CN110155704B - Method for automatically installing H-shaped steel column - Google Patents

Method for automatically installing H-shaped steel column Download PDF

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Publication number
CN110155704B
CN110155704B CN201910398869.9A CN201910398869A CN110155704B CN 110155704 B CN110155704 B CN 110155704B CN 201910398869 A CN201910398869 A CN 201910398869A CN 110155704 B CN110155704 B CN 110155704B
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China
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moving
axis
loaded
cantilever
shaped steel
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CN110155704A (en
Inventor
刘桐
任增堂
苗俊波
陈桀
任强
白胜锁
李剑锋
袁英杰
唐立新
张柏滔
崔达
高越
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Shijiazhuang Machinery Equipment Branch Of China Railway Electrification Engineering Group Co ltd
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Shijiazhuang Machinery Equipment Branch Of China Railway Electrification Engineering Group Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only

Abstract

The invention discloses a method for automatically installing an H-shaped steel column, which comprises the following steps: s1, fixing a horizontal loaded object on a grabbing device; s2, moving and rotating the horizontally-arranged object to be arranged to the upper part of the installation position by the moving device and the beam rotating mechanism; s3, rotating the loaded object in the horizontal state to a vertical state by a cantilever slewing mechanism; and S4, moving the loaded object to the installation position by the moving device. The invention can improve the mechanization level, reduce the working strength of workers and improve the working efficiency. The invention is suitable for the installation process of the loaded objects, particularly the loaded objects with the height larger than the section size, and particularly the loaded objects which can be adsorbed by magnetic force, such as H-shaped steel columns of electrified railway contact networks.

Description

Method for automatically installing H-shaped steel column
Technical Field
The invention belongs to the technical field of engineering machinery, relates to installation of an H-shaped steel column of an electrified railway contact net, and particularly relates to a method for automatically installing the H-shaped steel column.
Background
The overhead contact system is a high-voltage transmission line which is erected along a zigzag shape above a steel rail in an electrified railway and is used for a pantograph to draw current. The overhead contact system is a main framework of the railway electrification engineering and is a special power transmission line which is erected along a railway line and supplies power to an electric locomotive. The contact suspension device comprises a contact suspension, a supporting device, a positioning device, a support and a foundation, wherein the support and the foundation are used for bearing the whole load of the contact suspension, the supporting and the positioning device and fixing the contact suspension at a specified position and height. The contact net in China adopts prestressed reinforced concrete pillars and steel columns, and the foundation is for the steel pillars, namely the steel pillars are fixed on the foundation made of the reinforced concrete below, and the foundation bears the whole load transmitted by the pillars and ensures the stability of the pillars. The prestressed reinforced concrete pillar and the foundation are made into a whole, and the lower end of the prestressed reinforced concrete pillar is directly buried underground. Due to the large size and weight of the steel columns, mechanical equipment is often required for installation.
As early as 2005, germany has adopted an improved crawler excavator to complete the construction process of installation of electrified steel columns. The grab bucket device that turns into the opposite direction and exert oneself of sealing among the traditional crawler excavator is put, before not laying the railway rails, when equipment moves to beside the foundation pit, will spill in advance and grab the cement pole or the steel column of putting on the foundation pit limit, relies on the nimble advantage of removal of track, accurate quick completion steel column construction. And after the track is laid, the rest pole erecting task is finished by adopting a contact net pole erecting operation vehicle. In this way, when the installation work of the concrete pole or the steel column is carried out, the railway track is required to be laid on the ground so as to move by utilizing the crawler belt, so that the use is inconvenient, and the working efficiency is low.
