CN108381482B - GIL installation tool and control system and method - Google Patents
GIL installation tool and control system and method Download PDFInfo
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- CN108381482B CN108381482B CN201810147551.9A CN201810147551A CN108381482B CN 108381482 B CN108381482 B CN 108381482B CN 201810147551 A CN201810147551 A CN 201810147551A CN 108381482 B CN108381482 B CN 108381482B
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- 238000009434 installation Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 234
- 239000010720 hydraulic oil Substances 0.000 claims description 104
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/06—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of trestle type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
Abstract
The invention relates to the technical field of GIL installation, in particular to a GIL installation tool, a control system and a control method. The installation of GIL can be realized, the manpower is saved, and the installation efficiency can be improved. A GIL mounting tool comprising: the travelling mechanism comprises a frame capable of moving along a first direction; an adjusting bracket is arranged above the rack, and a bracket extending out along the second direction is arranged on the adjusting bracket; a first driving mechanism is arranged between the adjusting bracket and the rack and is used for driving the adjusting bracket to extend out along a second direction; wherein the first direction is perpendicular to the second direction; a second driving mechanism is arranged between the bracket and the adjusting bracket and is used for driving the bracket to move in the vertical direction; the bracket comprises a bracket and a bracket movably connected with the bracket; the bracket can drive the bracket to move along the horizontal axial direction and the horizontal radial direction of the GIL pipe unit to be adjusted under the drive of the third driving mechanism, and the bracket can rotate along the axial direction under the drive of the fourth driving mechanism.
Description
Technical Field
The invention relates to the technical field of GIL installation, in particular to a GIL installation tool, a control system and a control method.
Background
The gas insulated metal enclosed transmission line (GIL) can replace the traditional overhead line or power cable due to the characteristics of large transmission capacity, small loss, high safety, environmental friendliness and the like, and can be used for large-capacity and long-distance electric energy transmission. However, in the prior art, it is often necessary to resort to cranes, manpower, etc. when installing the GIL.
However, when the GIL is installed in a tunnel, due to space limitations, the installation method of crane hoisting is no longer applicable, and in order to implement the installation of the GIL, it is necessary to raise the GIL pipe units to a certain installation height and to finely adjust the GIL pipe units by rotating the GIL pipe units in the radial direction, the axial direction, and the like, so as to achieve alignment and docking between the GIL pipe units and the installed GIL pipe units.
In the prior art, the adjustment of the GIL pipe unit mainly depends on manpower, and the installation efficiency is low.
Disclosure of Invention
The invention mainly aims to provide a GIL installing machine tool, a control system and a control method, which can realize the installation of the GIL, save labor and improve the installation efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, an embodiment of the present invention provides a GIL mounting apparatus, including:
the travelling mechanism comprises a frame capable of moving along a first direction;
an adjusting bracket is arranged above the rack, and a bracket extending out along a second direction is arranged on the adjusting bracket;
a first driving mechanism is arranged between the adjusting bracket and the rack and is used for driving the adjusting bracket to extend out along the second direction so as to enable the bracket to extend into the position below the GIL pipe unit to be adjusted; wherein the first direction is perpendicular to the second direction;
a second driving mechanism is arranged between the bracket and the adjusting bracket and is used for driving the bracket to move in the vertical direction, so that the bracket drives the GIL pipe unit to be adjusted to move in the vertical radial direction;
the bracket comprises a bracket and a bracket movably connected with the bracket;
a third driving mechanism and a fourth driving mechanism are arranged between the bracket and the bracket, the bracket can drive the bracket to move along the horizontal axial direction and the horizontal radial direction of the GIL pipe unit to be adjusted under the driving of the third driving mechanism, and the bracket can slide relative to the bracket under the driving of the fourth driving mechanism, so that the bracket drives the GIL pipe unit to be adjusted to rotate along the axial direction.
Optionally, the first driving mechanism is a first hydraulic oil cylinder which can stretch out and draw back along the second direction, and two ends of the first hydraulic oil cylinder are respectively connected with the adjusting bracket and the rack.
Optionally, the adjusting bracket includes a supporting frame vertically disposed, and a pulley assembly and a balance beam disposed on the supporting frame, and the bracket and the balance beam are respectively connected to the pulley assembly in a suspending manner and slidably connected through the pulley assembly;
the second driving mechanism is a second hydraulic cylinder which can stretch out and draw back along the vertical direction, and two ends of the second hydraulic cylinder are respectively connected with the supporting frame and the balance beam.
Optionally, a guiding mechanism is arranged between the supporting frame and the balance beam and between the supporting frame and the bracket.
Optionally, the bracket is connected to the second drive mechanism by a support;
the bracket comprises a radial adjusting bracket and an axial adjusting bracket which are respectively movably connected with the supporting piece;
the bracket is connected with the radial adjusting bracket in a sliding fit manner along the axial rotation direction;
the radial adjusting bracket and the axial adjusting bracket are movably connected along the horizontal radial direction;
the third driving mechanism comprises a radial driving mechanism and an axial driving mechanism;
the axial adjusting bracket can drive the radial adjusting bracket and the bracket to move along the horizontal axial direction under the drive of the axial driving mechanism, and the radial adjusting bracket can drive the bracket to move along the horizontal radial direction under the drive of the radial driving mechanism.
