CN114655882A - Automatic system for high-altitude lifting of electromechanical pipeline - Google Patents
Automatic system for high-altitude lifting of electromechanical pipeline Download PDFInfo
- Publication number
- CN114655882A CN114655882A CN202210147036.7A CN202210147036A CN114655882A CN 114655882 A CN114655882 A CN 114655882A CN 202210147036 A CN202210147036 A CN 202210147036A CN 114655882 A CN114655882 A CN 114655882A
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- unit
- lifting
- control unit
- electromechanical pipeline
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Abstract
The invention relates to the technical field of installation of electromechanical pipelines of buildings, and provides an automatic system for high-altitude lifting of electromechanical pipelines, which has high automation degree, construction precision and efficiency, and comprises a rack, a power unit, a walking unit, an anti-overturn unit, a lifting unit, a six-degree-of-freedom robot unit, an execution unit and a control unit; the power unit is arranged in the frame; the walking unit is arranged at the lower part of the side wall of the frame; the overturn preventing unit is arranged on the side wall of the rack and above the walking unit; the lifting unit is arranged at the top of the frame; the six-degree-of-freedom robot unit is arranged at the top of the lifting unit; the execution unit is arranged at the top of the six-degree-of-freedom robot unit; the control unit is arranged on an industrial computer and is connected with the whole system through a wireless network. The invention can greatly improve the automation level of the whole electromechanical pipeline installation construction, improve the construction precision and efficiency and reduce the cost.
Description
Technical Field
The invention relates to the technical field of installation of electromechanical pipelines of buildings, in particular to an automatic system for high-altitude lifting of electromechanical pipelines.
Background
At present, in the construction operation of electromechanical engineering, the problems of rough installation method, complex operation, low efficiency, large space limitation, more high-altitude operation, low construction precision and the like of electromechanical pipelines disturb construction units, often cause the conditions of uncontrollable installation construction quality, construction period, cost and the like, and influence the engineering delivery.
Disclosure of Invention
The invention aims to: the high-altitude lifting automation system for the electromechanical pipeline is high in automation degree, construction precision and efficiency.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an automatic system for high-altitude lifting of an electromechanical pipeline comprises a rack, a power unit, a walking unit, an anti-overturning unit, a lifting unit, a six-degree-of-freedom robot unit, an execution unit and a control unit; the power unit is arranged in the frame; the walking unit is arranged at the lower part of the side wall of the frame; the overturn preventing unit is arranged on the side wall of the rack and above the walking unit; the lifting unit is arranged at the top of the frame; the six-degree-of-freedom robot unit is arranged at the top of the lifting unit; the execution unit is arranged at the top of the six-degree-of-freedom robot unit; the control unit is arranged on an industrial computer and is connected with the whole system through a wireless network.
The control unit comprises a control unit of a power unit, a control unit of a walking unit, a control unit of an overturn-preventing unit, a control unit of a lifting unit, a control unit of a six-freedom-degree robot, a control unit of an execution unit, a communication unit and a master-slave control unit; the communication unit comprises a 5G communication technology, a wireless network technology and a data transmission technology, and is used for carrying out communication between a control computer and each unit of the system in real time and carrying out communication between a plurality of electromechanical pipeline high-altitude lifting automation systems; the main assistant slave control unit is used for forming a system which works in cooperation with a plurality of electromechanical pipeline high-altitude lifting automation systems through a wireless network technology, when a larger electromechanical pipeline is installed, the plurality of electromechanical pipeline high-altitude lifting automation systems work in cooperation, the main assistant slave control system designates one industrial-grade computer as a driving electromechanical pipeline high-altitude lifting automation system, and the rest are assisting electromechanical pipeline high-altitude lifting automation systems.
The power unit comprises a permanent magnet synchronous motor and a lithium battery; the control unit of the power unit monitors the parameters of electric quantity, current and voltage of the battery in real time, controls the rotating speed and the steering of the motor and monitors the states of all the electric elements.
The walking unit comprises a crawler-type walking device, an electronic power steering device, a brake device and an emergency stop device; the control unit of the walking unit regulates and controls the speed and the direction of the walking system, controls the speed of the electromechanical pipeline high-altitude lifting automatic system by controlling the magnitude of input current and voltage, and controls the forward and reverse rotation of the motor to change the forward and backward movement of the electromechanical pipeline high-altitude lifting automatic system.
The overturn preventing unit comprises a hanging support leg mechanism and a hydraulic device connected with the hanging support leg mechanism; and the control unit of the overturn preventing unit controls the extension and retraction of the hanging support leg mechanism and monitors the states of the hanging support leg and the hydraulic system.
