A heavy component dismounting device

Abstract

The utility model relates to a kind of dismounting device for heavy component, it is related to dismounting tool technical field, it includes omni-directional mobile car body, lifting assembly, folding arm module, fixture assembly and force sensing component;Omnidirectional mobile car body integrates workpiece and folding arm module storage function and workpiece rotation motion energy, the coherence of dismounting process is guaranteed, lifting assembly uses double mast telescopic guide mechanism and hydraulic drive mechanism to ensure lifting stability in the dismounting process of heavy component, folding arm module is connected three sections folding arms by unpowered joint and with anti-collision block, can be compactly folded in non-working state, fixture assembly contains detachable jaw, force sensing component supports suspension and two modes of force sensing.The lifting adjustment when workpiece is disassembled and the coherent transfer after workpiece is disassembled are realized by controller coordination each component when folding arm posture is adjusted manually.The utility model efficiently dismounts heavy component, and reduces labor intensity, improves safety, adapts narrow space and the dismounting of various heavy components.

Description

Technical Field

[0001] This utility model relates to the field of disassembly and assembly tools, specifically a disassembly and assembly device for heavy components. Background Technology

[0002] In the daily maintenance and repair of diesel locomotives, it is often necessary to disassemble and transport heavy components (heavy-weight parts) such as combined regulators and drive shafts. These parts can weigh up to hundreds of kilograms, and traditional operating methods have significant drawbacks. Currently, the industry mainly relies on manual labor using simple lifting tools (such as manual hoists and small forklifts). On the one hand, manual handling is extremely labor-intensive, and operators are prone to fatigue, resulting in low work efficiency and failing to meet the high-efficiency requirements of locomotive disassembly, assembly, and repair. On the other hand, simple tools lack precise positioning and stable load-bearing capacity, and the parts are prone to shaking and shifting during grabbing, lifting, and moving. This not only fails to guarantee the accuracy of disassembly and assembly but may also cause collision damage to the parts, posing safety hazards such as operator injury and falling parts.

[0003] Meanwhile, the maintenance work area for diesel locomotives is limited, and traditional handling equipment is mostly unidirectional, making it difficult to turn or move laterally in a confined space and accurately reach the work position. Furthermore, operation in a confined space is difficult, making it impossible to accurately position parts. In addition, the existing disassembly and assembly tools have poor clamping compatibility for different specifications of diesel locomotive parts, making replacement cumbersome and further reducing disassembly and assembly efficiency.

[0004] To solve the above-mentioned technical problems, there is an urgent need for a device with autonomous omnidirectional movement, high-precision assisted lifting, flexible manual positioning, and universal clamping functions, so as to reduce the labor intensity of operators and improve the efficiency and safety of disassembly and assembly of heavy components. Utility Model Content

[0005] To address the aforementioned problems, this utility model provides a disassembly and assembly device for heavy components that enables efficient, precise, and safe disassembly and assembly operations.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a disassembly and assembly device for heavy components, an omnidirectional mobile vehicle body, which is provided with several workpiece support frames and folding arm support frames on the top, and is provided with drive wheels, casters and hydraulic outriggers at the bottom, and is provided with a hydraulic station and energy storage power supply inside.

[0007] A lifting assembly is fixedly installed on the omnidirectional moving vehicle body. The lifting assembly includes a double-mast telescopic guide mechanism and a hydraulic drive mechanism for driving the double-mast telescopic guide mechanism.

[0008] The articulated arm module includes a forearm, a middle arm, and a rear arm connected in sequence by a non-powered joint. The front end of the forearm is hinged to a base, and the base is fixed to a lifting slide of the lifting assembly.

[0009] A clamping assembly is disposed at the end of the rear arm of the articulated arm module for clamping the workpiece;

[0010] Force sensing components are fixed to both the clamp base and the end of the rear arm of the clamping assembly, and are used to detect the force or torque applied to the articulated arm module.

[0011] Meanwhile, the drive wheel is driven and steered by a drive motor and a steering motor, respectively; the hydraulic outrigger assembly includes two hydraulic cylinder outriggers and two support rods located on both sides of the bottom of the omnidirectional mobile vehicle body. The hydraulic cylinder outriggers are connected to the hydraulic station through oil pipes. One end of the support rod is fixedly connected to the cylinder body of the hydraulic cylinder outrigger on the same side. The piston rod end of the hydraulic cylinder outrigger is in contact with the ground. The other end of the support rod is hinged to the bottom of the omnidirectional mobile vehicle body through a connecting shaft. The axis of the connecting shaft is perpendicular to the ground.