Optionally, the radial adjusting bracket comprises a tray which can slide along the axial rotation direction of the bracket, and a guide rod which penetrates through the bottom of the tray along the axial direction;
the support piece is a support frame sleeved on the outer side of the radial adjusting bracket, guide holes for extending out of two ends of the guide rod are formed in the support frame, and the guide holes extend along the radial direction of the bracket;
the axial adjusting bracket comprises an axial swing arm arranged at the bottom of the tray, one end of the axial swing arm is hinged with the supporting frame, the other end of the axial swing arm is provided with a limiting groove extending along the radial direction of the supporting groove, the tray is connected with the limiting groove through a limiting column arranged at the bottom, and the limiting column can slide along the limiting groove under the driving of the radial driving mechanism.
Optionally, the radial driving mechanism is a third hydraulic cylinder which can stretch out and draw back along the radial direction of the bracket, one end of the third hydraulic cylinder is connected with the support frame, and the other end of the third hydraulic cylinder is connected with the guide rod;
the axial driving mechanism is a fourth hydraulic oil cylinder capable of pushing the axial swing arm to swing around a hinge point, one end of the fourth hydraulic oil cylinder is connected with the supporting frame, and the other end of the fourth hydraulic oil cylinder is connected with the axial swing arm;
the fourth driving mechanism comprises a rack arranged at the bottom of the bracket and a gear which is arranged on the guide rod and is in meshed connection with the rack; when the guide rod rotates, the gear is meshed with the rack to drive the bracket to slide along the axial rotation direction.
Optionally, the number of the guide rods is two, and the guide rods penetrate through two sides of the tray in the radial direction respectively.
Optionally, the support is a support platform;
the axial adjusting bracket and the supporting platform are matched and slidably connected through an axial sliding rail;
the radial adjusting bracket is sleeved in the axial adjusting bracket, and a gap which can slide relatively under the driving of the radial driving mechanism is reserved between the radial adjusting bracket and the axial adjusting bracket along the radial direction of the bracket.
Optionally, the axial driving mechanism is a fifth hydraulic oil cylinder which can extend and retract along the first direction, and two ends of the fifth hydraulic oil cylinder are respectively connected with the supporting platform and the axial adjusting bracket along different sides of the first direction;
the radial driving mechanism is a sixth hydraulic oil cylinder which can stretch out and draw back along the second direction, the sixth hydraulic oil cylinder is arranged in the gap, and two ends of the sixth hydraulic oil cylinder are respectively connected with the axial adjusting bracket and the radial adjusting bracket;
the fourth driving mechanism is a seventh hydraulic oil cylinder, the output end of the seventh hydraulic oil cylinder is connected with one end of the bracket along the radial direction, and the seventh hydraulic oil cylinder can extend and retract along the tangential direction of the joint of the seventh hydraulic oil cylinder and the bracket.
Optionally, the number of the fifth hydraulic cylinders is two, and the fifth hydraulic cylinders are arranged in the first direction in a reverse direction.
Optionally, the bracket is in sliding connection with rollers arranged on two sides of the radial direction of the radial adjusting bracket in a matching manner through slideways arranged on two sides of the radial direction of the bracket.
In another aspect, an embodiment of the present invention provides a control system for a GIL mounting apparatus, including:
at least two GIL mounting implements as described above;
and at least one power mechanism respectively connected with the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism in the GIL installing machine tool;
the power mechanism is used for providing power for the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism.
Optionally, the control system further includes a controller, where the controller is electrically connected to the power mechanism and is configured to control the power mechanism to provide power for the first driving mechanism, the second driving mechanism, the third driving mechanism, and the fourth driving mechanism.
Optionally, when the first driving mechanism is a first hydraulic oil cylinder, the second driving mechanism is a second hydraulic oil cylinder, the third driving mechanism includes an axial driving mechanism and a radial driving mechanism, the axial driving mechanism is a fourth hydraulic oil cylinder, and the radial driving mechanism is a third hydraulic oil cylinder;
the power mechanism is a hydraulic pump which is respectively connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder.
Optionally, the hydraulic pump is connected to the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder and the fourth hydraulic cylinder through a first proportional multi-way valve.
Optionally, when the first driving mechanism is a first hydraulic oil cylinder, the second driving mechanism is a second hydraulic oil cylinder, the third driving mechanism comprises an axial driving mechanism and a radial driving mechanism, the radial driving mechanism is a fifth hydraulic oil cylinder, the axial driving mechanism is a sixth hydraulic oil cylinder, and the fourth driving mechanism is a seventh hydraulic oil cylinder, the power mechanism is a hydraulic pump respectively connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the fifth hydraulic oil cylinder, the sixth hydraulic oil cylinder and the seventh hydraulic oil cylinder.
Optionally, the hydraulic pump is connected to the first hydraulic cylinder, the second hydraulic cylinder, the fifth hydraulic cylinder, the sixth hydraulic cylinder and the seventh hydraulic cylinder through a second proportional multi-way valve.
