines include gin pole operation, crane operation, cantilever operation, etc. The above operation methods all have their application limitations and cannot comprehensively adapt to various site environments. In some extreme site environments, it is easy to encounter problems such as difficult operation or even inability to operate. Therefore, tower erection robots that can adapt to all terrains and all scenarios have emerged.

[0004] However, the existing tower erection robots have the following defects: Currently, the flexibility and stability of tower erection robots on the market are relatively average, which easily leads to difficulties in efficiently completing some processes of tower erection operations. Summary of the Invention

[0005] An object of this application is to provide a multi-piece head rotation and deformation mechanism and a four-column tower erection equipment with high flexibility and stability.

[0006] To achieve the above object, the technical solution adopted in this application is: A multi-piece head rotation and deformation mechanism, including a hoisting platform and a tower body turntable. The hoisting platform is connected to the tower body turntable, and the tower body turntable is adapted to rotate relative to the hoisting platform. The tower body turntable includes a shaft cylinder and a connection component. The shaft cylinder is nested and connected to the hoisting platform. The connection component is arranged circumferentially along the shaft cylinder and is adapted to rotate around the axis of the shaft cylinder. The connection component includes a turntable and a leg ear plate. At least one turntable is connected to the leg ear plate. The turntable is adapted to rotatably sleeve on the shaft cylinder, and the rotation plane of the turntable is perpendicular to the axis of the shaft cylinder, so that the leg ear plate is adapted to rotate around the axis of the shaft cylinder.

[0007] In some embodiments, a plurality of mutually parallel turntables are connected to the leg ear plate.

[0008] In some embodiments, the turntables within different said connecting components are rotatably sleeved on the shaft cylinder in an interlaced and mating manner, so as to mutually restrict the degrees of freedom of the connecting components in the axial direction of the shaft cylinder; an isolating sleeve is sleeved on the shaft cylinder, and the turntables within the connecting components are respectively nested and connected to the shaft cylinder on both sides of the isolating sleeve, and the isolating sleeve is adapted to restrict the degrees of freedom of the connecting components in the axial direction of the shaft cylinder; bushing portions are provided at both ends of the shaft cylinder, and the bushing portions are adapted to restrict the degrees of freedom of the connecting components in the axial direction of the shaft cylinder.

[0009] In some embodiments, hinge points are provided on the leg lugs, and the hinge points of all the leg lugs are located in the same rotation plane perpendicular to the axis of the shaft cylinder; a limit pin is provided on the leg lugs in a plane higher than the plane where the hinge points are located.

[0010] In some embodiments, the number of the connecting components is at least three, hinge points are provided on the leg lugs, and the maximum angle α between the projection of the connection line between the hinge points of two adjacent leg lugs and the axis of the shaft cylinder in the same rotation plane perpendicular to the axis of the shaft cylinder is less than 180°.

[0011] In some embodiments, the leg lugs are adapted to abut against each other in the circumferential direction of the shaft cylinder to limit the maximum angle α to be less than 180°.

[0012] In some embodiments, clamping grooves and clamping portions are respectively provided on the leg lugs and the turntables, and the clamping grooves and the clamping portions are adapted to be clamped in cooperation in a direction away from the shaft cylinder; a fixing pin is provided between the leg lugs and the turntables, and the fixing pin is adapted to prevent the clamping grooves and the clamping portions from disengaging from each other.

[0013] In some embodiments, a tower body base is connected below the hoisting platform and / or the shaft cylinder, and the tower body base is adapted to lower the center of gravity of the multi-piece head rotation deformation mechanism.

[0014] In some embodiments, a tower body stabilizer is provided on the tower body base. The tower body stabilizer includes a stabilizer cylinder base and a mooring ring plate. The stabilizer cylinder base is rotatably connected to the tower body base, and the axis of the stabilizer cylinder base coincides with the axis of the shaft cylinder. The mooring ring plate is provided with a plurality of mooring holes along the circumferential direction of the stabilizer cylinder base; the mooring holes are arranged at equal intervals along the circumferential direction of the stabilizer cylinder base; a chassis is provided below the tower body base, a wire passing hole is provided on the chassis, and a plurality of lead pulleys are arranged along the circumferential direction of the wire passing hole on the chassis; a support pipe insertion hole is provided below the base; the number of the support pipe insertion holes is multiple, and the support pipe insertion holes are arranged at equal intervals along the circumferential direction of the stabilizer cylinder base; a plurality of pulley assemblies are arranged at equal intervals along the circumferential direction of the shaft cylinder on the hoisting platform.