In the steel column installation link, before a track is not laid, a steel column is hoisted by adopting an automobile truck-mounted crane or an automobile crane, and then the position of the steel column is aligned by manual assistance; after the tracks are laid, the steel columns are hoisted by a contact net vertical rod operation vehicle, and the steel columns are installed through manual assistance. This approach has the following drawbacks: firstly, the degree of mechanization is low, more manpower is needed for assisting work, the working efficiency is seriously limited by the proficiency of constructors, the working efficiency is low, and the construction cost is high; secondly, as the steel column is usually hoisted on an operation vehicle or a crane through a rope, the steel column can shake in the moving process, and a certain safety distance needs to be kept between a worker and the steel column in the working process; and thirdly, certain dangerousness exists in the working process, such as manual rod supporting, rod position alignment, rod climbing and sling picking and the like.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a method for automatically mounting an H-shaped steel column so as to achieve the purposes of improving the mechanization level, reducing the working strength of workers and improving the working efficiency.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a method for automatically installing H-shaped steel columns is realized by utilizing equipment for automatically installing the H-shaped steel columns, and the equipment for automatically installing the H-shaped steel columns comprises a grabbing device for fixing objects to be installed, wherein a moving device for enabling the grabbing device to move along an x axis, a y axis and a z axis is fixed on the grabbing device, and a rotating device is also fixed on the grabbing device; the slewing device comprises a beam slewing mechanism for rotating the loaded object in the horizontal state to the position above the installation position, and also comprises a cantilever slewing mechanism for rotating the loaded object in the horizontal state to the vertical state;
the method for automatically installing the H-shaped steel column comprises the following steps:
s1, fixing a horizontal loaded object on a grabbing device;
s2, moving and rotating the horizontally-arranged object to be arranged to the upper part of the installation position by the moving device and the beam rotating mechanism;
s3, rotating the loaded object in the horizontal state to a vertical state by a cantilever slewing mechanism;
and S4, moving the loaded object to the installation position by the moving device.
In step S1, the horizontal object is magnetically attracted and fixed to the gripping device by the electromagnet.
As another limitation of the invention, in the equipment for automatically installing the H-shaped steel column, the gripping device comprises a cantilever and a cross beam, the cantilever is vertically and fixedly connected to the cross beam, and the bottom end of the cantilever is used for being fixedly connected with an object to be installed; the moving device comprises an x-direction moving mechanism which is arranged at the top end of the cantilever and enables the cantilever to move along an x axis, a y-direction moving mechanism which is arranged at the left end and the right end of the beam and enables the beam to move along a y axis, and a z-direction moving mechanism which is arranged at the bottom end of the beam and enables the beam to move along a z axis;
the method for automatically installing the H-shaped steel column comprises the following steps:
in step S2, the position of the object in the x-axis direction is adjusted by the x-direction moving mechanism, the position of the object in the y-axis direction is adjusted by the y-direction moving mechanism, and the position of the object in the z-axis direction is adjusted by the z-direction moving mechanism.
As a further limitation of the present invention, in step S2, the position of the object in the x-axis direction is adjusted by the lead screw, the position of the object in the y-axis direction is adjusted by the gear moving along the rack, and the position of the object in the z-axis direction is adjusted by the hydraulic cylinder.
As a further limitation of the invention, in the equipment for automatically installing the H-shaped steel column, two ends of the beam are both provided with a beam slewing mechanism, and the beam slewing mechanism comprises a beam slewing motor for driving the beam to rotate and a coupler for connecting the beam slewing motor and the beam;
the method for automatically installing the H-shaped steel column comprises the following steps:
in step S2, the beam is driven by the beam turning motor to rotate around the beam axis, and the object is rotated above the mounting position.
As still further limited by the present invention, in the apparatus for automatically installing an H-shaped steel column, the cantilever turning mechanism includes a driven gear ring fixed on the cantilever and a driving gear engaged with the driven gear ring to make the driven gear ring drive the cantilever to rotate around the cantilever axis;
the method for automatically installing the H-shaped steel column comprises the following steps:
in step S3, the driven gear ring is rotated by the rotation of the driving gear, and the cantilever is rotated around the cantilever axis to rotate the object from the horizontal state to the vertical state.