In another aspect, an embodiment of the present invention provides a method for controlling a GIL mounting apparatus, including:
step 1) moving a travelling mechanism loaded with an adjusting bracket to a pre-installation position along a first direction, so that a bracket on the adjusting bracket extends out towards a GIL pipe unit to be adjusted;
step 2) controlling the second driving mechanism to drive the bracket to move in the vertical direction, and adjusting the height of the bracket so that the bracket is positioned below the GIL pipe unit to be adjusted;
step 3) controlling the first driving mechanism to drive the adjusting bracket to extend out along the second direction, so that the bracket extends into the position right below the GIL pipe unit to be adjusted;
and step 4) controlling the second driving mechanism, the third driving mechanism and the fourth driving mechanism to drive the GIL pipe unit to be adjusted to move along the vertical radial direction, the horizontal axial direction and the horizontal radial direction under the driving of the bracket and rotate along the axial direction, so that the GIL pipe unit to be adjusted is aligned with the installed GIL pipe unit and is butted.
The embodiment of the invention provides a GIL installing machine and a control method, wherein a traveling mechanism is arranged, an adjusting bracket is loaded on the traveling mechanism, a bracket extending along a second direction is arranged on the adjusting bracket, therefore, when the GIL needs to be installed, the adjusting bracket can be driven by the traveling mechanism to move to a pre-installation position of the GIL and extend the bracket towards a GIL pipe unit to be adjusted, after the GIL is in place, a second driving mechanism drives the bracket 3 to move in a vertical direction, the height of the bracket can be adjusted, so that the bracket 3 is positioned below the GIL pipe unit to be adjusted, at the moment, the adjusting bracket is driven by a first driving mechanism to extend along the second direction, the position of the bracket in the second direction can be adjusted, and the bracket is positioned under the GIL pipe unit to be adjusted, the bracket is used for supporting the GIL pipe unit to be adjusted by adjusting the height of the bracket through the second driving mechanism, at the moment, the bracket can be driven by the bracket to drag the GIL pipe unit to be adjusted to move along the horizontal axial direction and the horizontal radial direction through a third driving mechanism arranged between the bracket and the bracket, the bracket can be driven by a fourth driving mechanism arranged between the bracket and the bracket to drive the GIL pipe unit to be adjusted to rotate along the axial direction, meanwhile, the bracket can be driven by the second driving mechanism to drive the GIL pipe unit to be adjusted to move along the vertical radial direction, so that the four-way adjustment of the GIL pipe unit to be adjusted is realized, the GIL pipe unit to be adjusted is aligned with the installed GIL pipe unit and is butted, and the installation of the GIL can be realized, manpower is saved, and the installation efficiency can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a GIL mounting tool according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of another GIL setup tool provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural view of another GIL setup tool provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of a GIL setup tool according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a bracket and a supporting member according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of another bracket and supporting member according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a bracket and a bracket according to an embodiment of the invention;
fig. 8 is a flowchart of a method for controlling a GIL mounting tool according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
Referring to fig. 1, 2 and 3, a GIL mounting tool according to an embodiment of the present invention includes:
the travelling mechanism 1 comprises a frame 11 which can move along a first direction;
an adjusting bracket 2 is loaded above the rack 11, and a bracket 3 extending out along a second direction is arranged on the adjusting bracket 2;
a first driving mechanism 4 is arranged between the adjusting bracket 2 and the rack 11, and the first driving mechanism 4 is used for driving the adjusting bracket 2 to extend out along the second direction so that the bracket 3 extends into the position below the GIL pipe unit to be adjusted; wherein the first direction is perpendicular to the second direction;
a second driving mechanism 5 is arranged between the bracket 3 and the adjusting bracket 2, and the second driving mechanism 5 is used for driving the bracket 3 to move in the vertical direction, so that the bracket 3 drives the GIL pipe unit to be adjusted to move in the vertical radial direction;
the bracket 3 comprises a bracket 31 and a bracket 32 movably connected with the bracket 31;
a third driving mechanism 6 and a fourth driving mechanism 7 are arranged between the bracket 31 and the bracket 32, the bracket 31 can drive the bracket 32 to move along the horizontal axial direction and the horizontal radial direction of the GIL pipe unit to be adjusted under the driving of the third driving mechanism 6, and the bracket 32 can slide relative to the bracket 31 under the driving of the fourth driving mechanism 7, so that the bracket 32 drives the GIL pipe unit to be adjusted to rotate along the axial direction.