[0015] A four-column tower erection equipment includes four movable legs and the multi-piece head rotation deformation mechanism described in any one of the above. The movable legs are adapted to be hinged to the leg ear plates, and the movable legs are adapted to rotate along a plane passing through the axis of the shaft cylinder. The maximum included angle β between adjacent movable legs rotating and opening along the circumferential direction of the shaft cylinder is not greater than 170°.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows:

[0017] 1. The multi-piece head rotation deformation mechanism of the present application enables convenient disassembly and assembly between each connection component and the shaft cylinder through the turntable structure design, which can improve the assembly convenience. The turntable structure design can also increase the contact area between the connection component and the shaft cylinder, disperse the force, so as to improve the overall load capacity, thereby enhancing the stability. At the same time, the turntable structure design can also make the connection component and the shaft cylinder independent of each other, reduce structural interference, and improve the flexibility of the connection component and the shaft cylinder. In addition, the turntable structure design can also increase the maximum movement range of the connection component, so that the tower erection robot using the multi-piece head rotation deformation mechanism can obtain a higher upper limit of the deformation amplitude.

[0018] 2. The four-column tower erection equipment of the present application can obtain the maximum deformation amplitude and flexibility while ensuring the overall stability by optimizing the connection method between the connection component and the shaft cylinder and using the mutual abutting and cooperation between the connection components, without the need to rely on other constraint structures, thereby effectively reducing the structural complexity, reducing the number of components, lowering the disassembly and assembly difficulty, and ultimately comprehensively improving the efficiency of the tower erection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is an overall structural view according to a preferred embodiment of the present application.

[0020] Figure 2 is a combined schematic diagram of the hoisting platform and the tower body turntable according to a preferred embodiment of the present application.

[0021] Figure 3 It is an overall structural view of the tower body turntable according to a preferred embodiment of the present application.

[0022] Figure 4 It is an exploded structural view of the tower body turntable according to a preferred embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of the maximum rotation and opening state of adjacent connection components according to a preferred embodiment of the present application.

[0024] Figure 6 It is an assembly schematic diagram of the connection components according to a preferred embodiment of the present application.

[0025] Figure 7 It is a structural schematic diagram of the tower body base according to a preferred embodiment of the present application.

[0026] Figure 8 It is a top view of the tower body base according to a preferred embodiment of the present application.

[0027] Figure 9 It is a connection schematic diagram of the movable support leg and the tower body turntable according to a preferred embodiment of the present application.

[0028] Figure 10 It is a schematic diagram of the maximum rotation and opening state of adjacent movable support legs according to a preferred embodiment of the present application.

[0029] In the figure: 1, hoisting platform; 11, pulley assembly; 111, fixed pulley; 112, guiding pulley; 113, pulley block suspension shaft; 114, rope pressing shaft; 12, end cover; 13, thrust bearing; 14, radial bearing; 2, tower body turntable; 21, shaft cylinder; 211, bushing part; 22, connection component; 221, turntable; 2211, clamping part; 222, support leg ear plate; 2221, hinge point; 2222, limit pin; 2223, abutting surface; 2224, clamping groove; 223, fixing pin; 23, isolating sleeve; 3, tower body base; 4, tower body stabilizer; 41, stabilizer cylinder seat; 42, mooring ring plate; 421, mooring hole; 5, chassis; 51, wire passing hole; 52, lead-in pulley; 53, support pipe socket; 6, movable support leg. Detailed implementation manners

[0030] Next, in combination with the detailed implementation manners, the present application will be further described. It should be noted that, on the premise of no conflict, any combination can be formed between the following-described embodiments or technical features to form a new embodiment.

[0031] In the description of the present application, it should be noted that for the orientation terms, such as the terms "center", "horizontal", "vertical", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0033] The terms "comprising" and "having" in the description and claims of the present application, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] The following further describes the present application with reference to the drawings:

[0035] As Figures 1 to 10 shown, the present application provides a multi-piece head rotation deformation mechanism, including a hoisting platform 1 and a tower body turntable 2. The hoisting platform 1 is connected to the tower body turntable 2, and the tower body turntable 2 is adapted to rotate relative to the hoisting platform 1.

