CN115580092A

CN115580092A - Automatic laying device and method for magnetic suspension long stator coil

Info

Publication number: CN115580092A
Application number: CN202210411946.1A
Authority: CN
Inventors: 陆飞; 李旻; 曹晓程; 孙文荣; 汤毅; 计豪丰
Original assignee: Shanghai Installation Engineering Group Co Ltd
Current assignee: Shanghai Installation Engineering Group Co Ltd
Priority date: 2022-04-19
Filing date: 2022-04-19
Publication date: 2023-01-06
Also published as: WO2023201976A1

Abstract

The invention discloses an automatic laying device for a magnetic suspension long stator coil, which comprises: the moving mechanism comprises a moving trolley, a hanging bracket and a hanging plate, wherein the hanging plate is positioned below the cable fixing mechanism arranged on the lower surface of the track beam; the jacking mechanism comprises a box body and a plurality of groups of coil jacking assemblies, each group of coil jacking assemblies comprises a coil jacking oil cylinder and a coil jacking support, and each coil jacking support comprises a vertical jacking frame and a transverse jacking frame; the transmission mechanism comprises a transmission bottom plate, a supporting piece, a driving wheel assembly, a driven wheel assembly, a transmission belt or a transmission chain and a transmission claw; the control mechanism comprises a master controller, a hydraulic controller and a motor controller, wherein the master controller is connected with the hydraulic controller and the motor controller, the motor controller is connected with the motor of the transmission mechanism, and the hydraulic controller is connected with the coil jacking oil cylinder of the jacking mechanism. The invention can realize automation and intellectualization of laying and installing the magnetic suspension long stator coil, improve the installation efficiency and quality and reduce the cost.

Description

Automatic laying device and method for magnetic suspension long stator coil

Technical Field

The invention relates to the technical field of magnetic suspension rail transit, in particular to an automatic laying device and method for a magnetic suspension long stator coil.

Background

The long stator coil is an important component in a high-speed magnetic levitation track traffic system and needs to be laid and installed on a magnetic levitation track. Chinese patent publication No. CN112688505A discloses a vehicle system is laid to long stator coil of magnetic suspension, and the cable drum on the car of the first number carries the cable to the car of the second number, and the car of the second number sets up the preparation shaping for long stator coil carries the external operation platform of the car of the third number through the cable bending, and construction operation personnel can accomplish the installation operation to laying to the magnetic suspension track of long stator coil through the apparatus. The method has the defects that the long stator coil needs to be installed manually by construction operators for laying, the installation efficiency and the construction cost are high, and the quality defect that the long stator coil cannot be installed and laid in place in a jacking mode due to the fact that the long stator coil is easily limited by the technical capacity of the construction operators is overcome.

Disclosure of Invention

The invention aims to solve the technical problem of providing the automatic laying device and method of the magnetic suspension long stator coil, which have the advantages of low construction cost, high installation efficiency and reliable installation quality.

In order to solve the technical problems, the technical scheme of the invention is as follows: an automatic laying device of a magnetic suspension long stator coil comprises:

the moving mechanism comprises a moving trolley which is arranged on the track beam and is positioned below the trolley body of the third trolley, hanging brackets which are vertically and downwards hung on two sides of the moving trolley, and hanging plates which are vertically arranged on the hanging brackets on each side, wherein the hanging plates are positioned below the cable fixing mechanisms arranged on the lower surface of the track beam;

the coil jacking oil cylinder is arranged on the box body or the hanging plate, the coil jacking oil cylinder is upwards connected with a coil jacking support, and the coil jacking support comprises a vertical jacking frame arranged along the Z direction and a transverse jacking frame vertically connected to the vertical jacking frame and arranged along the Y direction;

the transmission device is arranged at the upstream of the jacking device and comprises:

the transmission bottom plate is arranged between the coil conveying device and the hanging plate of the movable trolley along the X direction, and a sinking groove is formed in the transmission bottom plate along the X direction;

the supporting pieces are arranged on two sides of the sinking groove of the transmission bottom plate along the X direction;

the driving wheel assembly comprises a motor arranged at one end of one of the supporting pieces, the shaft of the motor is arranged along the Y direction, and a driving wheel connected to the shaft of the motor is positioned between the supporting pieces and rotates around the Y direction;

the driven wheel assembly comprises wheel seats arranged at one end of each supporting piece, the wheel seats are positioned on the opposite sides of the motors, driven shafts arranged along the Y direction are connected among the wheel seats, driven wheels are arranged on the driven shafts, and the driven wheels are positioned among the supporting pieces;

the transmission belt or the transmission chain is arranged between the driving wheel and the driven wheel in a surrounding mode, and the transmission length of the transmission belt or the transmission chain is smaller than that of the sinking groove of the transmission bottom plate;

the conveying claws are arranged on the conveying belt or the conveying chain at intervals and are supported between the two supporting pieces;

the control mechanism comprises a master controller, a hydraulic controller and a motor controller, wherein the master controller is connected with the hydraulic controller and the motor controller, the motor controller is connected with the motor of the transmission mechanism, and the hydraulic controller is connected with the coil jacking oil cylinder of the jacking mechanism.

Further, the invention provides an automatic laying device of a magnetic suspension long stator coil, wherein the hanger of the moving mechanism comprises:

the transverse frame is hoisted and arranged on the movable trolley and is arranged along the X direction;

and at least two vertical frames are arranged between the transverse frame and the hanging plate at intervals in parallel, and the vertical frames are arranged along the Z direction.

Further, the invention provides an automatic laying device of a magnetic suspension long stator coil, wherein the moving mechanism further comprises:

the side guide wheel assembly comprises fixed side frames vertically and downwards arranged on the outer side faces of two ends of the cross frame, guide oil cylinders vertically arranged on each fixed side frame and connected with the hydraulic controller along the Y direction, movable side frames located on the inner side faces of the cross frame and parallel to the fixed side frames and vertically arranged on the guide oil cylinders, and at least one side guide wheel rotating around the Z direction is arranged on each movable side frame.

Further, the invention provides an automatic laying device of a magnetic suspension long stator coil, wherein the transmission mechanism further comprises:

and one end of the transmission bottom plate of the transmission mechanism is arranged on the hanging plate of the moving mechanism through the heightening component.