The embodiment of the invention provides a GIL installing machine, a walking mechanism 1 is arranged, an adjusting bracket 2 is loaded on the walking mechanism 1, a bracket 3 extending along a second direction is arranged on the adjusting bracket 2, therefore, when the GIL needs to be installed, the adjusting bracket 2 can be driven by the walking mechanism 1 to move to a pre-installation position of the GIL, the bracket 3 extends towards a GIL pipe unit to be adjusted, after the GIL is in place, the bracket 3 is driven by a second driving mechanism 5 to move in a vertical direction, the height of the bracket 3 can be adjusted, so that the bracket 3 is positioned below the GIL pipe unit to be adjusted, and then the adjusting bracket 2 is driven by a first driving mechanism 4 to extend along the second direction, so that the position of the bracket 3 in the second direction can be adjusted, the bracket 3 is positioned right below the GIL pipe unit to be adjusted, the bracket 3 is used for supporting the GIL pipe unit to be adjusted through the second driving mechanism 5, the bracket 32 can be driven by the bracket 31 to drag the GIL pipe unit to be adjusted to move along the horizontal axial direction and the horizontal radial direction through the third driving mechanism 6 arranged between the bracket 31 and the bracket 32, the bracket 32 can be driven to drive the GIL pipe unit to be adjusted to rotate along the axial direction through the fourth driving mechanism 7 arranged between the bracket 31 and the bracket 32, meanwhile, the bracket 3 can be driven to drive the GIL pipe unit to be adjusted to move along the vertical radial direction through the second driving mechanism 5, and therefore the four-way adjustment of the GIL pipe unit to be adjusted is realized, the GIL pipe unit to be adjusted is aligned with the installed GIL pipe unit and is butted, so that the installation of the GIL can be realized, the labor is saved, and the installation efficiency can be improved.
In an embodiment of the present invention, referring to fig. 2, the first driving mechanism 4 includes a first hydraulic cylinder that is retractable along the second direction, and two ends of the first hydraulic cylinder are respectively connected to the adjusting bracket 2 and the frame 11.
In the embodiment of the present invention, the adjusting bracket 2 may be pushed by providing a first hydraulic cylinder, so that the adjusting bracket 2 extends in the second direction relative to the frame 11.
In order to reduce friction between the adjusting bracket 2 and the frame 11, it is preferable that the adjusting bracket 2 and the frame 11 are slidably connected by matching a guide rail and a guide wheel.
In another embodiment of the present invention, referring to fig. 1 and 4, the adjusting bracket 2 includes a vertically disposed supporting frame 21, and a pulley assembly 22 and a balance beam 23 disposed on the supporting frame 21, the bracket 3 and the balance beam 23 are respectively connected to the pulley assembly 22 in a suspended manner, and are slidably connected through the pulley assembly 22;
the second driving mechanism 5 comprises a second hydraulic cylinder which can stretch out and draw back along the vertical direction, and two ends of the second hydraulic cylinder are respectively connected with the supporting frame 21 and the balance beam 23.
In the embodiment of the present invention, by providing the supporting frame 21, and providing the pulley assembly 22 and the balance beam 23 on the supporting frame 21, the bracket 3 is slidably connected to the balance beam 23 through the pulley assembly 22, when the second hydraulic cylinder extends and retracts, the balance beam 23 is driven by the second hydraulic cylinder to move in the vertical direction, so that the bracket 3 is driven by the pulley assembly 22 to move in the vertical direction, and the bracket 3 can be lifted and lowered, which is convenient to operate and saves labor.
In order to avoid the counterweight beam 23 and the bracket 3 from swinging during the lifting, preferably, guide means are provided between the support frame 21 and the counterweight beam 23 and between the support frame 21 and the bracket 3.
The guide means may be a guide groove provided on the support frame 21 and a slider provided on the bracket 3 and the balance beam 23.
In an embodiment of the invention, see fig. 3 and 5, the bracket 3 is connected to the second drive mechanism 5 by a support 8;
the bracket 31 comprises a radial adjusting bracket 311 and an axial adjusting bracket 312 which are movably connected with the supporting part 8 respectively;
the bracket 32 is connected with the radial adjusting bracket 311 in a sliding fit manner along the axial rotation direction;
the radial adjusting bracket 311 and the axial adjusting bracket 312 are movably connected along the horizontal radial direction;
the third driving mechanism 6 comprises a radial driving mechanism 61 and an axial driving mechanism 62;
the axial adjustment bracket 312 can drive the radial adjustment bracket 311 and the bracket 32 to move along the horizontal axial direction under the driving of the axial driving mechanism 62, and the radial adjustment bracket 311 can drive the bracket 32 to move along the horizontal radial direction under the driving of the radial driving mechanism 61.
In the embodiment of the present invention, by providing a radial adjustment bracket 311 and an axial adjustment bracket 312, and slidably connecting the radial adjustment bracket 311 and the axial adjustment bracket 312 in the axial rotation direction of the bracket 32, the radial adjustment bracket 311 and the axial adjustment bracket 312 are slidably connected in the horizontal radial direction, and driving the radial adjustment bracket 311 and the axial adjustment bracket 312 by a radial driving mechanism 61 and an axial driving mechanism 62, respectively, such that the radial adjustment bracket 311 drives the bracket 32 to move in the horizontal radial direction relative to the axial adjustment bracket 312, and the axial adjustment bracket 312 drives the radial adjustment bracket 311 and the bracket 32 to move in the horizontal axial direction, the adjustment of the bracket 32 driving the GIL tube unit to be adjusted in the horizontal radial direction and the horizontal axial direction is achieved, and the bracket 32 and the radial adjustment bracket 311 are slidably connected in the axial rotation direction of the bracket 32 Then, the bracket 32 is driven by the fourth driving mechanism 7, so that the bracket 32 can drive the GIL tube unit to be adjusted to rotate in the axial direction.