[0036] As Figures 1 to 2 shown in the embodiment, a plurality of pulley assemblies 11 are arranged at equal intervals along the circumferential direction of the shaft cylinder 21 on the hoisting platform 1. The pulley assemblies 11 are used to connect and guide the hoisting cable. At the same time, by using the relative rotation between the hoisting platform 1 and the tower body turntable 2, the pulley assemblies 11 can rotate with the hoisting cable and release the torsional stress, improving the smoothness of the hoisting process.

[0037] As Figure 2 shown in the embodiment, the pulley assembly 11 includes accessories such as a fixed pulley 111, a guide pulley 112, a pulley group suspension shaft 113, a rope pressing shaft 114, etc.

[0038] As Figure 2In the illustrated embodiment, the tower body turntable 2 includes a shaft cylinder 21 and a connection assembly 22. The shaft cylinder 21 is nestedly connected to the hoisting platform 1. A end cover 12 is provided below the hoisting platform 1. The shaft cylinder 21 is clamped to the hoisting platform 1 by the end cover 12. A thrust bearing 13 is clamped between the upper end of the shaft cylinder 21 and the hoisting platform 1, and a radial bearing 14 is clamped between the lower end of the shaft cylinder 21 and the end cover 12.

[0039] As Figure 3 and 4 In the illustrated embodiment, the connection assembly 22 is arranged circumferentially along the shaft cylinder 21 and is adapted to rotate about the axis of the shaft cylinder 21. The connection assembly 22 is adapted to connect the movable leg 6. By the relative rotation of the hoisting platform 1 and the tower body turntable 2, the movable leg 6 can freely change its orientation, increasing the movement range and flexibility of the movable leg 6, so that the movable leg 6 can achieve effective support in each process of the tower erection operation.

[0040] The connection assembly 22 includes a turntable 221 and a leg ear plate 222. The leg ear plate 222 is connected to at least one turntable 221. The turntable 221 is adapted to rotatably sleeve on the shaft cylinder 21, and the rotation plane of the turntable 221 is perpendicular to the axis of the shaft cylinder 21, so that the leg ear plate 222 is adapted to rotate about the axis of the shaft cylinder 21. By using the turntable 221 for sleeving connection, the movement of the leg ear plate 222 can be freed from the restrictions and obstacles of the structure of the shaft cylinder 21, thereby further improving the movement flexibility.

[0041] Due to the limitation of the connection method between the tower body turntable 2 and the movable leg 6 of the traditional tower erection robot, there is a maximum relative rotation angle between the tower body turntable 2 and the movable leg 6. When the relative rotation between the tower body turntable 2 and the movable leg 6 reaches the maximum angle, the relative rotation cannot continue to occur to help the tower erection robot overcome the torsional phenomenon during the climbing process. At this time, the attitude of the tower body turntable 2 can only be actively adjusted, thereby affecting the efficiency of the tower erection operation. Moreover, when the relative rotation between the tower body turntable 2 and the movable leg 6 reaches the maximum angle, it will cause a large load and impact on the connection structure between the tower body turntable 2 and the movable leg 6, thereby affecting the service stability and service life. However, the multi-piece head rotation deformation mechanism of the present application can enable a 360° full-angle rotation in the circumferential direction between the shaft cylinder 21 and the leg ear plate 222, reducing or even eliminating the phenomenon of deformation obstruction caused by the connection between the shaft cylinder 21 and the leg ear plate 222 exceeding the design limit during the climbing process of the tower erection robot, helping the tower erection robot overcome the torsional phenomenon during the climbing process, and greatly improving the service stability.

[0042] In some embodiments, a plurality of mutually parallel turntables 221 are connected to the leg ear plate 222. After the leg ear plate 222 is sleeved on the shaft cylinder 21 through the plurality of turntables 221, it can be constrained with the shaft cylinder 21 in the horizontal direction, thereby restricting the leg ear plate 222 from approaching or moving away from the shaft cylinder 21 in the horizontal direction. At the same time, the acting force received by the leg ear plate 222 can be dispersed and transmitted to the shaft cylinder 21, thus improving the connection stability.