[0012] Preferably, the twin-mast telescopic guide mechanism includes a mounting base, a lifting guide component, and a lifting slide. The mounting base is fixed to one side of the omnidirectional moving vehicle body. The lifting guide component includes an inner mast and an outer mast. The inner mast and the outer mast form two telescopic guide mechanisms via a first sliding assembly. The lifting slide is slidably connected to the inner mast via a second sliding assembly. The hydraulic drive mechanism includes a hydraulic cylinder and a chain extension mechanism located at the top of the hydraulic cylinder piston rod. The chain extension mechanism includes a lifting chain, a bearing base, and a horizontally mounted bearing. The base has a rotating shaft, and the lifting chain is wound around the rotating shaft. The hydraulic cylinder is connected to the hydraulic station through oil pipes. The outer gantry is fixed to the mounting base. The bottom and top of the hydraulic cylinder body are respectively fixed to the bottom and top of the outer gantry and the horizontally arranged connecting rod. The piston rod end of the hydraulic cylinder is fixedly connected to the bearing base. The two ends of the lifting chain are respectively vertically fixed to the lifting slide and the connecting rod. At the same time, the lifting slide and the connecting rod are located on both sides of the hydraulic cylinder. The hydraulic cylinder drives the lifting chain to drive the lifting slide and the inner gantry to rise and fall on the bearing.

[0013] Preferably, the first sliding assembly includes a first slide rail disposed on the inner walls of both sides of the outer gantry and a first slider disposed on the outer walls of both sides of the inner gantry, and the second sliding assembly includes a second slide rail disposed on the inner walls of both sides of the inner gantry and a second slider disposed on the outer walls of both sides of the lifting slide; both the first slide rail and the second slide rail are arranged along the Z-axis direction.

[0014] Preferably, the clamping assembly includes a clamping base, a drive motor, a lead screw, an upper movable jaw, and a lower fixed jaw located on the same side of the clamping base; the lead screw is vertically mounted on the clamping base, and the drive motor drives and connects to the lead screw; the upper movable jaw is threadedly connected to the lead screw via a lead screw nut and slidably connected to the clamping base via a linear guide assembly; the lower fixed jaw is fixed to the clamping base and is positioned opposite to the upper movable jaw; both the upper movable jaw and the lower fixed jaw are fixed using a detachable connection method.

[0015] Preferably, the linear guide assembly includes a third slider connected to the upper movable gripper and a third slide rail connected to the fixture base. The drive motor drives the lead screw to rotate, causing the lead screw nut to move up and down in a linear motion, thereby causing the upper movable gripper to slide up and down along the third slide rail.

[0016] Preferably, the force sensing component includes a force sensor and a relative sliding mechanism. The relative sliding mechanism includes a fourth slider fixed to the end of the rear arm and a fourth slide rail fixed to the fixture base. The fourth slider and the fourth slide rail slide together to drive the fixture component to slide vertically relative to the rear arm. The force sensor is used to detect the force or torque on the folding arm module.

[0017] Preferably, the force sensor is a tension / compression sensor and a force sensing handle; the tension / compression sensor is fixed to the fixture base and the sensing end of the tension / compression sensor abuts against the top of the rear arm to achieve a zero-gravity suspension mode; the force sensing handle is installed at the bottom of the rear arm to achieve a force sensing mode.

[0018] Preferably, rubber anti-collision blocks are provided on both sides of the forearm, middle arm, and rear arm.

[0019] Preferably, the top and bottom of the outer and inner gantry are provided with limit blocks and limit sensors, and the lifting chain is provided with a chain tension sensor.