In one possible implementation, referring to fig. 5, 6 and 7, the radial adjustment bracket 311 includes a tray 3111 slidable in the axial rotation direction of the bracket 32, and a guide bar 3112 penetrating the bottom of the tray 3111 in the axial direction of the bracket 32;
the supporting member 8 is a supporting frame 81 sleeved outside the radial adjusting bracket 311, a guiding hole 811 for extending two ends of the guiding rod 3112 is arranged on the supporting frame 81, and the guiding hole 811 extends along the radial direction of the bracket 32;
the axial adjusting bracket 312 includes an axial swing arm 3121 disposed at the bottom of the tray 3111, one end of the axial swing arm 3121 is hinged to the supporting frame 81, the other end is opened with a limiting groove 3122 extending along the radial direction of the bracket 32, the tray 3111 is connected with the axial swing arm 3121 through a limiting post 3113 disposed at the bottom passing through the limiting groove 3122, and the limiting post 3113 can slide along the limiting groove 3122 under the driving of the radial driving mechanism 61.
In this possible implementation manner, under the driving of the radial driving mechanism 61, the guide bar 3112 drives the bracket 32 to slide along the guide hole 811, and the limiting post 3113 slides along the limiting groove 3122, so as to drive the bracket 32 to move in the horizontal radial direction; under the driving of the axial driving mechanism 62, the axial swing arm 3121 can swing around a hinge point under the driving of the axial driving mechanism 62, so as to drive the tray 3111 to move along the guide bar 3112 in the horizontal axis direction.
Referring to fig. 6 and 7, the tray 3111 and the brackets 32 may be slidably connected by an arc-shaped chute disposed at the bottom of the brackets 32 and an arc-shaped slide plate on the tray 3111.
In another embodiment of the present invention, with continued reference to fig. 5, 6 and 7, the radial driving mechanism 61 is a third hydraulic cylinder that can extend and retract along the radial direction of the bracket 32, one end of the third hydraulic cylinder 611 is connected to the supporting frame 81, and the other end is connected to the guide bar 3112;
the axial driving mechanism 62 is a fourth hydraulic oil cylinder capable of pushing the axial swing arm 3121 to swing around a hinge point, one end of the fourth hydraulic oil cylinder is connected with the supporting frame 81, and the other end of the fourth hydraulic oil cylinder is connected with the axial swing arm 3121;
the fourth driving mechanism 7 comprises a rack 71 arranged at the bottom of the bracket 32, and a gear 72 arranged on the guide bar 3112 and engaged with the rack 71; when the guide bar 3112 is rotated, the gear 72 engages with the rack 71 to slide the bracket 32 in the axial rotation direction, so as to slide the bracket 32 in the axial rotation direction.
The number of the arc-shaped sliding plates and the number of the arc-shaped sliding grooves may be two, and the two arc-shaped sliding plates and the two arc-shaped sliding grooves are respectively arranged on two sides of the tray 3111 and the bracket 32 along the axial direction.
In this way, the guide bar 3112 may be inserted into the arc-shaped sliding plate and connected to the tray 3111, the rack 71 may be disposed between the two arc-shaped sliding grooves, and the gear 72 may be disposed on the guide bar 3112 between the two sliding plates.
Preferably, the guide bars 3112 are two and are respectively inserted into both sides of the tray 3111 in the radial direction.
In this way, it is also advantageous to rotate the guide lever 3112 by manual adjustment, for example, by rotating the guide lever 3112 by a wrench.
In another possible implementation, referring to fig. 2 and 3, the supporting element 8 is a supporting platform 82;
the axial adjusting bracket 312 and the supporting platform 82 are in matched sliding connection through an axial sliding rail 3;
the radial adjusting bracket 311 is sleeved in the axial adjusting bracket 312, and a gap is left between the radial adjusting bracket 311 and the axial adjusting bracket 312 along the radial direction of the bracket 32, wherein the gap can slide relatively under the driving of the radial driving mechanism 61.
In this possible implementation, the axial adjustment bracket 312 may move the radial adjustment bracket 311 and the bracket 32 in a horizontal axial direction under the driving of the axial driving mechanism 62, and the radial adjustment bracket 311 may move the bracket 32 in a horizontal radial direction relative to the axial adjustment bracket 312 under the driving of the radial driving mechanism 61.
In an embodiment of the present invention, the axial driving mechanism 62 is a fifth hydraulic cylinder capable of extending and retracting along the first direction, and two ends of the fifth hydraulic cylinder are respectively connected to the supporting platform 82 and the axial adjusting bracket 312 along different sides of the first direction;
the radial driving mechanism 61 is a sixth hydraulic oil cylinder which can stretch and retract along the second direction, the sixth hydraulic oil cylinder is arranged in the gap, and two ends of the sixth hydraulic oil cylinder are respectively connected with the axial adjusting bracket 312 and the radial adjusting bracket 311;
the fourth driving mechanism 7 is a seventh hydraulic oil cylinder, an output end of the seventh hydraulic oil cylinder is connected with one end of the bracket 32 in the radial direction, and the seventh hydraulic oil cylinder can extend and retract in the tangential direction of the joint with the bracket 32.