[0043] It can be understood that the larger the clamping area (the larger the number or the greater the thickness) between the turntable 221 connected to the leg ear plate 222 and the shaft cylinder 21, the higher the connection stability with the shaft cylinder 21. Relatively, the overall load will also increase.

[0044] In some embodiments, the turntables 221 in different connection components 22 are rotatably sleeved on the shaft cylinder 21 in an interlaced and matched manner, so that the degrees of freedom of the connection components 22 in the axial direction of the shaft cylinder 21 are mutually constrained. By using the turntables 221, the connection components 22 can be limited in the axial direction of the shaft cylinder 21. The connection strength is effectively improved by staggered stacking, and the probability of the leg ear plate 222 being pulled off is reduced.

[0045] The purpose of the interlaced and matched design of the turntables 221 is to make full use of the space around the shaft cylinder 21, reduce the space occupation, improve the structural compactness, reduce the overall volume, and at the same time, the compact structure can further improve the connection stability between the connection components 22 and the shaft cylinder 21, realizing multi-directional positive feedback.

[0046] In addition, the interlaced and matched design of the turntables 221 can optimize the contact force points between the connection components 22 and the shaft cylinder 21, facilitate the arrangement of the positions of the leg ear plates 222 of different connection components 22, and enable each leg ear plate 222 to be distributed around the shaft cylinder 21 in a manner that the circumferential projection shapes are the same. It can also be understood that the upper ends of each leg ear plate 222 can be located in the same horizontal plane, the lower ends of each leg ear plate 222 can be located in the same horizontal plane, and the hinge points 2221 and other structures of each leg ear plate 222 can be located in the same horizontal plane to achieve a design with the same height, thereby improving the force uniformity between the connection components 22 and the movable leg 6. The structure of the leg ear plate 222 can also be designed as the same structure accordingly, increasing the universality of parts and reducing costs.

[0047] Such as Figures 2 to 4In the illustrated embodiment, according to the structural strength requirements, the leg lugs 222 of one connecting component 22 can be connected to two turntables 221 with higher thicknesses (the turntables 221 connected by the leg lugs 222 are a1 and a2 respectively), and the leg lugs 222 of the remaining connecting components 22 are connected to four turntables 221 with lower thicknesses (when the number of connecting components 22 is three, the turntables 221 connected to the leg lugs 222 are b1, b2, b3, b4 and c1, c2, c3, c4 and d1, d2, d3, d4 respectively). The four turntables 221 with lower thicknesses on the leg lugs 222 are respectively inserted into both sides of the two turntables 221 with higher thicknesses of another leg lug 222, and are filled and placed in a staggered manner on both sides of the two turntables 221 with higher thicknesses. That is, it can be understood that b1, c1, d1 and b2, c2, d2 are inserted and distributed in sequence on both the upper and lower sides of the turntable 221a1, and b3, c3, d3 and b4, c4, d4 are inserted and distributed in sequence on both the upper and lower sides of the turntable 221a2. The arrangement is orderly, and the structural stability can be effectively improved by the way of inserting and stacking.

[0048] As Figure 2 and 4 In the illustrated embodiment, an isolation sleeve 23 is sleeved on the shaft cylinder 21. The turntables 221 in the connecting component 22 are nested and connected to the shaft cylinder 21 on both sides of the isolation sleeve 23 respectively. The isolation sleeve 23 is suitable for restricting the degree of freedom of the connecting component 22 in the axial direction of the shaft cylinder 21. Considering that the leg lugs 222 need a certain length during use, and also considering that the farther the two turntables 221 on the farther side of the leg lugs 222 are spaced apart, the higher the connection stability with the shaft cylinder 21. However, limited by the fact that too many turntables 221 will cause a large load, therefore, based on the above design factors, after a fixed number of turntables 221 are stacked, a vacancy will be generated near the middle of the leg lugs 222. The isolation sleeve 23 is used to fill this vacancy to limit the movement of the turntables 221 on the shaft cylinder 21.

[0049] On the premise of ensuring the structural strength of the isolation sleeve 23, a weight reduction design such as grooving can also be carried out on the isolation sleeve 23 to reduce the overall weight of the mechanism.