Further, the invention provides an automatic laying device of a magnetic suspension long stator coil, wherein the jacking mechanism further comprises:

the baffle subassembly, for with the corresponding multiunit that sets up of coil jacking subassembly includes:

the driving rod is positioned below the transverse jacking frame of the coil jacking assembly and penetrates through the box body along the X direction to be arranged between the side plates in the Y direction, the driving rod comprises a first driving rod and a second driving rod which are arranged in parallel at intervals, a plurality of kidney-shaped holes which are arranged along the Z direction are formed in the first driving rod and the second driving rod, and the moving directions of the first driving rod and the second driving rod in the X direction are opposite;

the driving oil cylinder comprises a first driving oil cylinder and a second driving oil cylinder, the first driving oil cylinder is positioned outside the box body and connected with one end of the first driving rod to move along the X direction, the second driving oil cylinder is connected with one end of the second driving rod to move along the X direction, the driving directions of the first driving oil cylinder and the second driving oil cylinder are opposite, and the first driving oil cylinder and the second driving oil cylinder are both connected with the hydraulic controller;

the fixing rods comprise a first fixing rod and a second fixing rod which penetrate through the side plates arranged in the X direction of the box body and are arranged on two sides of the coil jacking bracket of each group of coil jacking assemblies along the Y direction;

the coil jacking assembly comprises a coil jacking assembly, a plurality of groups of overturning blocks and a plurality of groups of coil jacking assemblies, wherein each group of overturning blocks comprises a first overturning block, two second overturning blocks and a third overturning block, eccentric holes and eccentric columns which are distributed in a staggered mode along the Y direction are eccentrically arranged on the first overturning block and the third overturning block, the eccentric holes are located above the eccentric columns, and the second overturning blocks are provided with eccentric holes corresponding to the first overturning blocks or the third overturning blocks; the positions of the eccentric hole of the first overturning block and the eccentric hole of the third overturning block are correspondingly arranged, and the positions of the eccentric columns of the first overturning block and the eccentric columns of the third overturning block are opposite along the Y direction; the first turning block and the second turning block are fixedly arranged on the first fixing rod through the eccentric hole, and the first turning block is also arranged on the kidney-shaped hole of the first driving rod in a rotating and sliding manner through the eccentric column of the first turning block; the third overturning block and the other second overturning block are fixedly arranged on the second fixing rod through the eccentric hole, and the third overturning block is rotatably and slidably arranged on the waist-shaped hole of the second driving rod through the eccentric column of the third overturning block;

the baffle comprises a first baffle and a second baffle, the first baffle is horizontally arranged on the upper surfaces of the first overturning block and the second overturning block on the first fixing rod, and the second baffle is horizontally arranged on the upper surfaces of the third overturning block and the second overturning block on the second fixing rod.

Furthermore, the automatic laying device of the magnetic suspension long stator coil provided by the invention is characterized in that the coil jacking assembly further comprises an oil cylinder frame arranged on the box body, and the coil jacking oil cylinder is arranged on the box body through the oil cylinder frame.

Further, the automatic laying device of the magnetic suspension long stator coil provided by the invention further comprises the following jacking mechanism:

the box jacking assembly comprises a lifting plate arranged along the Z direction of the moving mechanism and a plurality of box jacking oil cylinders on the box, wherein the box jacking oil cylinders are connected with the hydraulic controller.

Furthermore, the automatic laying device of the magnetic suspension long stator coil, provided by the invention, comprises a box body jacking assembly, a connecting block and a lifting plate, wherein the box body jacking assembly also comprises a switching block arranged on the box body; the box body jacking oil cylinder positioned on the other side in the X direction is a bidirectional jacking oil cylinder, a mandril of the bidirectional jacking oil cylinder is rotatably arranged on the box body through a switching block, and an oil cylinder seat of the bidirectional jacking oil cylinder is rotatably arranged on the hanger plate through a switching block.

Further, the invention provides an automatic laying device of a magnetic suspension long stator coil, wherein the control mechanism further comprises:

the video monitoring system comprises a guide rod arranged on the hanging bracket along the X direction and a visual camera movably arranged on the guide rod and aligned with the jacking mechanism and the cable fixing mechanism, and the visual camera is connected with the main controller.

And/or position monitoring system, including setting up position sensor on climbing mechanism's the box, position sensor aligns on climbing mechanism's at least one coil jacking support's horizontal jacking frame and cable clamp's of cable fixed establishment treat the draw-in groove of mounted position, set up the sensor with the master controller is connected.

In order to solve the above technical problem, another technical solution of the present invention is: the automatic laying method of the magnetic suspension long stator coil adopts the automatic laying device of the magnetic suspension long stator coil, and comprises the following steps:

a main controller of the control mechanism sends a control instruction to start the motor controller and the hydraulic controller;

the position sensor detects whether a transverse jacking frame of a coil jacking bracket of a coil jacking assembly of the jacking mechanism is aligned with a clamping groove of the cable fixing mechanism or not, and when the transverse jacking frame is not aligned with the clamping groove of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller so as to align the transverse jacking frame with the clamping groove of the cable fixing mechanism;

after the transverse jacking frame is aligned with a clamping groove of the cable fixing mechanism, the main controller controls a motor of the transmission mechanism to rotate through a motor controller, the motor controls transmission of a conveyor belt or a transmission chain through a driving wheel of a driving wheel component and a driven wheel component, and the conveyor belt or the transmission chain transmits a long stator coil to a coil jacking frame of the jacking mechanism through a transmission claw on the conveyor belt or the transmission chain;

the method comprises the steps that a vision camera monitors whether the central line of a Y-direction section of a long stator coil is aligned to the Y-direction central line of a transverse jacking frame of a coil jacking bracket of a coil jacking assembly on a jacking mechanism or not, and when the central line of the Y-direction section of the long stator coil is not aligned to the Y-direction central line of the transverse jacking frame, a main controller controls a transmission mechanism through a motor controller to adjust the transmission position of the long stator coil so as to align the central line of the Y-direction section of the long stator coil to the Y-direction central line of the transverse jacking frame;

when the central line of the Y-direction section of the long stator coil is aligned to the Y-direction central line of the transverse jacking frame, the main controller controls a first baffle plate and a second baffle plate of a baffle plate assembly of the jacking mechanism to be turned from a horizontal position to a vertical position through a hydraulic controller so as to surround or clamp the Y-direction section of the long stator coil on the transverse jacking frame of the coil jacking assembly through the first baffle plate and the second baffle plate;

monitoring whether the baffle plate assembly is turned in place or not by the vision camera, and stopping the machine for maintenance when the baffle plate assembly is not turned in place;

when the baffle plate assembly is turned to be in place, the vision camera monitors whether the Y-direction section of the long stator coil is aligned with the clamping groove of the cable fixing mechanism or not, and when the Y-direction section of the long stator coil is not aligned with the clamping groove of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller so as to align the Y-direction section of the long stator coil with the clamping groove of the cable fixing mechanism;

after the Y-direction section of the long stator coil is aligned with the clamping groove of the cable fixing mechanism, the main controller controls a coil jacking assembly of the jacking mechanism to jack, lay and install the long stator coil on the cable fixing mechanism through the hydraulic controller;