As a further limitation of the present invention, in step S4, the object is lowered to the mounting position by the z-direction moving mechanism.
As a further limitation of the present invention, in step S4, the x-direction moving mechanism and the y-direction moving mechanism finely adjust the position of the object to be loaded so that the object is aligned with the mounting position, and then the object is lowered to the mounting position by the z-direction moving mechanism.
As a limitation of the present invention, the power on and off of the electromagnet, the movement of the moving means, and the rotation of the rotating means are controlled by the control means.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
(1) the invention adjusts the distance of the object to be mounted on the x-axis, the y-axis and the z-axis relative mounting positions, and combines the use of the rotating device to mount the object to be mounted in a horizontal state after rotating the object to be mounted to a vertical state, thereby having flexible movement and high degree of mechanization, being convenient for accurately and rapidly mounting the object to be mounted, greatly improving the working efficiency and reducing the labor intensity of workers.
(2) Compared with the mode of hoisting and fixing the objects by using steel wire ropes in the prior art, the mode of fixing the objects by magnetic attraction is adopted, the objects can be stably fixed in the grabbing device in the moving process, the objects cannot shake, and the danger in the installation process is reduced; in addition, the magnetic attraction mode is adopted, so that the loaded object is easily fixed on the grabbing device, and the loaded object is also easily separated from the grabbing device.
(3) According to the invention, the x-direction moving mechanism, the y-direction moving mechanism and the z-direction moving mechanism are arranged, so that the loaded object can be moved in the directions of the x axis, the y axis and the z axis at the same time, and the time for adjusting the position of the loaded object is reduced;
(4) the cantilever and the beam adopt the octagonal prism shape, and compared with the quadrangular prism shape in the prior art, the cantilever and the beam have high strength and long service life;
(5) the invention can realize remote control and is convenient to operate by the control device.
In conclusion, the invention has high mechanization level, convenient, fast and accurate installation, can ensure the safety of workers while reducing the manpower input, and has strong practicability.
The invention is suitable for the installation process of the loaded objects, particularly the loaded objects with the height larger than the section size, and particularly the loaded objects which can be adsorbed by magnetic force, such as H-shaped steel columns of electrified railway contact networks.
Drawings
The invention is described in further detail below with reference to the figures and the embodiments.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a y-direction moving mechanism and a beam slewing mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a cantilever turning mechanism and a grabbing mechanism according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a connection relationship of a control device according to an embodiment of the present invention.
In the figure: 1. a cross beam; 2. a cantilever; 3. an electromagnet; 4. an x-direction moving mechanism; 5. a gear; 6. a rack; 7. a hydraulic cylinder; 8. a beam rotation motor; 9. a coupling; 10. a driven gear ring; 11. a driving gear; 12. a cantilever rotating motor; 13. a y-direction motor; 14. moving the trolley; 15. a slideway.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the description of the preferred embodiment is only for purposes of illustration and understanding, and is not intended to limit the invention.
Embodiment of the invention relates to a method for automatically installing an H-shaped steel column
The embodiment is implemented by using equipment for automatically installing the H-shaped steel column, and the equipment for automatically installing the H-shaped steel column comprises a grabbing device, a moving device, a rotating device and a control device. The gripping device is used for fixing the loaded object, the moving device is used for adjusting the loaded object to move along the directions of an x axis, a y axis and a z axis relative to the mounting position, and the rotating device is used for rotating the loaded object from a horizontal state to a vertical state when the loaded object is located at the mounting position.
First, grabbing device
The gripping device comprises an electromagnet 3, a cross beam 1 and a cantilever 2. The cantilever 2 and the beam 1 are both cylinders with octagonal sections.