[0020] Preferably, the disassembly and assembly device further includes a controller that coordinates the movement of each component, the controller being electrically connected to the drive motor, steering motor, hydraulic station, hydraulic drive mechanism, force sensing component, and clamping component.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. This utility model ensures high precision and stability in the lifting process of heavy components through the double-layer slide rail slider structure of the double-mast telescopic guide mechanism; the force sensing component integrates both suspension and force sensing modes, allowing operators to easily adjust the folding arm posture, and combined with the flexible rotation of the non-powered joint, it achieves precise positioning and fine adjustment of the workpiece, greatly reducing the difficulty and physical exertion of disassembling and assembling heavy components, thus achieving efficient disassembly and assembly; in addition, the omnidirectional mobile vehicle integrates the workpiece and folding arm module storage functions, ensuring the continuity of the disassembly and assembly process, and greatly reducing the time spent on workpiece preparation and post-disassembly processing; its folding arm module adopts a design of at least three sections, which can be compactly folded when not in operation, significantly saving space occupied by the equipment in confined spaces;

[0023] 2. The upper movable gripper and the lower fixed gripper of the clamping assembly of this utility model adopt a detachable design, which can be quickly replaced to adapt to heavy-duty parts of internal combustion locomotives of different specifications and shapes; the multi-segment telescopic structure of the lifting assembly and the multi-angle adjustment function of the folding arm can meet the disassembly and assembly needs of different heights and positions, greatly improving the versatility and application range of the equipment.

[0024] 3. The omnidirectional mobile vehicle body of this utility model achieves multi-directional movement through the coordination of drive wheels and steering wheels, and can flexibly shuttle through the narrow work positions of diesel locomotive maintenance; the hydraulic outrigger assembly and the hinged structure of the support rod can quickly form stable support, avoid vehicle body shaking during disassembly and assembly operations, and improve the adaptability of the equipment in complex ground environments. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a three-dimensional structural diagram of the present invention from another angle;

[0027] Figure 3 This is a schematic diagram of the folding arm module structure in this utility model;

[0028] Figure 4 This is a schematic diagram of the clamp assembly structure in this utility model;

[0029] Figure 5 This is a three-dimensional structural diagram of the clamp assembly from another angle in this utility model;

[0030] Figure 6 This is a schematic diagram of the omnidirectional moving vehicle body structure in this utility model. Detailed Implementation

[0031] The following will combine Figure 1-6 The present invention will be described in detail below. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0032] A disassembly and assembly device for heavy components, comprising an omnidirectional moving vehicle body 1, with several workpiece support frames 33 and folding arm support frames 34 on the top, and drive wheels, casters and hydraulic outriggers at the bottom, and an internal hydraulic station and energy storage power supply.

[0033] The lifting assembly 2 is fixedly installed on the omnidirectional moving vehicle body. The lifting assembly includes a double-mast telescopic guide mechanism and a hydraulic drive mechanism that drives the double-mast telescopic guide mechanism.

[0034] The folding arm module 3 includes a forearm 5, a middle arm 6, and a rear arm 7 connected sequentially via non-powered joints. The front end of the forearm is hinged to a base 22, which is fixed to the lifting slide of the lifting assembly. Rubber anti-collision blocks 37 are provided on both sides of the forearm, middle arm, and rear arm to prevent mechanical collisions during the movement of the two folding arm sections. The folding arm module is installed on the side of the lifting slide and rises and falls with it, reaching a minimum height close to the ground pallet and a maximum height up to the workpiece mounting height for diesel locomotives.

[0035] The clamping assembly 4 is disposed at the end of the rear arm of the folding arm module and is used to clamp the workpiece 26;

[0036] Force sensing components are fixed to both the clamp base and the end of the rear arm of the clamping assembly, and are used to detect the force or torque applied to the articulated arm module.

[0037] Meanwhile, the drive wheels are driven and steered by the drive motor and steering motor respectively; the hydraulic outrigger assembly includes two hydraulic cylinder outriggers 35 and two support rods 36 located on both sides of the bottom of the omnidirectional mobile vehicle body. The hydraulic cylinder outriggers are connected to the hydraulic station through oil pipes. One end of the support rod is fixedly connected to the cylinder body of the hydraulic cylinder outrigger on the same side. The piston rod end of the hydraulic cylinder outrigger is in contact with the ground. The other end of the support rod is hinged to the bottom of the omnidirectional mobile vehicle body through a connecting shaft. The axis of the connecting shaft is perpendicular to the ground.

[0038] The disassembly and assembly device also includes a controller, which is electrically connected to the drive motor, steering motor, hydraulic station, hydraulic drive mechanism, force sensing components and clamping components. The controller coordinates the components to realize omnidirectional movement of the vehicle body, lifting and adjusting, folding arm posture adjustment and workpiece clamping and transfer.