[0050] As Figure 2 and 4 In the illustrated embodiment, bushing portions 211 are provided at both ends of the shaft cylinder 21. The bushing portions 211 are suitable for restricting the degree of freedom of the connecting component 22 in the axial direction of the shaft cylinder 21. The bushing portions 211 can limit the turntables 221 from slipping off the shaft cylinder 21 and improve the connection stability between the connecting component 22 and the shaft cylinder 21.

[0051] The isolation sleeve 23 and the bushing portions 211 cooperate with each other, so that the connecting component 22 can only rotate along the circumferential direction of the shaft cylinder 21 and cannot move in other directions and in other states, thereby improving the structural stability.

[0052] In some embodiments, the bushing portion 211 at at least one end of the shaft cylinder 21 is suitable for disassembly and can be easily turned over and sleeved onto the shaft cylinder 21 from one end of the shaft cylinder 21, reducing the difficulty of assembly and installation.

[0053] In some embodiments, a hinge point 2221 is provided on the leg ear plate 222. A hinge shaft is suitable to be arranged at the hinge point 2221. The hinge shaft is suitable to be hinged with the movable leg 6 in a vertical plane and will not twist. The hinge points 2221 of all the leg ear plates 222 are located in the same rotation plane perpendicular to the axis of the shaft cylinder 21, which can balance the force arms formed between each movable leg 6 and the leg ear plate 222 and reduce the probability of structural torsion due to unbalanced force.

[0054] As Figure 1 In the illustrated embodiment, a limit pin 2222 is provided on the leg ear plate 222 in a plane higher than the plane where the hinge point 2221 is located. When the leg ear plate 222 is connected to the movable leg 6, the limit pin 2222 can limit the excessive upward rotation of the movable leg 6, avoiding damage caused by the opening angle of the movable leg 6 being too large resulting in too short a force arm to bear the load.

[0055] In some embodiments, the limit pin 2222 limits the angle between the movable leg 6 and the vertical direction to not exceed 80°. Within this angle range, the movable leg 6 can obtain higher use stability and safety.

[0056] As Figure 5 In the illustrated embodiment, the number of the connection components 22 is at least three. A hinge point 2221 is provided on the leg ear plate 222. The maximum included angle α between the projection of the hinge points 2221 of two adjacent leg ear plates 222 in the same rotation plane perpendicular to the axis of the shaft cylinder 21 and the axis of the shaft cylinder 21 is less than 180°. The purpose is to ensure that the hoisting platform 1 will not deviate from the range formed by the end connection lines of the four movable legs 6 during the change of the tower erection robot working conditions, and ensure that the tower erection robot for aerial operation will not overturn.

[0057] In some embodiments, considering the self - volume and structural shape of the hoisting platform 1 and the tower body turntable 2, a relatively safe setting range is that the maximum included angle α is not greater than 170°, which has a certain safety margin.

[0058] As Figure 5 In the illustrated embodiment, the leg ear plates 222 are suitable to abut against each other along the circumferential direction of the shaft cylinder 21 to limit the maximum included angle α to be less than 180°. The space in the circumferential direction of the shaft cylinder 21 is occupied by the volume of all the leg ear plates 222 themselves, thereby limiting the range of the maximum included angle α. There is no need to set other limiting structures, and it is more stable and convenient to use.

[0059] AsFigure 5 In the illustrated embodiment, abutting surfaces 2223 are convexly provided on both sides of the outrigger ear plate 222. When adjacent outrigger ear plates 222 approach each other, they are adapted to have line contact or surface contact with each other through the abutting surfaces 2223, increasing the contact area and reducing contact wear and collision deformation.

[0060] In some embodiments, the maximum included angle α formed by the rotation of the outrigger ear plate 222 can be manually limited by means of a pin, a limit block, etc.

[0061] In some embodiments, clamping grooves 2224 and clamping portions 2211 are respectively provided on the outrigger ear plate 222 and the turntable 221. The clamping grooves 2224 and the clamping portions 2211 are adapted to be clamped and engaged with each other in a direction away from the shaft cylinder 21, improving the connection stability between the outrigger ear plate 222 and the turntable 221.

[0062] As Figure 6 In the illustrated embodiment, the clamping grooves 2224 and the clamping portions 2211 are combined with each other in the structure form of a dovetail tenon.

[0063] In some embodiments, a fixing pin 223 is provided between the outrigger ear plate 222 and the turntable 221. The fixing pin 223 is adapted to prevent the clamping grooves 2224 and the clamping portions 2211 from being disengaged from each other.