the vision camera monitors whether the long stator coil is laid and installed in place or not and monitors whether an insulating layer of the long stator coil is damaged or not and feeds the damaged insulating layer back to the main controller;

when the long stator coil is not laid and installed in place, the controller controls a box body jacking assembly of the jacking mechanism to jack the box body upwards along the Z direction through the hydraulic controller, so that the long stator coil is jacked, laid and installed on the cable fixing mechanism through jacking of the box body and jacking of the coil jacking assembly;

after the long stator coil is laid and installed in place, the main controller controls the box body jacking assembly, the coil jacking assembly and the baffle plate assembly of the jacking mechanism to reset through the hydraulic controller.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides an automatic laying device and method of a magnetic suspension long stator coil.A main controller of a control mechanism sends out a control instruction to start a motor controller and a hydraulic controller; the motor controller controls the motor to rotate, the motor controls the transmission of the conveyor belt or the transmission chain through a driving wheel of the driving wheel component and a driven wheel component, and the conveyor belt or the transmission chain transmits the long stator coil to a coil jacking bracket of the jacking mechanism through a transmission claw on the conveyor belt or the transmission chain; hydraulic controller control coil jacking cylinder jacking, in order to lay the automatic installation of long stator coil on cable fixed establishment through coil jacking cylinder control coil jacking support, can realize the automation and the intellectuality of the long stator coil installation of magnetic suspension, installation effectiveness and quality have been improved, the installation error and the installation of having avoided artifical installation to cause lay the situation not in place, do not receive the restriction of construction operation personnel's technical ability, the construction operation personnel's of installing long stator coil quantity has been reduced, the cost is reduced.

Drawings

Fig. 1 is a side view schematic configuration diagram of a third vehicle of a magnetic levitation long stator coil laying vehicle system and a magnetic levitation long stator coil automatic laying device;

FIG. 2 is a schematic side view of an automatic laying device for magnetic suspension long stator coils on a track beam;

FIG. 3 is a schematic view of a cable clamp of the cable securing mechanism;

FIG. 4 is a schematic three-dimensional combined structure of the automatic laying device of the magnetic suspension long stator coil without a moving trolley;

FIG. 5 is a schematic diagram of a three-dimensional explosion structure of a transmission mechanism, a part of a moving mechanism and a part of a jacking mechanism of the automatic laying device for the magnetic suspension long stator coil;

FIG. 6 is a schematic perspective view of the transfer base of the transfer mechanism mounted on the coil conveying device;

FIG. 7 is a schematic diagram of a top view of a long stator coil being transferred to a coil jacking assembly of a jacking mechanism;

FIG. 8 is a schematic top view of the transmission mechanism with the long stator coil moved by the transmission claw;

FIG. 9 is a schematic view of a partial exploded perspective view of a set of baffle assemblies;

FIG. 10 is a side view schematic of a jack mechanism;

fig. 11 to 12 are schematic side view structural diagrams of a process state of the coil lifting assembly lifting the long stator coil and a turning state of the baffle plate assembly;

FIG. 13 is a schematic diagram of the box tilt adjustment relationship of the box lift assembly;

shown in the figure:

270. a coil conveying device;

300. the third vehicle 360, the cable fixing mechanism 361, the cable bracket 362, the dovetail groove plate 363, the cable clamp 3631 and the card slot;

800. the magnetic suspension long stator coil automatically lays the device;

810. a moving mechanism 811, a moving trolley 812, a hanging bracket 8121, a cross frame 8122, a vertical frame 813, a hanging plate 8131, a counter bore 814, a side guide wheel assembly 8141, a fixed side frame 8142, a guide oil cylinder 8143, a moving side frame 8144 and a side guide wheel;

820. the device comprises a transmission mechanism 821, a transmission bottom plate 8211, a sinking groove 822, a supporting piece 823, a driving wheel assembly 8231, a motor 8232, a driving wheel 824, a driven wheel assembly 8241, a wheel seat 8242, a driven shaft 8243, a driven wheel 825, a transmission belt/transmission chain 826, a transmission claw 827, a padding assembly 8271, a first padding plate 8272, a second padding plate 8273 and a pin shaft;

830. the lifting device comprises a lifting mechanism, 831, a box body, 8311, a side plate, 8312, a lower hole, 8313, an upper hole, 832, a baffle assembly, 8321, a driving rod, 8321-1, a first driving rod, 8321-2, a second driving rod, 8321-3, a waist-shaped hole, 8322, a driving oil cylinder, 8322-1, a first driving oil cylinder, 8322-2, a second driving oil cylinder, 8323, a turning block, 8323-1, a first turning block, 8323-2, a second turning block, 8323-3, a third turning block, 8323-4, an eccentric hole, 8323-5, an eccentric column, 8324, a fixing rod, 8324-1, a first fixing rod, 8324-2, a second fixing rod, 8325, a baffle, 8325-1, a first baffle, 8325-2, a second baffle, 833, a coil lifting assembly, 8331, an oil cylinder frame, 8332, a coil lifting oil cylinder, 8333, a coil lifting support, 33-1, a vertical lifting frame, 832, a box body, a transverse connecting shaft 8342, a lifting oil cylinder assembly, 8342, a lifting rod assembly, 8342, a connecting shaft 8323-1, a lifting rod assembly and a lifting rod assembly;

840. a control mechanism 841, a master controller 842, a hydraulic controller 843, a motor controller 844, a video monitoring system 8441, a visual camera 8442, a guide rod 845 and a position sensor;

900. the track beam, 910, the track beam side plate, 920, the long stator coil.

Detailed Description

The invention is described in detail below with reference to the attached drawing figures: the advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is provided for the purpose of facilitating and clearly illustrating embodiments of the present invention.

Specifically, the following description is provided: the embodiment of the invention discloses an improvement on a magnetic suspension long stator coil laying vehicle system disclosed in Chinese patent publication No. CN112688505A, and mainly aims to improve a third vehicle, so that the second vehicle is bent and formed into a long stator coil and is conveyed to the third vehicle, and the automatic laying of the long stator coil is completed through the third vehicle. The technical scheme of the first vehicle, the second vehicle and the third vehicle of the magnetic suspension long stator coil laying vehicle system is based on the patent document of Chinese patent publication No. CN112688505A, and the embodiment of the invention is based on the technical scheme which is not disclosed by the third vehicle or the contradiction between the technical scheme and the embodiment of the invention. For the convenience of understanding, the embodiment of the invention adopts the reference numerals of the magnetic suspension long stator coil laying vehicle system and is numbered in sequence on the basis of the reference numerals.