[0039] In one embodiment, the twin-mast telescopic guide mechanism includes a mounting base 8, a lifting guide component, and a lifting slide 9. The mounting base is fixed to one side of the omnidirectional moving vehicle body. The lifting guide component includes an inner mast 10 and an outer mast 11. The inner mast and outer mast form two telescopic guide sections via a first sliding assembly. These two telescopic guide sections are characterized by precise guidance, high rigidity, and safe and stable operation, making them particularly suitable for high-stroke lifting operations. The lifting slide is slidably connected to the inner mast via a second sliding assembly. The hydraulic drive mechanism includes a hydraulic cylinder 13 and a chain extension mechanism located at the top of the hydraulic cylinder piston rod. The chain extension mechanism includes a lifting chain 12, a bearing base, and a rotating shaft horizontally mounted on the bearing base. The lifting chain is equipped with two chains, both wound around the rotating shaft. A chain tension sensor is installed at the bottom of the lifting chain. This chain tension sensor is electrically connected to the controller and can detect the tension of the lifting chain in real time, accurately sensing chain breakage or overload. The system promptly alarms and locks the lifting action. The hydraulic cylinder is connected to the hydraulic station via oil pipes. The outer gantry is fixed to the mounting base. The bottom and top of the hydraulic cylinder body are fixed to the connecting rods 15 horizontally set at the bottom and top of the outer gantry, respectively. The piston rod end 14 of the hydraulic cylinder is fixedly connected to the bearing base. The two ends of the lifting chain are vertically fixed to the lifting slide and the connecting rod, respectively. The lifting slide and the connecting rod are located on both sides of the hydraulic cylinder. Limit blocks and limit sensors are provided at the top and bottom of the outer and inner gantry. The limit sensors are electrically connected to the controller to prevent overshoot during lifting. The hydraulic cylinder is a double-acting cylinder configuration, which can drive the lifting chain to drive the lifting slide and the inner gantry to lift and lower via the bearing. When lifting, the hydraulic cylinder first drives the lifting chain to slide the lifting slide upward on the inner gantry. After the lifting slide is in place, the hydraulic cylinder will further drive the lifting chain to slide the inner gantry upward on the outer gantry. The operation is reversed when lowering.

[0040] The first sliding assembly includes a first slide rail 16 disposed on the inner walls of both sides of the outer gantry and a first slider 17 disposed on the outer walls of both sides of the inner gantry. The second sliding assembly includes a second slide rail 18 disposed on the inner walls of both sides of the inner gantry and a second slider 19 disposed on the outer walls of both sides of the lifting slide. Both the first slide rail and the second slide rail are arranged along the Z-axis direction.

[0041] In one embodiment, the fixture assembly includes a fixture base 20, a drive motor 21, and a lead screw 23, an upper movable gripper 24, and a lower fixed gripper 25 located on the same side of the fixture base. The lead screw is vertically mounted on the fixture base, and the drive motor drives and connects to the lead screw. The upper movable gripper is threadedly connected to the lead screw via a lead screw nut and slidably connected to the fixture base via a linear guide assembly. The lower fixed gripper is fixed to the fixture base and is positioned opposite to the upper movable gripper. Both the upper movable gripper and the lower fixed gripper are fixed using a detachable connection method, allowing for the matching of appropriate grippers according to the requirements of the workpiece to be disassembled or assembled. This makes the operation convenient and highly practical.

[0042] The linear guide assembly includes a third slider 27 connected to the upper movable jaw and a third slide rail 28 connected to the fixture base. The drive motor drives the lead screw to rotate, causing the lead screw nut to move up and down in a linear motion, thereby causing the upper movable jaw to slide up and down along the third slide rail, which facilitates the loosening or clamping of the workpiece.

[0043] In one embodiment, the force sensing component includes a force sensor and a relative sliding mechanism. The relative sliding mechanism includes a fourth slider 29 fixed to the end of the rear arm and a fourth slide rail 30 fixed to the fixture base. The fourth slider and the fourth slide rail slide together to drive the fixture component to move slightly in the vertical direction relative to the rear arm. The force sensor is used to detect the force or torque on the folding arm module and is electrically connected to the controller.