The lifting unit is a scissor type hydraulic lifting platform and comprises a hydraulic cylinder provided with a hydraulic servo valve, a scissor type fork mechanism, an upper platform, a lower platform, a locking mechanism and a displacement sensor; and the control unit of the lifting unit controls the hydraulic cylinder through the hydraulic servo valve, and controls the position and the stability of the whole system.
The six-degree-of-freedom robot unit adopts a parallel mechanism form and comprises a moving platform, a fixed platform and a hydraulic cylinder, wherein the hydraulic cylinder is connected with the moving platform and the fixed platform through a Hooke joint and a spherical joint; the control unit of the six-degree-of-freedom robot unit comprises a controller based on kinematics and dynamics of the six-degree-of-freedom parallel robot, and controls the six-degree-of-freedom motion of the motion platform by controlling the extension and retraction of a hydraulic cylinder so as to move an electromechanical pipeline to an accurate installation position.
The execution unit consists of a bottom plate and a fixing mechanism, and the fixing mechanism is a hydraulic clamp; and the control unit of the execution unit controls the tightness of the clamp by controlling the extension and retraction of the hydraulic cylinder.
The frame, the power unit, the walking unit, the overturn-preventing unit, the lifting unit, the six-degree-of-freedom robot unit and the execution unit are connected into a whole in a bolt connection mode.
The beneficial effects of the invention are:
aiming at the characteristics of large engineering quantity, high precision requirement and more high-altitude operation in the field of electromechanical pipeline installation, the invention provides the automation system which has high operation efficiency and high precision and adopts a robot as an operation execution core, can greatly improve the automation level of the whole electromechanical pipeline installation construction, improves the construction precision and efficiency and reduces the cost.
Drawings
The electromechanical pipeline high altitude lifting automation system of the invention is further explained with reference to the attached drawings.
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
FIG. 4 is a schematic diagram of two electro-mechanical pipeline high altitude lift automation systems working together;
FIG. 5 is a schematic diagram of a six degree-of-freedom robotic unit of the present invention;
FIG. 6 is a schematic view of a lift unit of the present invention;
FIG. 7 is a top schematic view of FIG. 6;
FIG. 8 is a schematic diagram of an implementation of the present invention;
FIG. 9 is a schematic view of an anti-overturning system of the present invention;
in the figure: 1 a six-degree-of-freedom robot unit; 11 a motion platform; 12, spherical hinge; 13 hydraulic pressure
A cylinder; 14 fixing the platform; 2, a lifting unit; 21, an upper platform; 22 a scissor mechanism; 23, a locking mechanism; 231 a scissor mechanism hinge shaft; 232 connecting rods; 233 a locking shaft; 234 a nut block; a 235 motor; a 236 lead screw; 237 a manual dial; 24 hydraulic cylinders; 25 a lower platform; 26 a displacement sensor; 3 a control unit; 4 a power unit; 5 a walking unit; 6 an execution unit; 61 a fixing mechanism; 62 a base plate; 7 an overturn prevention unit; 71 a transverse hydraulic cylinder; 72 vertical hydraulic cylinders; 73 a leg mechanism; 8 electromechanical lines.
Detailed Description
As can be seen from fig. 1, 2 and 3, the electromechanical pipeline high altitude lifting automation system comprises a frame, a six-degree-of-freedom robot unit 1, a lifting unit 2, a power unit 4, a walking unit 5, an anti-overturn unit 7, an execution unit 6 and a control unit 3. The power unit 4 is arranged in the frame; the walking unit 5 is arranged at the lower part of the side wall of the frame; an anti-overturning unit 7 is arranged above the rack side wall walking unit 5; the lifting unit 2 is arranged at the top of the frame; the six-degree-of-freedom robot unit 1 is arranged at the top of the lifting unit 2; the execution unit 6 is arranged at the top of the six-degree-of-freedom robot unit 1; the control unit 3 is arranged on an industrial computer and is connected with the whole system through a wireless network.