[0064] As Figure 6 In the illustrated embodiment, the fixing pin 223 is adapted to penetrate into the outrigger ear plate 222 from the bottom direction of the clamping groove 2224 and lock with the clamping portion 2211, which is convenient for installation and not prone to structural interference.

[0065] As Figure 1 In the illustrated embodiment, a tower body base 3 is connected below the hoisting platform 1 and / or the shaft cylinder 21. The tower body base 3 is adapted to lower the center of gravity of the multi-piece head rotation and deformation mechanism, enabling the multi-piece head rotation and deformation mechanism to effectively maintain a vertical and upright state in a free state and reducing the probability of tipping over.

[0066] As Figures 7 to 8 In the illustrated embodiment, a tower body stabilizer 4 is provided on the tower body base 3. The tower body stabilizer 4 includes a stabilizer cylinder base 41 and a mooring ring plate 42. The stabilizer cylinder base 41 is rotatably connected to the tower body base 3, and the axis of the stabilizer cylinder base 41 coincides with the axis of the shaft cylinder 21. A plurality of mooring holes 421 are provided along the circumferential direction of the stabilizer cylinder base 41 on the mooring ring plate 42. After connecting the mooring ropes on the ground to the mooring holes 421, the tower body stabilizer 4 can obtain a stabilizing effect, increasing the downward force and helping the multi-piece head rotation and deformation mechanism as a whole to maintain a vertical and upright state, reducing the probability of tipping over.

[0067] As Figure 8In the illustrated embodiment, the cable holes 421 are arranged at equal intervals in the circumferential direction of the stabilizer barrel base 41, so that the cables can evenly tow the tower stabilizer 4.

[0068] As Figures 7 to 8 In the illustrated embodiment, a chassis 5 is provided below the tower base 3. A wire passing hole 51 is provided on the chassis 5. The hoisting cable can pass through the wire passing hole 51 to be connected to the hoisting platform 1. A plurality of wire guiding pulleys 52 are arranged on the chassis 5 along the circumferential direction of the wire passing hole 51. The wire guiding pulleys 52 are used to guide the hoisting cable to pass through, reducing the abrasion between the hoisting cable and the tower base 3.

[0069] As Figure 8 In the illustrated embodiment, the number of the wire guiding pulleys 52 is 4, and they are evenly distributed at equal intervals in the circumferential direction of the wire passing hole 51.

[0070] As Figure 7 In the illustrated embodiment, a support pipe socket 53 is provided below the base. The support pipe socket 53 is used to connect a support pipe to realize the support of the tower base 3.

[0071] In some embodiments, the support pipe socket 53 is a square hole with a certain length and is parallel to the base.

[0072] In some embodiments, the number of the support pipe sockets 53 is multiple, and the support pipe sockets 53 are arranged at equal intervals in the circumferential direction of the stabilizer barrel base 41.

[0073] As Figure 1 、 Figure 9 and Figure 10 As shown, the present application further provides a four-column tower erection equipment, including four movable legs 6 and the multi-piece head rotation and deformation mechanism of any of the above embodiments. The movable legs 6 are adapted to be hinged to the leg ear plates 222. The movable legs 6 are adapted to rotate in a plane passing through the axis of the shaft cylinder 21. The maximum included angle β of the adjacent movable legs 6 rotating and opening in the circumferential direction of the shaft cylinder 21 is not greater than 170°. During the change of the tower erection robot working condition, the multi-piece head rotation and deformation mechanism is always within the range of the connection line of the ends of the four movable legs 6, ensuring that the tower erection robot for aerial operation will not overturn.

[0074] The above describes the basic principle, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present application. Without departing from the spirit and scope of the present application, the present application will have various changes and improvements, and these changes and improvements all fall within the scope of the present application claimed. The scope of protection claimed by the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-piece head rotation deformation mechanism, characterized in that: It includes a hoisting platform and a tower turntable, the hoisting platform and the tower turntable are connected, the tower turntable is suitable for rotating relative to the hoisting platform, the tower turntable includes a shaft cylinder and a connecting assembly, the shaft cylinder is nested and connected to the hoisting platform, the connecting assembly is arranged along the circumference of the shaft cylinder and is suitable for rotating along the axis of the shaft cylinder, the connecting assembly includes a turntable and a leg ear plate, the leg ear plate is connected with at least one turntable, the turntable is suitable for rotating on the shaft cylinder, and the rotation plane of the turntable is perpendicular to the axis of the shaft cylinder, so that the leg ear plate is suitable for rotating along the axis of the shaft cylinder.