[0044] The force sensor consists of a tension / compression sensor 31 and a force sensing handle 32. The tension / compression sensor is fixed to the fixture base and its sensing end abuts against the top of the rear arm. The tension / compression sensor accurately detects the magnitude of the machine's load force and operating force, and transmits the signal to the controller. The controller then precisely controls the speed of the lifting component to achieve stepless speed regulation and zero-gravity suspension operation. The force sensing handle is installed at the bottom of the rear arm and can accurately sense the force applied by the operator, intelligently adjust the posture of the robotic arm, and ensure the stability and accuracy of the operation, thus realizing the force sensing mode.

[0045] During implementation, the operator precisely moves the device to the work station next to the diesel locomotive by controlling the drive wheels of the omnidirectional moving vehicle. Then, the operator manually unfolds the support rod of the hydraulic outrigger assembly, controls the hydraulic cylinder outriggers of the hydraulic outrigger assembly to extend, and stably supports the vehicle body to form a rigid working platform.

[0046] When disassembling a workpiece, the operator manually manipulates the folding arm module. The force applied by the operator is detected by tension / compression sensors or a force-sensing handle, causing the clamping assembly to be raised, lowered, and positioned to the workpiece. After the clamping assembly moves to the workpiece position, the controller activates the drive motor. The drive motor rotates the lead screw, causing the lead screw nut to move vertically up and down. This, in turn, causes the upper movable gripper to slide along the third slide rail via the third slider, engaging with the lower fixed gripper to clamp or release the workpiece. The detachable grippers can be replaced in advance according to workpiece specifications, meeting the clamping needs of different heavy components.

[0047] After the workpiece is clamped, the worker manually loosens the workpiece fixing screws, the controller controls the lifting component to move, and the worker coordinates the operation of the folding arm module to adjust the folding arm posture, removing the workpiece from the internal combustion engine and moving it to the workpiece support frame on the top of the omnidirectional moving vehicle. The drive motor controls the clamp to release, completing the workpiece placement. Then, the worker manually adjusts the folding arm posture to reset the folding arm module to the folding arm support frame, the controller controls the hydraulic cylinder outriggers to retract, and then the worker manually pushes the support rod back to the bottom of the omnidirectional moving vehicle, thereby driving the hydraulic cylinder outriggers to retract to the bottom of the omnidirectional moving vehicle. Finally, the omnidirectional moving vehicle and the workpiece are transferred to the designated position.

[0048] After inspection, during installation, the reverse operation of disassembly is repeated to put the workpiece back into the corresponding position on the diesel locomotive, and the workpiece fixing bolts are tightened manually.

[0049] The technical solutions provided by the embodiments of this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of this utility model. The description of the above embodiments is only for helping to understand the principles of the embodiments of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A disassembly and assembly device for heavy components, characterized in that: The omnidirectional mobile vehicle body (1) has several workpiece support frames (33) and folding arm support frames (34) on its top, and drive wheels, casters and hydraulic outriggers at its bottom. It also has a hydraulic station and energy storage power supply inside. The lifting assembly (2) is fixedly installed on the omnidirectional moving vehicle body. The lifting assembly includes a double-mast telescopic guide mechanism and a hydraulic drive mechanism that drives the double-mast telescopic guide mechanism. The articulated arm module (3) includes a forearm (5), a middle arm (6) and a rear arm (7) connected in sequence by a non-powered joint. The front end of the forearm is hinged to a base (22), and the base is fixed to the lifting slide of the lifting assembly. The clamping assembly (4) is located at the end of the rear arm of the folding arm module and is used to clamp the workpiece (26). Force sensing components are fixed to both the clamp base and the end of the rear arm of the clamping assembly, and are used to detect the force or torque applied to the articulated arm module. Meanwhile, the drive wheel is driven and steered by the drive motor and the steering motor respectively; the hydraulic outrigger assembly includes two hydraulic cylinder outriggers (35) and two support rods (36) located on both sides of the bottom of the omnidirectional moving vehicle body. The hydraulic cylinder outriggers are connected to the hydraulic station through oil pipes. One end of the support rod is fixedly connected to the cylinder body of the hydraulic cylinder outrigger on the same side. The piston rod end of the hydraulic cylinder outrigger is in contact with the ground. The other end of the support rod is hinged to the bottom of the omnidirectional moving vehicle body through a connecting shaft. The axis of the connecting shaft is perpendicular to the ground.