The beam 1 extends along the direction of an x axis, the cantilever 2 extends along the direction of a y axis, and the cantilever 2 is vertically fixed at the center of the beam 1 and is in a T shape. The bottom end of the cantilever 2 is fixedly connected with a loaded object. Cantilever 2 bottom end accessible screw thread mode can be dismantled and be connected with by the dress thing, and for simple to operate and not destroy by the surface of dress thing, this embodiment adopts magnetism to inhale fixed by the dress thing. The bottom end of the cantilever 2 is fixed with an electromagnet 3 for adsorbing the surface plane of the object to be loaded. In this way, the loaded object needs to be an object with a magnetic attraction plane, and the loaded object in this embodiment is an H-shaped steel column of an overhead contact system of an electrified railway.
Second, mobile device
The gripping device is fixed with a moving device which enables the gripping device to move along an x axis, a y axis and a z axis, and the moving device comprises an x-direction moving mechanism, a y-direction moving mechanism and a z-direction moving mechanism.
(1) x-direction moving mechanism 4
The x-direction moving mechanism 4 is arranged at the top end of the cantilever 2 to enable the cantilever 2 to move along the x-axis direction, the x-direction moving mechanism 4 adopts a lead screw, a lead screw main body is fixed on the cantilever 2, a lead screw bolt on the lead screw main body is fixed at the top end of the cantilever 2 to enable the cantilever 2 to move along the x-axis direction along a thread on the lead screw main body. The model of the screw rod is SFU 5005-4. In order to improve the degree of mechanization, the lead screw is driven to rotate by an x-direction motor.
(2) y-direction moving mechanism
A group of y-direction moving mechanisms are respectively arranged at the left end and the right end of the beam 1, so that the beam 1 moves along the y axis. The y-direction moving mechanism is in the form of a gear 5 and a rack 6, the beam 1 is fixedly connected with at least one gear 5, all the gears 5 are meshed with the rack 6 extending along the y-axis direction, and the beam 1 is driven to move along the y-axis by the movement of the gear 5 on the rack 6. In order to improve the degree of mechanization, a y-direction motor 13 is fixed on the gear 5, and the y-direction motor 13 is connected with the cross beam 1 through a y-direction reducer with the model of WPDX-80-10-1.5. In order to facilitate installation and increase the stability of movement, the gear 5, the y-direction motor 13 and the y-direction speed reducer are all fixed on the moving trolley 14, a slide way 15 in sliding connection is arranged below the moving trolley 14, and along with the movement of the gear 5 along the rack 6, the moving trolley 14 also moves along the slide way 15 in the y direction, so that the stability of the beam 1 in the movement process along the y-axis direction is ensured.
(3) z-direction moving mechanism
The z-direction moving mechanism is disposed below the y-direction moving mechanism to move the beam 1 along the z-axis. The z-direction moving mechanism is in the form of a hydraulic cylinder 7, the hydraulic cylinder 7 is fixedly connected to the y-direction moving mechanism below the slide way 15 and the rack 6, and at least one group of z-direction moving mechanisms can be arranged. The hydraulic cylinder 7 is connected with the electro-hydraulic proportional valve, and the lifting is controlled by the electro-hydraulic proportional valve. The four hydraulic cylinders 7 are lifted simultaneously, the height is 1700mm when the hydraulic cylinders are not lifted, and the maximum height is 3300 mm. The power of the hydraulic cylinder 7 is provided by a hydraulic pump station, and the pump station selects a gear oil pump with the rated pressure of 20Mpa, the maximum pressure of 25Mpa, the gear oil pump is driven by 4 motors with the pressure of 7.5kw and the flow of 35L/min.
Three, slewing gear
The rotating device comprises a beam rotating mechanism for rotating the loaded object in the horizontal state to the position above the installation position, and a cantilever rotating mechanism for rotating the loaded object in the horizontal state to the vertical state.