Illustratively, one end of the fifth hydraulic cylinder is connected to one side of the support platform 82 in the first direction, and the other end of the fifth hydraulic cylinder may be connected to the other side of the axial adjustment bracket 62 in the first direction by a pull rope passing around a pulley.
The two ends of the fifth hydraulic oil cylinder are respectively a cylinder body end and an output end, and here, the fifth hydraulic oil cylinder may be connected to the supporting platform 82 through the cylinder body end, or may be connected to the supporting platform 82 through the output end, which is not limited herein.
Preferably, the number of the fifth hydraulic oil cylinders is two, and the fifth hydraulic oil cylinders are arranged oppositely along the first direction. If the cylinder end of one fifth hydraulic cylinder is connected with one side of the supporting platform 82 along the first direction, the cylinder end of the other fifth hydraulic cylinder is connected with the other side of the supporting platform 82 along the first direction, and correspondingly, the output ends of the two fifth hydraulic cylinders are respectively connected with different sides of the axial adjusting bracket 62 along the first direction.
In this way, the two fifth hydraulic cylinders drive the axial adjustment bracket 312 in opposite directions, and the axial adjustment bracket 312 can be swung in the axial direction.
In order to reduce the friction between the bracket 32 and the radial adjustment bracket 311. Preferably, the bracket 32 is slidably connected with the slide rails 321 arranged on two sides of the bracket 32 in the radial direction and the rollers 322 arranged on two sides of the radial adjusting bracket 311 in the radial direction.
In order to avoid the bracket 32 from colliding with the GIL tube unit to be adjusted, an elastic pad is preferably applied on the bracket 32.
The elastic pad may be fixed to the bracket 32 by means of a binding.
In another aspect, an embodiment of the present invention provides a control system for a GIL mounting apparatus, including:
at least two GIL mounting implements as described above;
and at least one power mechanism respectively connected with the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism in the GIL installing machine tool;
the power mechanism is used for providing power for the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism.
The embodiment of the invention provides a control system of a GIL installing machine, wherein the power mechanism is used for providing power for a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism, and the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism, so that the GIL installing machine can be driven to act, the GIL pipe unit to be adjusted can be driven to move along the horizontal axial direction, the horizontal radial direction and the vertical radial direction, the GIL pipe unit to be adjusted can be driven to rotate along the axial direction, and the installation of the GIL can be realized.
In another embodiment of the present invention, the control system further includes a controller, where the controller is electrically connected to the power mechanism and is configured to control the power mechanism to provide power for the first driving mechanism, the second driving mechanism, the third driving mechanism, and the fourth driving mechanism.
In another embodiment of the present invention, when the first driving mechanism is a first hydraulic cylinder, the second driving mechanism is a second hydraulic cylinder, the third driving mechanism includes an axial driving mechanism and a radial driving mechanism, the axial driving mechanism is a fourth hydraulic cylinder, and the radial driving mechanism is a third hydraulic cylinder; the power mechanism is a hydraulic pump which is respectively connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder.
Preferably, the hydraulic pump is connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder through a proportional multi-way valve.
In another embodiment of the present invention, when the first driving mechanism is a first hydraulic cylinder, the second driving mechanism is a second hydraulic cylinder, the third driving mechanism includes an axial driving mechanism and a radial driving mechanism, the radial driving mechanism is a fifth hydraulic cylinder, the axial driving mechanism is a sixth hydraulic cylinder, and the fourth driving mechanism is a seventh hydraulic cylinder, the power mechanism is a hydraulic pump respectively connected to the first hydraulic cylinder, the second hydraulic cylinder, the fifth hydraulic cylinder, the sixth hydraulic cylinder, and the seventh hydraulic cylinder.
Preferably, the hydraulic pump is connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the fifth hydraulic oil cylinder, the sixth hydraulic oil cylinder and the seventh hydraulic oil cylinder through a proportional multi-way valve.
In yet another aspect, an embodiment of the present invention provides a method for controlling a GIL mounting tool, referring to fig. 8, including:
step 1) moving a travelling mechanism loaded with an adjusting bracket to a pre-installation position along a first direction, so that a bracket on the adjusting bracket extends out towards a GIL pipe unit to be adjusted;
step 2) controlling the second driving mechanism to drive the bracket to move in the vertical direction, and adjusting the height of the bracket so that the bracket is positioned below the GIL pipe unit to be adjusted;
step 3) controlling the first driving mechanism to drive the adjusting bracket to extend out along the second direction, so that the bracket extends into the position right below the GIL pipe unit to be adjusted;
and step 4) controlling the second driving mechanism, the third driving mechanism and the fourth driving mechanism to drive the GIL pipe unit to be adjusted to move along the vertical radial direction, the horizontal axial direction and the horizontal radial direction under the driving of the bracket and rotate along the axial direction, so that the GIL pipe unit to be adjusted is aligned with the installed GIL pipe unit and is butted.