2. The disassembly and assembly device for heavy components according to claim 1, characterized in that: The twin-mast telescopic guide mechanism includes a mounting base (8), a lifting guide component, and a lifting slide (9); the mounting base is fixed to one side of the omnidirectional moving vehicle body; the lifting guide component includes an inner mast (10) and an outer mast (11); the inner mast and the outer mast form two telescopic guide mechanisms through a first sliding assembly; the lifting slide is slidably connected to the inner mast through a second sliding assembly; the hydraulic drive mechanism includes a hydraulic cylinder (13) and a chain extension mechanism placed on top of the piston rod of the hydraulic cylinder; the chain extension mechanism includes a lifting chain. The structure consists of a (12) bearing base and a horizontally mounted shaft on the bearing base. The lifting chain is wound around the shaft. The hydraulic cylinder is connected to the hydraulic station via an oil pipe. The outer gantry is fixed on the mounting base. The bottom and upper parts of the hydraulic cylinder body are respectively fixed to the connecting rod (15) horizontally set at the bottom and upper part of the outer gantry. The piston rod end (14) of the hydraulic cylinder is fixedly connected to the bearing base. The two ends of the lifting chain are respectively vertically fixed to the lifting slide and the connecting rod. At the same time, the lifting slide and the connecting rod are located on both sides of the hydraulic cylinder.

3. The disassembly and assembly device for heavy components according to claim 2, characterized in that: The first sliding assembly includes a first slide rail (16) disposed on the inner walls of both sides of the outer gantry and a first slider (17) disposed on the outer walls of both sides of the inner gantry. The second sliding assembly includes a second slide rail (18) disposed on the inner walls of both sides of the inner gantry and a second slider (19) disposed on the outer walls of both sides of the lifting slide. Both the first slide rail and the second slide rail are disposed along the Z-axis direction.

4. The disassembly and assembly device for heavy components according to claim 1, characterized in that: The clamping assembly includes a clamping base (20), a drive motor (21), and a lead screw (23), an upper movable gripper (24), and a lower fixed gripper (25) located on the same side of the clamping base. The lead screw is vertically mounted on the clamping base, and the drive motor drives and connects to the lead screw. The upper movable gripper is threadedly connected to the lead screw via a lead screw nut and slidably connected to the clamping base via a linear guide assembly. The lower fixed gripper is fixed to the clamping base and is positioned opposite to the upper movable gripper. Both the upper movable gripper and the lower fixed gripper are fixed using a detachable connection method.

5. The disassembly and assembly device for heavy components according to claim 4, characterized in that: The linear guide assembly includes a third slider (27) connected to the upper movable gripper and a third slide rail (28) connected to the fixture base. The drive motor drives the lead screw to rotate, causing the lead screw nut to move up and down in a linear motion, thereby causing the upper movable gripper to slide up and down along the third slide rail.

6. The disassembly and assembly device for heavy components according to claim 1, characterized in that: The force sensing component includes a force sensor and a relative sliding mechanism. The relative sliding mechanism includes a fourth slider (29) fixed to the end of the rear arm and a fourth slide rail (30) fixed to the fixture base. The fourth slider and the fourth slide rail slide together. The force sensor is used to detect the force or torque on the folding arm module.

7. The disassembly and assembly device for heavy components according to claim 6, characterized in that: The force sensor is a tension / compression sensor (31) and a force sensing handle (32); the tension / compression sensor is fixed to the fixture base and the sensing end of the tension / compression sensor abuts against the top of the rear arm to realize the zero-gravity suspension mode; the force sensing handle is installed at the bottom of the rear arm to realize the force sensing mode.

8. The disassembly and assembly device for heavy components according to claim 1, characterized in that: Rubber anti-collision blocks (37) are provided on both sides of the forearm, middle arm and rear arm.

9. The disassembly and assembly device for heavy components according to claim 2, characterized in that: The top and bottom of the outer and inner gantry are equipped with limit blocks and limit sensors, and the lifting chain is equipped with a chain tension sensor.

10. The disassembly and assembly device for heavy components according to claim 1, characterized in that: The disassembly and assembly device also includes a controller that coordinates the movement of the various components.

Images