Referring to fig. 1 to 13, an embodiment of the invention provides an automatic laying apparatus 800 for magnetically levitated long stator coils, which includes a moving mechanism 810, a transferring mechanism 820, a jacking mechanism 830 and a control mechanism 840. Wherein:

referring to fig. 1 to 4, the moving mechanism 810 includes a moving trolley 811 disposed on the track beam 900 and under the body of the third car 300, hangers 812 vertically and downwardly hanging on both sides of the moving trolley 811, and hanging plates 813 vertically disposed on each hanger 812, wherein the hanging plates 813 are disposed below the cable fixing mechanisms 360 disposed on the lower surface of the track beam 900. The hanging plate 813 is located on the inner side of the external hanging operation platform of the third vehicle 300. In order to increase the effective usable area of the hanging plate 813, the hanging plate 813 and the hanger 812 are disposed eccentrically, and the outer side surface of the hanging plate 813 in the X direction is connected to the hanger 812. The cable fixing mechanism 360 may include a dovetail plate 362 disposed on the lower surface of the track beam 900 through a cable bracket 361, and a cable clamp 363 mounted on the dovetail plate 362, wherein a slot 3631 for laying and mounting a long stator coil 920 is disposed on the cable clamp 363, and the long stator coil 920 is in interference fit with the slot 3631. The connection structure and the connection mode of the cable clamp 363 disposed on the lower surface of the track beam 900 are not limited to the specific structure of the dovetail plate 362 and the cable bracket 361, and may also be the known technology in the art, wherein the technical solution of the third car 300 may refer to the specification and the drawings of CN 112688505A. The moving mechanism 810 is used for driving the jacking mechanism 830 and the transmission mechanism 820 to move on the track beam 900 so as to perform installation alignment and segment-by-segment laying installation of the long stator coil 900. The mobile cart 811 may include a driving motor 8231 connected to the main controller 841, and a driving box connected to the driving motor 8231, and the driving box is connected to wheels of the mobile cart 811. The drive housing may be of a type known in the art.

Referring to fig. 4, in order to improve the stability of the moving mechanism 810 during moving, the hanger 812 of the moving mechanism 810 may include:

and the cross frame 8121 is hoisted and arranged on the movable trolley 811, and the cross frame 8121 is arranged along the X direction.

At least two vertical frames 8122 are arranged between the cross frame 8121 and the hanging plate 813 in parallel at intervals, and the vertical frames 8122 are arranged along the Z direction. The more than two vertical frames 8122 and the transverse frames 8121 can improve the connection reliability and stability of the hanging frame 812 and the hanging plate 813, and can also ensure the stability of the horizontal position of the transverse frame 8121 and prevent the transverse frame 8121 from shaking.

Referring to fig. 4, in order to improve stability and prevent shaking during moving, the moving mechanism 810 may further include:

the side guide wheel assembly 814 comprises fixed side frames 8141 vertically and downwards arranged on the outer side faces of two ends of the cross frame 8121, guide oil cylinders 8142 vertically arranged on each fixed side frame 8141 and connected with the hydraulic controller 842 along the Y direction, movable side frames 8143 positioned on the fixed side frames 8141 and vertically arranged on the guide oil cylinders 8142 and parallel to the fixed side frames 8141, and at least one side guide wheel 8144 rotating around the Z direction is arranged on each movable side frame 8143. Fig. 4 illustrates three side guides 8144 per moving side frame 8143.

Referring to fig. 1 to 4, the control method of the moving mechanism 810 is as follows: the main controller 841 controls the driving motor 8231 of the moving mechanism 810 to rotate through the motor controller 843, the driving motor 8231 controls the wheels to rotate through the driving box so as to control the moving trolley 811 to walk on the track beam 900, and the moving trolley 811 controls the hanging plate 813 to move along the X direction through the hanging bracket 812. In order to improve the stability of the moving mechanism 810 during moving, the main controller 841 controls the guide cylinder 8142 to telescopically adjust the moving side frame 8143 of the side guide wheel assembly 814 towards the track beam side plate 910 of the track beam 900 through the hydraulic controller 842, so that the side guide wheel 8144 on the moving side frame 8143 can be tightly attached to the track beam 900, and the hanger 812 and the hanger plate 813 can stably follow and move when the mobile trolley 811 moves on the track beam 900. Wherein the fixed side frame 8141 serves as a support base for the guide cylinder 8142. Side guide wheel assembly 814 also has the effect of preventing Y-direction offset when long stator coil 920 is jacked up for installation, and accommodating rail beams of different widths. That is, the side guide roller assemblies 814 on both sides of the track beam 900 may be controlled in the same direction or in opposite directions, and are used to prevent the Y-direction shift when the long stator coil 920 is lifted up, laid and mounted. In the opposite direction control, the locking mechanism serves to abut against the track beam 900 and lock the track beam 900 when the moving mechanism 810 stops, thereby improving stability.

Referring to fig. 1 to 5 and 10 to 12, the jacking mechanism 830 includes a box 831 disposed on the hanging plate 813 of the moving mechanism 810, and a plurality of coil jacking assemblies 833 disposed in the box 831 along the X direction for receiving and jacking the long stator coil 920 transmitted by the transmission mechanism 820, so as to jack the long stator coil 920 to be automatically laid and mounted on the cable fixing mechanism 360. Every group coil jacking subassembly 833 includes the coil jacking cylinder 8332 along the Z direction motion, coil jacking cylinder 8332 sets up box 831 perhaps on the hanger plate 813, coil jacking cylinder 8332 upwards is connected with coil jacking support 8333, coil jacking support 8333 includes the vertical jacking frame 8333-1 and the perpendicular connection of arranging along the Z direction horizontal jacking frame 8333-2 of arranging along the Y direction on the vertical jacking frame 8333-1. The box 831 may be a cube without an upper cover, or a rectangular frame without upper and lower covers for cost saving. Fig. 4 illustrates a rectangular frame case 831 without upper and lower cover plates, which is enclosed by four side plates 8311. Fig. 4 illustrates a situation that the coil jacking cylinder 8332 is arranged on the hanging plate 813, when the coil jacking cylinder 8332 is arranged on the hanging plate 813, a cylinder seat of the coil jacking cylinder 8332 can be directly arranged on the hanging plate 813, and can also be arranged on a sinking bottom hole (not marked) of the hanging plate 813 for improving stability, and the stroke length of the coil jacking cylinder 8332 is increased on one hand and the reliable connection of the coil jacking cylinder 8332 is improved on the other hand by fixing the cylinder seat of the coil jacking cylinder 8332 on the sinking bottom hole of the hanging plate 813.