2. A multi-piece head rotation deformation mechanism as claimed in claim 1, characterized in that: A plurality of mutually parallel turntables are connected to the leg ear plates.

3. A multi-piece head rotation deformation mechanism as claimed in claim 2, characterized in that: The rotating disks in different connecting components are staggered and matched with each other and are rotatably sleeved on the shaft cylinder so that the degrees of freedom of the connecting components along the axial direction of the shaft cylinder are mutually constrained; an isolation sleeve is sleeved on the shaft cylinder, and the rotating disks in the connecting component are respectively nested and connected to the shaft cylinder on both sides of the isolation sleeve, and the isolation sleeve is suitable for constraining the degrees of freedom of the connecting component along the axial direction of the shaft cylinder; bushing parts are provided at both ends of the shaft cylinder, and the bushing parts are suitable for constraining the degrees of freedom of the connecting component along the axial direction of the shaft cylinder.

4. A multi-piece head rotation deformation mechanism as claimed in claim 1, characterized in that: The leg ear plate is provided with a hinge point, and the hinge points of all the leg ear plates are located in the same rotation plane perpendicular to the axis of the shaft tube; the leg ear plate is provided with a limit pin on a plane higher than the plane where the hinge point is located.

5. A multi-piece head rotation deformation mechanism as claimed in claim 1, characterized in that: The number of the connecting components is at least three, and a hinge point is arranged on the leg ear plate. The maximum angle α between the projections of the hinge points of two adjacent leg ear plates in the same rotation plane perpendicular to the axis of the shaft tube and the line connecting the axis of the shaft tube is less than 180°.

6. A multi-piece head rotation deformation mechanism as claimed in claim 5, characterized in that: The leg ear plates are suitable for abutting against each other along the circumferential direction of the shaft cylinder to limit the maximum angle α to less than 180°.

7. A multi-piece head rotation deformation mechanism as claimed in claim 1, characterized in that: A snap-fitting groove and a snap-fitting portion are respectively provided on the leg ear plate and the turntable, and the snap-fitting groove and the snap-fitting portion are suitable for cooperating and snapping in a direction away from the shaft tube; a fixing pin is provided between the leg ear plate and the turntable, and the fixing pin is suitable for limiting the snap-fitting groove and the snap-fitting portion from disengaging from each other.

8. A multi-piece head rotation deformation mechanism as claimed in claim 1, characterized in that: A tower body base is connected below the hoisting platform and / or the shaft cylinder, and the tower body base is suitable for moving the center of gravity of the multi-piece head rotation deformation mechanism downward.

9. A multi-piece head rotation deformation mechanism as claimed in claim 8, characterized in that: A tower stabilizer is arranged on the tower base, and the tower stabilizer includes a stabilizer cylinder seat and a mooring ring plate, the stabilizer cylinder seat is rotatably connected to the tower base, the axis of the stabilizer cylinder seat coincides with the axis of the shaft cylinder, and the mooring ring plate is provided with a plurality of mooring holes along the circumference of the stabilizer cylinder seat; the mooring holes are arranged at equal intervals along the circumference of the stabilizer cylinder seat; a chassis is arranged below the tower base, and a wire passing hole is arranged on the chassis, and a plurality of lead pulleys are arranged along the circumference of the wire passing hole; a support tube plug hole is arranged below the base; the number of the support tube plug holes is multiple, and the support tube plug holes are arranged at equal intervals along the circumference of the stabilizer cylinder seat; the hoisting platform is provided with a plurality of pulley assemblies at equal intervals along the circumference of the shaft cylinder.

10. A four-column tower assembly equipment, characterized in that: It comprises four movable legs and a multi-piece head rotation deformation mechanism as claimed in any one of claims 1 to 9, wherein the movable legs are suitable for being hinged with the leg ear plates, and the movable legs are suitable for rotating along a plane passing through the axis of the shaft tube, and the maximum angle β opened by adjacent movable legs rotating along the circumferential direction of the shaft tube is not greater than 170°.

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