In practical applications, the GIL installation generally includes the installation of upper, middle and lower three-phase GIL pipe units, and thus, the GIL pipe unit to be adjusted may be any one of the upper, middle and lower three-phase GIL pipe units.
Preferably, the control method further includes:
step 5) controlling the first driving mechanism, the third driving mechanism, the fourth driving mechanism and the second driving mechanism to reset;
and 6) repeating the step 2), the step 3) and the step 4) until the upper, middle and lower three-phase GIL pipe units are respectively aligned with the mounted GIL pipe units one by one and are butted.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (19)
1. A GIL setting tool, comprising:
the travelling mechanism comprises a frame capable of moving along a first direction;
an adjusting bracket is arranged above the rack, and a bracket extending out along a second direction is arranged on the adjusting bracket;
a first driving mechanism is arranged between the adjusting bracket and the rack and is used for driving the adjusting bracket to extend out along the second direction so as to enable the bracket to extend into the position below the GIL pipe unit to be adjusted; wherein the first direction is perpendicular to the second direction;
a second driving mechanism is arranged between the bracket and the adjusting bracket and is used for driving the bracket to move in the vertical direction, so that the bracket drives the GIL pipe unit to be adjusted to move in the vertical radial direction;
the bracket comprises a bracket and a bracket movably connected with the bracket;
a third driving mechanism and a fourth driving mechanism are arranged between the bracket and the bracket, the bracket can drive the bracket to move along the horizontal axial direction and the horizontal radial direction of the GIL pipe unit to be adjusted under the driving of the third driving mechanism, and the bracket can slide relative to the bracket under the driving of the fourth driving mechanism, so that the bracket drives the GIL pipe unit to be adjusted to rotate along the axial direction.
2. The GIL setup machine of claim 1,
the first driving mechanism is a first hydraulic oil cylinder which can stretch out and draw back along the second direction, and two ends of the first hydraulic oil cylinder are respectively connected with the adjusting bracket and the rack.
3. The GIL setup machine of claim 1,
the adjusting bracket comprises a supporting frame which is vertically arranged, and a pulley assembly and a balance beam which are arranged on the supporting frame, wherein the bracket and the balance beam are respectively connected with the pulley assembly in a hanging manner and are connected with each other in a sliding manner through the pulley assembly;
the second driving mechanism is a second hydraulic cylinder which can stretch out and draw back along the vertical direction, and two ends of the second hydraulic cylinder are respectively connected with the supporting frame and the balance beam.
4. The GIL setup machine of claim 3,
and guide mechanisms are arranged between the supporting frame and the balance beam and between the supporting frame and the bracket.
5. The GIL mounting rig according to any one of claims 1 to 4,
the bracket is connected with the second driving mechanism through a support piece;
the bracket comprises a radial adjusting bracket and an axial adjusting bracket which are respectively movably connected with the supporting piece;
the bracket is connected with the radial adjusting bracket in a sliding fit manner along the axial rotation direction;
the radial adjusting bracket and the axial adjusting bracket are movably connected along the horizontal radial direction;
the third driving mechanism comprises a radial driving mechanism and an axial driving mechanism;
the axial adjusting bracket can drive the radial adjusting bracket and the bracket to move along the horizontal axial direction under the drive of the axial driving mechanism, and the radial adjusting bracket can drive the bracket to move along the horizontal radial direction under the drive of the radial driving mechanism.
6. The GIL setup machine of claim 5,
the radial adjusting bracket comprises a tray which can slide along the axial rotation direction of the bracket and a guide rod which penetrates through the bottom of the tray along the axial direction;
the support piece is a support frame sleeved on the outer side of the radial adjusting bracket, guide holes for extending out of two ends of the guide rod are formed in the support frame, and the guide holes extend along the radial direction of the bracket;
the axial adjusting bracket comprises an axial swing arm arranged at the bottom of the tray, one end of the axial swing arm is hinged with the supporting frame, the other end of the axial swing arm is provided with a limiting groove extending along the radial direction of the supporting groove, the tray is arranged in the limiting groove in a penetrating mode through a limiting column arranged at the bottom and is connected with the axial swing arm, and the limiting column can slide along the limiting groove under the driving of the radial driving mechanism.
7. The GIL setup machine of claim 6,
the radial driving mechanism is a third hydraulic oil cylinder which can stretch out and draw back along the radial direction of the bracket, one end of the third hydraulic oil cylinder is connected with the supporting frame, and the other end of the third hydraulic oil cylinder is connected with the guide rod;
the axial driving mechanism is a fourth hydraulic oil cylinder capable of pushing the axial swing arm to swing around a hinge point, one end of the fourth hydraulic oil cylinder is connected with the supporting frame, and the other end of the fourth hydraulic oil cylinder is connected with the axial swing arm;
the fourth driving mechanism comprises a rack arranged at the bottom of the bracket and a gear which is arranged on the guide rod and is in meshed connection with the rack; when the guide rod rotates, the gear is meshed with the rack to drive the bracket to slide along the axial rotation direction.
8. The GIL setup machine of claim 7,
the guide rods are two and penetrate through the two sides of the tray in the radial direction respectively.