The control unit comprises a control unit of a power unit, a control unit of a walking unit, a control unit of an overturn-preventing unit, a control unit of a lifting unit, a control unit of a six-freedom-degree robot, a control unit of an execution unit, a communication unit and a master-slave control unit; the communication unit comprises a 5G communication technology, a wireless network technology and a data transmission technology, and is used for carrying out communication between a control computer and each unit of the system in real time and carrying out communication between a plurality of electromechanical pipeline high-altitude lifting automation systems; and the master auxiliary control unit is used for forming a cooperative system by a plurality of electromechanical pipeline high-altitude lifting automation systems through a wireless network technology. As can be seen from fig. 4, when a larger electromechanical pipeline is installed, a plurality of electromechanical pipeline high-altitude lifting automation systems are required to cooperatively work, and at this time, a master-slave control system is required to coordinate, one is designated as a master electromechanical pipeline high-altitude lifting automation system, and the other is designated as a slave-master electromechanical pipeline high-altitude lifting automation system, and the rest is a slave-master electromechanical pipeline high-altitude lifting automation system, and the master-slave electromechanical pipeline high-altitude lifting automation systems are cooperatively and actively work in a cooperative manner.
The power unit comprises a motor and a battery, the motor is a permanent magnet synchronous motor, and the battery is a lithium battery; the control unit of the power unit monitors parameters such as electric quantity, current and voltage of the battery in real time, controls the rotating speed and the steering of the motor, and detects the states of all the electric elements.
The walking unit comprises a crawler-type walking device, an electronic power steering device, a brake device and an emergency stop device; the control unit of the walking unit regulates and controls the speed and the direction of the walking system, controls the speed of the electromechanical pipeline high-altitude lifting automatic system by controlling the magnitude of input current and voltage, and controls the forward and reverse rotation of the motor to change the forward and backward movement of the electromechanical pipeline high-altitude lifting automatic system.
As can be seen from fig. 9, the overturn preventing unit comprises a hanging leg mechanism 73, and a hydraulic device connected with the hanging leg mechanism, namely a transverse hydraulic cylinder 71 and a vertical hydraulic cylinder 72, wherein the transverse hydraulic cylinder is positioned in the hanging leg structure and is connected with the hanging leg structure through a hinge, and the vertical hydraulic cylinder is connected with the hanging leg structure through welding. And the control unit of the overturn preventing unit controls the extension and retraction of the hanging support leg mechanism and monitors the states of the hanging support leg and the hydraulic system.
As can be seen from fig. 6, the lifting unit is a scissor type hydraulic lifting platform, and comprises a hydraulic cylinder 24 provided with a hydraulic servo valve, a scissor type fork mechanism 22, an upper platform 21, a lower platform 25, a locking mechanism 23 and a displacement sensor 26; and the control unit of the lifting unit controls the vertical position of the execution unit and keeps stability by carrying out servo control on the lifting hydraulic servo controller. The scissor mechanism 22 is connected with the upper platform 21 and the lower platform 25 in a hinged manner; the locking mechanism 23 comprises a scissor mechanism hinge shaft 231, a connecting rod 232, a locking shaft 233, a nut block 234, a motor 235, a lead screw 236 and a manual turntable 237, one end of the connecting rod of the locking mechanism is connected with the scissor mechanism hinge shaft through a hinge, the scissor mechanism hinge shaft 231 is connected to the scissor mechanism 22 through a hinge mode, and the locking mechanism is connected to the lower platform through a bolt; the locking shaft 233 is arranged on a nut block 234 and connected with the connecting rod 232 through hinging, the nut block and the lead screw adopt a lead screw and nut transmission mode, and the motor 235 is connected with the lower platform 25 through a bolt connection mode.
It can be seen from fig. 7 that the displacement sensor 26 is bolted to the upper and lower platforms; the lead screw 236 is connected with a motor through a coupler; the manual dial 237 is welded to the lead screw. The locking mechanism adopts a lead screw nut transmission mode, has a self-locking characteristic, and drives the lead screw 236 to rotate by 2 motors 235 so as to drive the nut block 234 to do linear motion along the axis of the lead screw 236. The locking connecting rod mechanism consists of a locking shaft 233 and a connecting rod 232, one end of the connecting rod 232 is connected with the hinged shaft 231 of the scissors mechanism, the other end of the connecting rod 232 is connected with the locking shaft 233, and the locking shaft 233 is positioned in a groove of the nut block 234. The control unit 3 controls the rotation of the motor 235 according to the data of the displacement sensor 26, so that the position of the nut block 234 moves synchronously with the position of the scissors mechanism 22, and the lock link mechanism is in a follow-up state. When the scissor mechanism 22 stops moving, the nut block 234 abuts against the locking shaft 233, and the scissor mechanism hinge shaft 231 is fixed through the connecting rod 232, so that the locking function is achieved. Locking mechanism 23 can also play the safety role, and when whole electromechanical pipeline high altitude lifting automatic system cuts off the power supply suddenly or the unexpected condition appears, does not have high pressure oil in hydraulic cylinder 24, will not support operating system 2, and under the action of gravity, operating system 2 will have uncontrolled downstream trend. However, since the lead screw nut transmission has a self-locking characteristic, the nut block 234 cannot move, and the locking link mechanism and the scissor mechanism hinge shaft 231 are supported, so that the scissor mechanism 22 cannot move downwards, and the stability of the high-altitude lifting automation system of the electromechanical pipeline is ensured. A manual turn disc 237 is attached to one end of the lead screw 236 to enable manual rotation of the lead screw 236 when the motor 235 is de-energized or otherwise fails. The locking connecting rods 232 are symmetrically arranged, so that the stability of the connecting rods 232 is improved.