(1) Crossbeam slewing mechanism
The left end and the right end of the beam 1 are respectively provided with a group of beam rotating mechanisms, and each beam rotating mechanism comprises a beam rotating motor 8 and a coupler 9. The coupler 9 is fixedly connected to the moving trolley 14 of the y-direction moving mechanism, so that the coupler 9 moves along the y direction along with the moving trolley 14. The coupling 9 connects the beam 1 and the beam rotary motor 8, the beam rotary motor 8 adopts a servo motor, the rotating speed of the beam 1 is controlled by controlling the rotating speed of the servo motor, and the beam 1 rotates around the axis of the beam 1 to drive the loaded object to rotate above the installation position. The beam rotary motor 8 is connected with the coupling 9 by a double-stage reducer: a motor cycloid speed reducer XWVCD-3-4-71 and a worm gear speed reducer WHX 2880-1-30.
(2) Cantilever slewing mechanism
The cantilever slewing mechanism is arranged on the cantilever 2 and comprises a driven gear ring 10 and a driving gear 11.
Driven ring gear 10 bottom surface fixed connection is in cantilever 2 lower part, and the center department of driven ring gear 10 top surface articulates on cantilever 2 upper portion through the articulated shaft, and driven ring gear 10 meshes with at least one driving gear 11 mutually, and the rotation through driving gear 11 drives driven ring gear 10 and rotates to make cantilever 2 lower part rotate around self axis. The driving gear 11 is driven by a cantilever rotating motor 12 to rotate, and the cantilever rotating motor 12 is connected with the driving gear 11 through a speed reducer. The rotation process of the cantilever 2 is controlled by controlling the rotation speed of the cantilever rotation motor 12.
Fourth, the controlling device
The control device can realize intelligent control. Referring to fig. 4, the control signal input end of the electro-hydraulic proportional valve is connected with the control signal output end of the electro-hydraulic proportional valve control circuit, and the control signal input end of the electro-hydraulic proportional valve control circuit is connected with the control signal output end of the electro-hydraulic proportional valve control circuit; the control signal input end of the electromagnet 3 is connected with the control signal output end of the control circuit of the electromagnet 3, and the control line number input end of the control circuit of the electromagnet 3 is connected with the control signal output end of the electromagnet 3 of the control device; the control signal input end of the x-direction motor is connected with the control signal output end of the x-direction motor of the control device, the control signal input end of the y-direction motor 13 is connected with the control signal output end of the y-direction motor 13 of the control device, the control signal input end of the cross beam rotary motor 8 is connected with the control signal output end of the cross beam rotary motor 8 of the control device, and the control signal input end of the cantilever rotary motor 12 is connected with the control signal output end of the cantilever rotary motor 12 of the control device. Wherein, the control circuit of the electro-hydraulic proportional valve and the control circuit of the electromagnet 3 all adopt the conventional circuits in the prior art. The connection relation and the model of the control device and the electromagnet 3, the control device and the electro-hydraulic proportional valve, the control device and the x-direction motor, the control device and the y-direction motor 13, the control device and the beam rotary motor 8, and the control device and the cantilever rotary motor 12 are all the known technology.
Fifth, installation method
In this embodiment, the installation of the H-shaped steel column is completed by using the above apparatus for automatically installing the H-shaped steel column, including the following steps:
s1, controlling the electromagnet 3 to be electrified by the control device, and magnetically attracting and fixing the middle part of the horizontal loaded object at the bottom end of the cantilever 2 of the grabbing device through the electromagnet 3.