Fig. 10 to 11 illustrate a case where the coil lift cylinder 8332 is provided on the tank 831. The coil lifting support 8333 is not limited to the specific mechanism, and the coil lifting support 8333 of different specifications and different mechanisms can be matched for laying the long stator coil 920 of different specifications.

Referring to fig. 10 to 12, in order to arrange the coil jacking assembly 833 on the box 831 of the jacking mechanism 830, in the automatic magnetic levitation long stator coil laying apparatus 800 according to the embodiment of the present invention, the coil jacking assembly 833 further includes an oil cylinder bracket 8331 arranged on the box 831, and the coil jacking oil cylinder 8332 is arranged on the box 831 through the oil cylinder bracket 8331. The cylinder frame 8331 can improve the reliability and stability of the coil jacking cylinder 8332 disposed on the case 831.

Referring to fig. 4 to 5, 10 to 13, in order to ensure that the jacking mechanism 830 and the transmission mechanism 820 are at the same horizontal height, the automatic laying apparatus 800 for magnetic suspension long stator coil according to the embodiment of the present invention further includes:

the tank jacking assembly 834 comprises a plurality of tank jacking oil cylinders 8341 arranged on the lifting plate 813 of the moving mechanism 810 and the tank 831 along the Z direction, wherein the tank jacking oil cylinders 8341 are connected with the hydraulic controller 842.

Referring to fig. 5, 10 and 13, in order to prevent the case 831 from tilting during height adjustment, in the automatic magnetic suspension laying apparatus 800 for long stator coils according to the embodiment of the present invention, the case jacking assembly 834 further includes an adapter block 8342 disposed on the case 831, a cylinder seat of the case jacking cylinder 8341 located on one side in the X direction is fixedly disposed on the hanging plate 813, and a push rod is connected to the adapter block 8342. The box body jacking oil cylinder 8341 positioned on at least one side in the X direction is a two-way jacking oil cylinder, a mandril of the two-way jacking oil cylinder is rotatably arranged on the box body 831 through a switching block 8342, and an oil cylinder seat of the two-way jacking oil cylinder is rotatably arranged on the hanging plate 813 through a switching block 8342. Wherein the transfer block 8342 may be a rectangular block with a central through hole. The adapting block 8342 may be provided on the lower hole 8312 of the side plate 8311 of the box 831 in the X direction by a connecting shaft 8343 arranged in the Y direction.

Referring to fig. 13, the control method of the box jacking assembly 834 during tilting is as follows:

when the lifting heights of the two side box body jacking oil cylinders 8341 are not consistent, the box body jacking oil cylinder 8341 on the left side and the two-way jacking oil cylinder on the right side in fig. 13 rotate around the connecting shaft 8343 to enable the box body 831 to incline, and the jacking rods and the cylinder seats of the two-way jacking oil cylinders rotate around the upper and lower connecting shafts 8343 to adjust the two-way jacking oil cylinders to be in a vertical state from an inclined state, so that the lifting heights of the box body jacking oil cylinders 8341 on the two sides of the box body are adjusted to be consistent, and the box body 831 is adjusted to be in a horizontal state from an inclined state.

Referring to fig. 4 and 10, in order to adjust the inclination angle of the box 831 conveniently, according to the automatic laying device 800 for a magnetic suspension long stator coil provided by the embodiment of the present invention, the cylinder seat of the bidirectional jacking cylinder is disposed in the counter bore 8131 disposed on the hanging plate 813. The stroke length of the bidirectional jacking oil cylinder arranged in the counter bore 8131 of the hanging plate 813 is increased, so that the inclination angle of the adjusting box body 831 is controlled, and the adjusting box body 831 is in a horizontal state. Box jacking subassembly 834 one side is two-way jacking cylinder, can prevent that both sides box jacking cylinder from going up and down highly inconsistent and make box 831 receive the pulling force, can make box 831 slope guarantee box 831 not receive X to pulling force to lead to removing through two-way jacking cylinder rotation in counter bore 8131 of hanger plate.

Referring to fig. 4 to 5 and 9 to 12, in order to prevent the coil jacking mechanism 833 from deviating in position during jacking, in the automatic laying apparatus 800 for magnetic suspension long stator coils according to an embodiment of the present invention, the jacking mechanism 830 may further include a baffle plate assembly 832, which is a plurality of sets corresponding to the coil jacking assembly 833. The baffle assembly 832 may include:

the driving rod 8321 is positioned below the transverse jacking frame 8333-2 of the coil jacking assembly 833 and penetrates through the box 831 along the X direction and is arranged between the side plates 8311 in the Y direction, the driving rod 8321 comprises a first driving rod 8321-1 and a second driving rod 8321-2 which are arranged in parallel at intervals, a plurality of waist-shaped holes 8321-3 arranged along the Z direction are arranged on the first driving rod 8321-1 and the second driving rod 8321-2, and the moving directions of the first driving rod 8321-1 and the second driving rod 8321-2 in the X direction are opposite.

The driving oil cylinder 8322 comprises a first driving oil cylinder 8322-1 and a second driving oil cylinder 8322-2, wherein the first driving oil cylinder 8322-1 and the second driving oil cylinder 8322-2 are located outside the box 831 and connected at one end of the first driving rod 8321-1 and one end of the second driving rod 8321-2 move along the X direction, the driving directions of the first driving oil cylinder 8322-1 and the second driving oil cylinder 8322-2 are opposite, and the first driving oil cylinder 8322-1 and the second driving oil cylinder 8322-2 are connected with the hydraulic controller 842.

The fixing rod 8324 includes a first fixing rod 8324-1 and a second fixing rod 8324-2 which are arranged at both sides of the coil lifting bracket 8333 of each group of the coil lifting assembly 833 along the Y direction and penetrate between the side plates 8311 of the X direction of the box body 831. The first fixing rod 8324-1 and the second fixing rod 8324-2 are disposed on the box body 8311 through an upper hole 8313 on the side plate 8311 of the box body 831 in the X direction.

The turning blocks 8323 are provided with a plurality of groups corresponding to the coil jacking assembly 833, each group of turning blocks 8323 comprises a first turning block 8323-1, two second turning blocks 8323-2 and a third turning block 8323-3, eccentric holes 8323-4 and eccentric columns 8323-5 which are distributed in a staggered manner along the Y direction are eccentrically arranged on the first turning block 8323-1 and the third turning block 8323-3, the eccentric holes 8323-4 are positioned above the eccentric columns 8323-5, and eccentric holes 8323-4 corresponding to the positions of the first turning block 8323-1 or the third turning block 8323-3 are arranged on the second turning block 8323-2; the positions of the eccentric hole 8323-4 of the first turning block 8323-1 to the eccentric hole 8323-4 of the third turning block 8323-3 are correspondingly arranged, and the position of the eccentric column 8323-5 of the first turning block 8323-1 is opposite to the position of the eccentric column 8323-5 of the third turning block 8323-3 arranged along the Y direction; the first turning block 8323-1 and the second turning block 8323-2 are fixedly arranged on the first fixing rod 8324-1 through the eccentric hole 8323-4, and the first turning block 8323-1 is further arranged on the waist-shaped hole 8321-3 of the first driving rod 8321-1 in a rotating and sliding manner through the eccentric column 8323-5; the third flipping block 8323-3 and the other second flipping block 8323-2 are fixedly disposed on the second fixing rod 8324-2 through the eccentric hole 8323-4, and the third flipping block 8323-3 is rotatably and slidably disposed on the waist-shaped hole 8321-3 of the second driving rod 8321-2 through the eccentric column 8323-5.