9. The GIL setup machine of claim 5,
the supporting piece is a supporting platform;
the axial adjusting bracket and the supporting platform are matched and slidably connected through an axial sliding rail;
the radial adjusting bracket is sleeved in the axial adjusting bracket, and a gap which can slide relatively under the driving of the radial driving mechanism is reserved between the radial adjusting bracket and the axial adjusting bracket along the radial direction of the bracket.
10. The GIL setup machine of claim 9,
the axial driving mechanism is a fifth hydraulic oil cylinder which can stretch out and draw back along the first direction, and two ends of the fifth hydraulic oil cylinder are respectively connected with the supporting platform and the axial adjusting bracket along different sides of the first direction;
the radial driving mechanism is a sixth hydraulic oil cylinder which can stretch out and draw back along the second direction, the sixth hydraulic oil cylinder is arranged in the gap, and two ends of the sixth hydraulic oil cylinder are respectively connected with the axial adjusting bracket and the radial adjusting bracket;
the fourth driving mechanism is a seventh hydraulic oil cylinder, the output end of the seventh hydraulic oil cylinder is connected with one end of the bracket along the radial direction, and the seventh hydraulic oil cylinder can extend and retract along the tangential direction of the joint of the seventh hydraulic oil cylinder and the bracket.
11. The GIL setup machine of claim 10,
the number of the fifth hydraulic oil cylinders is two, and the fifth hydraulic oil cylinders are arranged along the first direction in a reverse mode.
12. The GIL setup machine of claim 9,
the bracket is matched and slidably connected with the rollers arranged on two sides of the radial direction of the radial adjusting bracket through slideways arranged on two sides of the radial direction of the bracket.
13. A control system for a GIL setting tool, comprising:
at least two GIL mounting implements as defined in any one of claims 1-12;
and at least one power mechanism respectively connected with the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism in the GIL installing machine tool;
the power mechanism is used for providing power for the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism.
14. The control system of claim 13,
the control system further comprises a controller, wherein the controller is electrically connected with the power mechanism and used for controlling the power mechanism to provide power for the first driving mechanism, the second driving mechanism, the third driving mechanism and the fourth driving mechanism.
15. The control system according to claim 13 or 14,
when the first driving mechanism is a first hydraulic oil cylinder, the second driving mechanism is a second hydraulic oil cylinder, the third driving mechanism comprises an axial driving mechanism and a radial driving mechanism, the axial driving mechanism is a fourth hydraulic oil cylinder, and the radial driving mechanism is a third hydraulic oil cylinder;
the power mechanism is a hydraulic pump which is respectively connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder.
16. The control system of claim 15,
and the hydraulic pump is connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the third hydraulic oil cylinder and the fourth hydraulic oil cylinder through a proportional multi-way valve.
17. The control system according to claim 13 or 14,
when the first driving mechanism is a first hydraulic oil cylinder, the second driving mechanism is a second hydraulic oil cylinder, the third driving mechanism comprises an axial driving mechanism and a radial driving mechanism, the radial driving mechanism is a fifth hydraulic oil cylinder, the axial driving mechanism is a sixth hydraulic oil cylinder, and the fourth driving mechanism is a seventh hydraulic oil cylinder, the power mechanism is a hydraulic pump respectively connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the fifth hydraulic oil cylinder, the sixth hydraulic oil cylinder and the seventh hydraulic oil cylinder.
18. The control system of claim 17,
and the hydraulic pump is connected with the first hydraulic oil cylinder, the second hydraulic oil cylinder, the fifth hydraulic oil cylinder, the sixth hydraulic oil cylinder and the seventh hydraulic oil cylinder through a proportional multi-way valve.
19. A control method for the GIL installation tool of any of claims 1-12, comprising:
step 1) moving a travelling mechanism loaded with an adjusting bracket to a pre-installation position along a first direction, so that a bracket on the adjusting bracket extends out towards a GIL pipe unit to be adjusted;
step 2) controlling the second driving mechanism to drive the bracket to move in the vertical direction, and adjusting the height of the bracket so that the bracket is positioned below the GIL pipe unit to be adjusted;
step 3) controlling the first driving mechanism to drive the adjusting bracket to extend out along the second direction, so that the bracket extends into the position right below the GIL pipe unit to be adjusted;
and step 4) controlling the second driving mechanism, the third driving mechanism and the fourth driving mechanism to drive the GIL pipe unit to be adjusted to move along the vertical radial direction, the horizontal axial direction and the horizontal radial direction under the driving of the bracket and rotate along the axial direction, so that the GIL pipe unit to be adjusted is aligned with the installed GIL pipe unit and is butted.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109865696A (en) * | 2019-02-18 | 2019-06-11 | 中国南方电网有限责任公司超高压输电公司曲靖局 | A kind of GIL pipe mother's Quick cleaning device |
| CN109809343A (en) * | 2019-02-27 | 2019-05-28 | 上海建工五建集团有限公司 | A kind of member position regulating device |
| CN111123989A (en) * | 2020-01-02 | 2020-05-08 | 中国石油天然气集团有限公司 | Three-coordinate centering posture adjusting device for full-size bending test steel pipe |
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