As shown in fig. 5, the six-degree-of-freedom robot unit adopts a parallel mechanism form and mainly comprises a moving platform 11, a fixed platform 14 and a hydraulic cylinder 13, wherein the hydraulic cylinder 13 is respectively connected with the moving platform 11 and the fixed platform 14 through a hook joint and a spherical joint; the control unit of the six-degree-of-freedom robot unit comprises a controller based on kinematics and dynamics of the six-degree-of-freedom parallel robot, and the control unit controls the motion platform to realize six-degree-of-freedom motion by controlling the extension and retraction of the hydraulic cylinder so as to move an electromechanical pipeline to an accurate installation position.
As can be seen from fig. 8, the actuating unit 6 is composed of a base plate 62 and a fixing mechanism 61, which is a hydraulic clamp; the fixing mechanism is connected with the bottom plate through bolt connection; and the control unit of the execution unit controls the tightness of the clamp by controlling the extension and retraction of the hydraulic cylinder.
During specific work, an operator operates the control unit 3 to enable the walking unit 5 to drive the electromechanical pipeline high-altitude lifting automation system to move to a working position, and then the anti-overturning unit 7 is controlled to extend the hanging support legs, so that stability in the working process of the system is guaranteed. The electromechanical pipeline 8 is placed on the execution unit 6, after the execution unit 6 fixes the electromechanical pipeline 8, the control unit 3 controls the lifting unit 2 to lift the six-degree-of-freedom robot unit 5, the execution unit 6 and the electromechanical pipeline 8 to the specified positions according to a set program, then the control unit controls the six-degree-of-freedom robot unit 5 and the execution unit 6 to move the electromechanical pipeline 8 to the accurate installation position, and field personnel install the electromechanical pipeline. After the installation is finished, the clamp of the execution unit 6 is loosened, and the stability of the electromechanical pipeline 8 in the installation process is ensured. After the installation is finished, the lifting unit 2, the six-degree-of-freedom robot unit 5, the execution unit 6 and the overturn prevention unit 7 all return to the initial positions, the installation of one electromechanical pipeline is finished, and an operator operates the electromechanical pipeline high-altitude lifting automation system to continue installation work to the next position. In the whole process, the power unit 2 supplies energy to all the functional units. When the walking unit 5 moves, the lifting unit 2 is located at the lowest position, and the high-altitude lifting automation system of the electromechanical pipeline is kept stable.
When a large electromechanical pipeline is installed, 2 or more electromechanical pipeline high-altitude lifting automatic systems are required to work cooperatively, at the moment, a master-slave control system is required to be applied, one electromechanical pipeline high-altitude lifting automatic system is designated as a master system, the rest electromechanical pipelines are designated as slave systems, the slave systems work cooperatively with the master system, a plurality of electromechanical pipeline high-altitude lifting automatic systems synchronously lift the electromechanical pipelines 8, the electromechanical pipelines 8 are moved to an installation position together, and after the installation is finished, the original position is returned. The implementation method comprises the following steps: the system comprises an active electromechanical pipeline high-altitude lifting automation system, a wireless network technology and a controller, wherein the active electromechanical pipeline high-altitude lifting automation system is used as a host, data of the auxiliary electromechanical pipeline high-altitude lifting automation system are collected and compared with corresponding data of the active electromechanical pipeline high-altitude lifting automation system, deviation is used as a control quantity, and the deviation is rapidly converged to zero according to the designed controller, so that the purpose of cooperative work is achieved.