A barrier 8325 including a first barrier 8325-1 and a second barrier 8325-2, the first barrier 8325-1 being horizontally disposed on the upper surfaces of the first and second flipping blocks 8323-1 and 8323-2 on the first fixing rod 8324-1, the second barrier 8325-2 being horizontally disposed on the upper surfaces of the third and second flipping blocks 8323-3 and 8323-2 on the second fixing rod 8324-2.

Referring to fig. 4 to 5 and 9 to 12, the control method of the baffle plate assembly 832 is as follows:

master controller 841 controls first drive cylinder 8322-1 and second drive cylinder 8322-2 to move in the X direction through hydraulic controller 842. The first driving oil cylinder 8322-1 drives the first overturning block 8323-1, the second overturning block 8323-2 and the first baffle 8325-1 on the first fixing rod 8324-1 to rotate clockwise by 90 degrees through the first driving rod 8321-1 so as to overturn the first baffle 8325-1 from the horizontal position to the vertical position; the second driving oil cylinder 8322-2 drives the third overturning block 8323-3, the second overturning block 8323-2 and the second baffle 8325-2 thereon positioned on the second fixing rod 8324-2 to rotate 90 degrees counterclockwise through the second driving rod 8321-2, so as to overturn the second baffle 8325-2 from the horizontal position to the vertical position; the vertical positions of the first and second shutters 8325-1 and 8325-2 enclose or hold the Y-direction segment of the long stator coil 920 positioned on the coil lifting bracket 8333 to prevent the coil lifting bracket 8333 from displacing the long stator coil 920.

The baffle plate assembly 832 can prevent the long stator coil 920 from shifting in the X direction in the jacking process, the distance between the first baffle plate and the second baffle plate can adapt to the long stator coil 920 with the radius of 15mm-20mm, and the baffle plate assembly can be suitable for long stator coils with different specifications by replacing the overturning block 8323.

Referring to fig. 4 to 6, a conveying mechanism 820 is disposed upstream of the jacking mechanism 830 for conveying the formed long stator coil 920 to the jacking mechanism 830. The transfer mechanism 820 includes a transfer base 821, a support 822, a drive wheel assembly 823, a driven wheel assembly 824, a transfer belt or chain 825, and a transfer claw 826. Wherein:

the transfer base 821 is disposed between the coil conveying device 270 and the hanging plate 813 of the moving cart 811 along the X direction, and the transfer base 821 is provided with a sinking groove 8211 along the X direction. The sink 8211 is to provide a sufficient rotation space for the circulation transfer of the transfer claw 826. Referring to the specification and drawings of CN112688505A, the coil conveying device 270 is disposed on the second vehicle and extends to the external hanging operation platform of the third vehicle 300.

And supporting members 822 disposed at both sides of the sinking groove 8211 of the transferring base plate 821 in the X direction for supporting stable circulation rotation of the transferring claw 826 to ensure that the transferring claw 826 is driven by the transferring belt or the transferring chain 825 to stably transfer the long stator coil 920.

A driving wheel assembly 823 comprises a motor 8231 disposed at one end of one of the supporting members 822, wherein the shaft of the motor 8231 is arranged along the Y direction, a driving wheel 8232 connected to the shaft of the motor 8231, and the driving wheel 8232 is positioned between the supporting members 822 and rotates around the Y direction.

A driven wheel assembly 824 including a wheel seat 8241 disposed at one end of each of the supporting members 822, the wheel seat 8241 being located at an opposite side of the motor 8231, a driven wheel 8242 connected between the wheel seats 8241 and arranged in the Y direction, a driven wheel 8243 disposed on the driven wheel 8242, the driven wheel 8243 being located between the supporting members 822. Driven wheel assembly 824 is not limited to the specific configuration described above and may be of a type well known in the art.

A transmission belt or chain 825 is arranged between the driving wheel 8232 and the driven wheel 8243 in a surrounding manner, and the transmission belt or chain 825 has a conveying length smaller than that of the sinking groove 8211 of the transmission base plate 821. The drive pulley 8232 and the driven pulley 8243 may be pulleys or sprockets, with a corresponding selection of conveyor belts for the pulleys and conveyor chains for the sprockets.

And a transfer claw 826 disposed on the transfer belt or chain 825 at a spacing and supported between the two support members 822. The number of the transfer claws 826 is at least one, and in order to ensure the stability of the transfer, the number of the transfer claws is at least three. The S-shaped long stator coil with different specifications can be suitable by replacing the transmission claw 826 with different specifications and sizes. For example: the transmission claw can be used for S-shaped long stator coils with the spacing of 230mm-250mm, the width of 400mm-420mm and the radius of 15mm-20 mm.

Referring to fig. 4 to 5, the control direction of the transmission mechanism 820 is as follows:

the main controller 841 controls the motor 8231 of the transmission mechanism 820 to rotate through the motor controller 843, the motor 8231 controls the transmission of the conveyor belt or the transmission chain through the driving wheel 8232 and the driven wheel 8243 of the driving wheel assembly 823, and the conveyor belt or the transmission chain transmits the long stator coil 920 to the coil jacking bracket 8333 of the jacking mechanism 830 through the transmission claw 826 on the conveyor belt or the transmission chain.

Referring to fig. 4 to 5, in order to ensure that the transporting mechanism 820 is in a horizontal state and the transporting mechanism 820 and the jacking mechanism 830 are at the same horizontal height, the magnetic suspension long stator coil automatic laying apparatus 800 according to the embodiment of the present invention further includes:

a block-up component 827, one end of the transmission bottom plate 821 of the transmission mechanism 820 is arranged on the hanging plate 813 of the moving mechanism 810 through the block-up component 827.

Referring to fig. 4 to 5, in order to facilitate maintenance, according to an automatic laying apparatus 800 for a magnetic suspension long stator coil provided in an embodiment of the present invention, the raising assembly 827 may be configured as a detachable structure, including:

first pads 8271 are disposed in parallel at intervals on a lower surface of the transfer bottom 821.