And S2, moving and rotating the loaded object in the horizontal state to the position above the installation position by combining the moving device and the beam rotating mechanism:
the positions of the loaded objects in the directions of the x axis, the y axis and the z axis are adjusted simultaneously by using a moving device: the control device controls the rotation of the lead screw through the x-direction motor, the position of the object to be loaded in the x-axis direction is adjusted by the lead screw, and preferably, the connecting line of the center of the cantilever 2 and the installation position is parallel to the plane of the y-z axis; the control device controls the movement of the gear 5 along the rack 6 through the y-direction motor 13, thereby adjusting the position of the loaded object in the y-axis direction, and preferably enabling the central connecting line of the loaded object and the mounting position to be parallel to the z axis; the control device controls the lifting of the hydraulic cylinder 7 through the electro-hydraulic proportional valve, so that the position of the loaded object in the z-axis direction is adjusted, and the loaded object in the horizontal state has enough rotating space when rotating to the vertical state;
and adjusting the position of the loaded object by using the moving device, and adjusting the rotating position of the loaded object on the plane of the y-axis and the z-axis by using the beam rotating mechanism 8. The control device controls the rotation of the beam rotary motor 8 to control the beam 1 to rotate around the axis of the beam 1, so that the loaded object is rotated above the installation position;
and finally, the loaded object is placed at a position right above or close to the installation position through the adjustment of the moving device and the beam rotating mechanism, wherein the position right above the installation position is a position which can enable the loaded object in a horizontal state to be aligned with the installation position after rotating to a vertical state.
S3, rotating the loaded object in the horizontal state by 90 degrees to a vertical state by a cantilever slewing mechanism:
the rotation of the cantilever rotating motor 12 is controlled by the control device, so that the rotation of the driving gear 11 drives the driven gear ring 10 to rotate, the cantilever 2 rotates around the axis of the cantilever 2, and finally the loaded object rotates from a horizontal state to a vertical state, namely, the loaded object is installed at an installation position.
S4, moving the loaded object in the vertical state to an installation position by the moving device, wherein the two conditions are divided:
s41, the object to be loaded is placed above the installation position and is aligned with the installation position, namely the object to be loaded is positioned right above the installation position
The control device controls the hydraulic cylinder to descend through the electro-hydraulic proportional valve, so that the loaded object vertically falls on the mounting position along the z-axis direction, and the loaded object is fixed at the mounting position through the bolt;
s42, placing the loaded object above the installation position and enabling the loaded object not to be aligned with the installation position, namely, the loaded object is located right above the installation position in a deviation mode
The position of the loaded object is finely adjusted by the x-direction moving mechanism 4 and the y-direction moving mechanism, so that the loaded object is aligned with the installation position, and then the loaded object is lowered to the installation position by the z-direction moving mechanism, namely:
firstly, a control device controls the rotation of a lead screw through an x-direction motor, and the position of a loaded object in the x-axis direction is adjusted by the lead screw; the control device controls the movement of the gear 5 along the rack 6 through the y-direction motor 13, thereby adjusting the position of the object in the y-axis direction and aligning the object with the mounting position. And the control device controls the hydraulic cylinder 7 to descend through the electro-hydraulic proportional valve, so that the loaded object vertically falls on the mounting position along the z-axis direction, and the loaded object is fixed at the mounting position through the bolt.
Thus, the mounting process of the object is completed.
Although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A method for automatically installing an H-shaped steel column is characterized by comprising the following steps: the method is realized by utilizing equipment for automatically installing the H-shaped steel column, wherein the equipment for automatically installing the H-shaped steel column comprises a grabbing device for fixing an object to be installed, a moving device for enabling the grabbing device to move along an x axis, a y axis and a z axis is fixed on the grabbing device, and a rotating device is also fixed on the grabbing device; the slewing device comprises a beam slewing mechanism for rotating the loaded object in the horizontal state to the position above the installation position, and also comprises a cantilever slewing mechanism for rotating the loaded object in the horizontal state to the vertical state;
in the equipment for automatically installing the H-shaped steel column, two ends of the beam are provided with beam slewing mechanisms, and each beam slewing mechanism comprises a beam slewing motor for driving the beam to rotate and a coupler for connecting the beam slewing motor and the beam;
the cantilever slewing mechanism comprises a driven gear ring fixed on the cantilever and a driving gear meshed with the driven gear ring to enable the driven gear ring to drive the cantilever to rotate around the axis of the cantilever;
the method for automatically installing the H-shaped steel column comprises the following steps:
s1, fixing a horizontal loaded object on a grabbing device;
s2, moving and rotating the horizontally loaded object to the position above the mounting position by the moving device and the beam rotating mechanism, wherein the beam rotating motor drives the beam to rotate around the axis of the beam to rotate the loaded object to the position above the mounting position;
s3, rotating the loaded object in the horizontal state to a vertical state by a cantilever rotating mechanism, wherein the driven gear ring is driven to rotate by the rotation of the driving gear, and the cantilever rotates around the axis of the cantilever so as to rotate the loaded object from the horizontal state to the vertical state;
and S4, moving the loaded object to the installation position by the moving device.