Claims (9)
1. An automatic system for high-altitude lifting of an electromechanical pipeline comprises a rack, a power unit, a walking unit, an anti-overturning unit, a lifting unit, a six-degree-of-freedom robot unit, an execution unit and a control unit; the method is characterized in that: the power unit is arranged in the frame; the walking unit is arranged at the lower part of the side wall of the frame; the overturn preventing unit is arranged on the side wall of the rack and above the walking unit; the lifting unit is arranged at the top of the frame; the six-degree-of-freedom robot unit is arranged at the top of the lifting unit; the execution unit is arranged at the top of the six-degree-of-freedom robot unit; the control unit is arranged on an industrial computer and is connected with the whole system through a wireless network.
2. The automation system as claimed in claim 1, characterized in that: the control unit comprises a control unit of a power unit, a control unit of a walking unit, a control unit of an overturn-preventing unit, a control unit of a lifting unit, a control unit of a six-freedom-degree robot, a control unit of an execution unit, a communication unit and a master-slave control unit; the communication unit comprises a 5G communication technology, a wireless network technology and a data transmission technology, and is used for carrying out communication between a control computer and each unit of the system in real time and carrying out communication between a plurality of electromechanical pipeline high-altitude lifting automation systems; the main assistant slave control unit is used for forming a cooperative system by a plurality of electromechanical pipeline high-altitude lifting automatic systems through a wireless network technology, when a larger electromechanical pipeline is installed, the plurality of electromechanical pipeline high-altitude lifting automatic systems cooperate, the main assistant slave control system designates one industrial computer as an active electromechanical pipeline high-altitude lifting automatic system, and the rest are cooperative electromechanical pipeline high-altitude lifting automatic systems.
3. The automation system according to claim 1 or 2, characterized in that: the power unit comprises a permanent magnet synchronous motor and a lithium battery; the control unit of the power unit monitors the parameters of electric quantity, current and voltage of the battery in real time, controls the rotating speed and the steering of the motor and monitors the states of all the electric elements.
4. The electromechanical pipeline overhead lifting automation system as claimed in claim 1 or 2, wherein: the walking unit comprises a crawler-type walking device, an electronic power steering device, a brake device and an emergency stop device; the control unit of the walking unit regulates and controls the speed and the direction of the walking system, controls the speed of the electromechanical pipeline high-altitude lifting automatic system by controlling the magnitude of input current and voltage, and controls the forward and reverse rotation of the motor to change the forward and backward movement of the electromechanical pipeline high-altitude lifting automatic system.
5. The automation system according to claim 1 or 2, characterized in that: the overturn preventing unit comprises a hanging support leg mechanism and a hydraulic device connected with the hanging support leg mechanism; and the control unit of the overturn preventing unit controls the extension and retraction of the hanging support leg mechanism and monitors the states of the hanging support leg and the hydraulic system.
6. Automated system according to claim 1 or 2, characterized in that: the lifting unit is a scissor type hydraulic lifting platform and comprises a hydraulic cylinder provided with a hydraulic servo valve, a scissor type fork mechanism, an upper platform, a lower platform, a locking mechanism and a displacement sensor; and the control unit of the lifting unit controls the hydraulic cylinder through the hydraulic servo valve, and controls the position and the stability of the whole system.
7. The automation system according to claim 1 or 2, characterized in that: the six-degree-of-freedom robot unit adopts a parallel mechanism form and comprises a moving platform, a fixed platform and a hydraulic cylinder, wherein the hydraulic cylinder is connected with the moving platform and the fixed platform through a Hooke joint and a spherical joint; the control unit of the six-freedom-degree robot unit comprises a controller based on kinematics and dynamics of a six-freedom-degree parallel robot, and controls the six-freedom-degree motion of the motion platform by controlling the stretching of the hydraulic cylinder so as to move an electromechanical pipeline to an accurate installation position.
8. The automation system according to claim 1 or 2, characterized in that: the execution unit consists of a bottom plate and a fixing mechanism, and the fixing mechanism is a hydraulic clamp; and the control unit of the execution unit controls the tightness of the clamp by controlling the extension and retraction of the hydraulic cylinder.
9. The automation system according to claim 1 or 2, characterized in that: the frame, the power unit, the walking unit, the overturn-preventing unit, the lifting unit, the six-degree-of-freedom robot unit and the execution unit are connected into a whole in a bolt connection mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147036.7A CN114655882A (en) | 2022-02-17 | 2022-02-17 | Automatic system for high-altitude lifting of electromechanical pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210147036.7A CN114655882A (en) | 2022-02-17 | 2022-02-17 | Automatic system for high-altitude lifting of electromechanical pipeline |
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| CN114655882A true CN114655882A (en) | 2022-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210147036.7A Pending CN114655882A (en) | 2022-02-17 | 2022-02-17 | Automatic system for high-altitude lifting of electromechanical pipeline |
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