And second pad plates 8272 disposed on the upper surface of the hanger plate 813 in parallel at intervals, wherein the second pad plates 8272 are located at the outer side or the inner side of the first pad plates 8271.

And a pin 8273 penetrating between the first pad 8271 and the second pad 8272 in the Y direction.

The removable connection of the first pad 8271 to the second pad 8272 may be accomplished by pins 8273.

Referring to fig. 4, the control mechanism 840 includes a main controller 841, a hydraulic controller 842 and a motor controller 843 connected to the main controller 841, the motor controller 843 is connected to a motor 8231 of the transmission mechanism 820, and the hydraulic controller 842 is connected to a coil jacking cylinder 8332 of the jacking mechanism 830.

Referring to fig. 4, in order to ensure the precision and quality of the installation of the long stator coil 920, the automatic magnetic suspension long stator coil installation apparatus 800 according to the embodiment of the present invention further includes:

a video monitoring system 844 including a guide rod 8442 disposed on the hanger 812 in the X direction, and a vision camera 8441 movably disposed on the guide rod 8442 to align the jacking mechanism 830 and the cable fixing mechanism 360, the vision camera 8441 being connected to the main controller 841. The video monitoring system 844 is used for monitoring the jacking mechanism 830 and the long stator coil 920, the cable fixing mechanism 360 and possibly the partial transmission mechanism 820 on the jacking mechanism, monitoring data including but not limited to parameter information of running states, positions, alignment and the like of all components, and therefore the accuracy and quality of laying and installing the long stator coil 920 are guaranteed through the monitoring data. For example: the vision camera 8441 can stop the machine in time through the control panel when monitoring the abnormality, and can observe whether the long stator coil 920 is lifted, laid and installed in place or not and whether the insulating layer of the long stator coil 920 is damaged or not when the long stator coil 920 is lifted; the vision camera 29 shoots the position of the cable fixing mechanism 360, identifies the positioning error of the cable fixing mechanism and the coil jacking assembly, and the like, and the jacking mechanism 830, the transmission mechanism 820 and the moving mechanism 810 are adjusted correspondingly through the main controller 841.

Referring to fig. 4, in order to ensure the precision of the installation of the long stator coil 920 and avoid the installation deviation, the control mechanism 840 of the automatic magnetic suspension long stator coil installation apparatus 800 according to the embodiment of the present invention may further include:

the position monitoring system comprises a position sensor 845, wherein the position sensor 845 is arranged on a box body 831 of the jacking mechanism 830, the position sensor 845 is aligned to a clamping groove 3631 of a to-be-installed position of a transverse jacking frame 8333-2 of at least one coil jacking bracket 8333 of the jacking mechanism 830 and a cable clamp 363 of a cable fixing mechanism 360, and the setting sensor is connected with a main controller 841. The position sensor 845 is used for detecting whether the transverse jacking frame 8333-2 of the jacking mechanism 830 is aligned with the clamping slot 3631 of the cable clamp 363 of the cable fixing mechanism 360.

Referring to fig. 1 to fig. 13, an embodiment of the present invention further provides an automatic laying method for a magnetic suspension long stator coil 920, where the above-mentioned automatic laying apparatus 800 for a magnetic suspension long stator coil 920 is adopted, and the method may include the following steps:

in step 1001, the master controller 841 of the control mechanism 840 sends out a control command to start the motor controller 843 and the hydraulic controller 842.

In step 1002, the position sensor 845 detects whether the transverse lifting frame 8333-2 of the coil lifting bracket 8333 of the coil lifting assembly 833 of the lifting mechanism 830 is aligned with the slot 3631 of the cable fixing mechanism 360, and when the transverse lifting frame 8333-2 is misaligned with the slot 3631 of the cable fixing mechanism 360, the main controller 841 controls the moving mechanism 810 to move on the track beam 900 through the motor controller 843 to align the transverse lifting frame 8333-2 with the slot 3631 of the cable fixing mechanism 360.

In step 1003, after the transverse lifting frame 8333-2 is aligned with the clamping groove 3631 of the cable fixing mechanism 360, the main controller 841 controls the motor 8231 of the transmission mechanism 820 to rotate through the motor controller 843, the motor 8231 controls the transmission of the conveyor belt or the transmission chain through the driving wheel 8232 and the driven wheel 8243 of the driving wheel assembly 823, and the conveyor belt or the transmission chain transmits the long stator coil 920 to the coil lifting support 8333 of the lifting mechanism 830 through the transmission claw 826 on the conveyor belt or the transmission chain.

In step 1004, the vision camera 8441 monitors whether the center line of the Y-direction segment of the long stator coil 920 is aligned with the Y-direction center line of the transverse lifting frame 8333-2 of the coil lifting bracket 833 of the coil lifting assembly 833 on the lifting mechanism 830, and when the center line of the Y-direction segment of the long stator coil 920 is not aligned with the Y-direction center line of the transverse lifting frame 8333-2, the main controller 841 controls the transmission mechanism 820 to adjust the transmission position of the long stator coil 920 through the motor controller 843 so as to align the center line of the Y-direction segment of the long stator coil 920 with the Y-direction center line of the transverse lifting frame 8333-2.

In step 1005, when the center line of the Y-direction segment of the long stator coil 920 is aligned with the center line of the Y-direction of the transverse lifting frame 8333-2, the main controller 841 controls the flap 8325-1 and the flap 8325-2 of the flap 8325 assembly 832 of the lifting mechanism 830 to turn from the horizontal position to the vertical position through the hydraulic controller 842 to enclose or clamp the Y-direction segment of the long stator coil 920 on the transverse lifting frame 8333-2 of the coil lifting assembly 833 by the first flap 8325-1 and the second flap 8325-2.

At step 1006, the vision camera 8441 monitors whether the flapper 8325 assembly 832 is in place, and shuts down for service when the flapper 8325 assembly 832 is not in place.

Step 1007, when the baffle 8325 assembly 832 is turned to the right position, the vision camera 8441 monitors whether the Y-direction segment of the long stator coil 920 is aligned with the slot 3631 of the cable fixing mechanism 360, and when the Y-direction segment of the long stator coil 920 is not aligned with the slot 3631 of the cable fixing mechanism 360, the main controller 841 controls the moving mechanism 810 to move on the track beam 900 through the motor controller 843 to align the Y-direction segment of the long stator coil 920 with the slot 3631 of the cable fixing mechanism 360.

Step 1008, after the Y-direction segment of the long stator coil 920 is aligned with the slot 3631 of the cable fixing mechanism 360, the main controller 841 controls the coil jacking assembly 833 of the jacking mechanism 830 to jack and lay the long stator coil 920 on the cable fixing mechanism 360 through the hydraulic controller 842.