2. The method for automatically installing H-shaped steel columns according to claim 1, wherein the method comprises the following steps:
s1, fixing the horizontal loaded object on a grabbing device through an electromagnet in a magnetic attraction manner.
3. The method for automatically installing H-shaped steel columns according to claim 1 or 2, wherein the method comprises the following steps: in the equipment for automatically installing the H-shaped steel column, the grabbing device comprises a cantilever and a cross beam, the cantilever is vertically and fixedly connected to the cross beam, and the bottom end of the cantilever is fixedly connected with an object to be installed; the moving device comprises an x-direction moving mechanism which is arranged at the top end of the cantilever and enables the cantilever to move along an x axis, a y-direction moving mechanism which is arranged at the left end and the right end of the beam and enables the beam to move along a y axis, and a z-direction moving mechanism which is arranged at the bottom end of the beam and enables the beam to move along a z axis;
the method for automatically installing the H-shaped steel column comprises the following steps:
in step S2, the position of the object in the x-axis direction is adjusted by the x-direction moving mechanism, the position of the object in the y-axis direction is adjusted by the y-direction moving mechanism, and the position of the object in the z-axis direction is adjusted by the z-direction moving mechanism.
4. The method for automatically installing H-shaped steel columns according to claim 3, wherein the method comprises the following steps: in step S2, the screw rod adjusts the position of the object in the x-axis direction, the gear moves along the rack to adjust the position of the object in the y-axis direction, and the hydraulic cylinder adjusts the position of the object in the z-axis direction.
5. The method for automatically installing H-shaped steel columns according to claim 3, wherein the method comprises the following steps: in step S4, the object is lowered to the mounting position by the z-direction moving mechanism.
6. The method for automatically installing H-shaped steel columns according to claim 5, wherein the method comprises the following steps: in step S4, the x-direction moving mechanism and the y-direction moving mechanism finely adjust the position of the object to be loaded so that the object is aligned with the mounting position, and then the object is lowered to the mounting position by the z-direction moving mechanism.
7. The method for automatically installing H-shaped steel columns according to claim 2, wherein the method comprises the following steps: the electrification and the outage of the electromagnet, the movement of the moving device and the rotation of the rotating device are all controlled by the control device.
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CN108890213A (en) * 2018-10-15 2018-11-27 何志彦 A kind of H profile steel automatic soldering device
CN208377893U (en) * 2018-05-18 2019-01-15 青岛博世通工业设备有限公司 A kind of gearbox wire-changing device
CN109250448A (en) * 2018-08-18 2019-01-22 上海祈祿机械有限公司 A kind of closed guard gate's turnover device

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CN202296370U (en) * 2011-10-21 2012-07-04 浙江大东吴集团建设新材料有限公司 Concrete building block carrying and turning device
CN207014360U (en) * 2017-02-10 2018-02-16 上海轩田工业设备有限公司 A kind of axle transplantation device of workpiece four
CN208377893U (en) * 2018-05-18 2019-01-15 青岛博世通工业设备有限公司 A kind of gearbox wire-changing device
CN109250448A (en) * 2018-08-18 2019-01-22 上海祈祿机械有限公司 A kind of closed guard gate's turnover device
CN108890213A (en) * 2018-10-15 2018-11-27 何志彦 A kind of H profile steel automatic soldering device

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