At step 1009, the vision camera 8441 monitors whether the long stator coil 920 is mounted in place and whether the insulation layer of the long stator coil 920 is damaged and feeds back to the master controller 841.

Step 1010, when the long stator coil 920 is not laid and installed in place, the controller controls the box jacking assembly 834 of the jacking mechanism 830 to jack the box 831 upwards along the Z direction through the hydraulic controller 842, so as to jack the long stator coil 920 to be laid and installed on the cable fixing mechanism 360 through jacking the box 831 and jacking the coil jacking assembly 833.

In step 1011, after the long stator coil 920 is laid and installed in place, the main controller 841 controls the box jacking assembly 834, the coil jacking assembly 833 and the baffle plate assembly 832 of the jacking mechanism 830 to reset through the hydraulic controller 842.

When the lateral guide wheel assembly 814 of the moving mechanism 810 is reset, the guide cylinder 8142 of the lateral guide wheel assembly 814 of the moving mechanism 810 is reset, and the moving side frame 8143 and the lateral guide wheel 8144 are driven to be reset to the initial state.

When the box body jacking component 834 and the coil jacking component 833 are reset, the box body jacking component 834 and the coil jacking component 833 are reset. The height relationship between the jacking mechanism 830 and the transmission mechanism 820 when in reset is as follows: the main controller 841 controls the tank jacking cylinder 8341 of the tank jacking assembly 834 to adjust the height and inclination angle of the tank 831 through the hydraulic controller 842, so as to adjust the height of the upper surface of the coil jacking assembly 833 of the jacking mechanism 830 to be consistent with the height of the transmission belt or the transmission chain 825 of the transmission mechanism 820, so as to enable the long stator coil 920 to be transmitted at the same horizontal height.

When reset, the flapper of the flapper assembly 832 has a vertical position that flips to a horizontal position.

Referring to fig. 7 and 8, the long stator coil 920 is S-shaped.

In the automatic laying device 800 and method for the magnetic suspension long stator coil provided by the embodiment of the invention, the main controller 841 of the control mechanism 840 sends out a control instruction to start the motor controller 843 and the hydraulic controller 842; the motor controller 843 controls the motor 8231 to rotate, the motor 8231 controls the transmission of the conveyor belt or the transmission chain through the driving wheel 8232 and the driven wheel 8243 of the driving wheel assembly 823, and the conveyor belt or the transmission chain transmits the long stator coil 920 to the coil jacking bracket 8333 of the jacking mechanism 830 through the transmission claw 826 on the conveyor belt or the transmission chain; hydraulic controller 842 control coil jacking cylinder 8332 jacking, in order to lay the automatic installation of installing long stator coil 920 on cable fixed establishment 360 through coil jacking cylinder 8332 control coil jacking support 8333, can realize the automation and the intellectuality of the long stator coil 920 installation of magnetic suspension, installation effectiveness and quality have been improved, the installation error and the installation of having avoided artifical installation to cause lay the situation not in place, do not receive the restriction of construction operation personnel's technical ability, the construction operation personnel's of installing long stator coil 920 quantity has been reduced, and the cost is reduced.

The automatic laying device 800 and method for the magnetic suspension long stator coil provided by the embodiment of the invention can realize intelligent construction, ensure the safety of constructors, do not depend on manual laying technology any more, reduce labor consumption and improve laying efficiency, can realize the integrated automation and intellectualization from bending and molding a cable to the S-shaped long stator coil 920 to laying and mounting the long stator coil 920 in combination with a vehicle system for laying the magnetic suspension long stator coil disclosed by the Chinese patent publication No. CN112688505A, and have considerable refitting prospect, wide application range, simple operation, labor saving, no technical constraint and other advantages.

Compared with the prior art, the automatic laying device 800 and the method for the magnetic suspension long stator coil, provided by the embodiment of the invention, realize intelligent construction, improve manual jacking into automatic jacking, reduce the number of experienced constructors from at least 5 to only 1 operator, reduce 80% of manpower loss, improve the jacking efficiency by about 80%, achieve the jacking qualification rate by about 98%, greatly improve the success rate compared with the traditional method by about 80%, improve the safety performance, reduce the difficulty of professional coordination, are not limited by the traditional technology, save the construction period, can modify the long stator coil with a large prospect to adapt to different requirements, and expand the application range.

The automatic laying device 800 and method for the magnetic suspension long stator coil provided by the embodiment of the invention solve the problem that the long stator coil cannot be laid and installed automatically, do not need the intervention of construction workers in the whole process, realize the automation and the intellectualization of the laying and the installation of the long stator coil, have high integration level and high automation control degree, improve the laying quality of the long stator coil, improve the efficiency, reduce the engineering rework rate, the labor cost and the material waste, and meet the industrial development trend of green construction.

The automatic laying device 800 and method for the magnetic suspension long stator coil provided by the embodiment of the invention have the advantages that the arrangement relationship of all the components includes but is not limited to bolt connection, welding, combination and other arrangement modes.

The present invention is not limited to the above-described specific embodiments, and it is apparent that the above-described embodiments are some, not all, of the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention. Other levels of modification and variation of the present invention may be made by those skilled in the art. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims.

Claims

1. An automatic laying device of long stator coil of magnetic suspension, characterized by, includes:

the moving mechanism comprises a moving trolley, hangers and hanging plates, wherein the moving trolley is arranged on the track beam and is positioned below the trolley body of the third trolley, the hangers are vertically and downwards hung on two sides of the moving trolley, the hanging plates are vertically arranged on the hangers on each side, and the hanging plates are positioned below the cable fixing mechanism arranged on the lower surface of the track beam;

the jacking mechanism comprises a box body arranged on a hanging plate of the moving mechanism, a plurality of groups of coil jacking assemblies are arranged in the box body along the X direction, each group of coil jacking assemblies comprises a coil jacking oil cylinder moving along the Z direction, the coil jacking oil cylinder is arranged on the box body or the hanging plate, the coil jacking oil cylinder is upwards connected with a coil jacking support, and the coil jacking support comprises a vertical jacking frame arranged along the Z direction and a transverse jacking frame vertically connected to the vertical jacking frame and arranged along the Y direction;

the control mechanism comprises a master controller, a hydraulic controller and a motor controller, wherein the hydraulic controller and the motor controller are connected with the master controller, the motor controller is connected with a motor of the transmission mechanism, and the hydraulic controller is connected with a coil jacking oil cylinder of the jacking mechanism.

2. The magnetic levitation long stator coil automatic laying apparatus as recited in claim 1, wherein the hanger of the moving mechanism comprises:

3. The magnetic levitation long stator coil automatic laying apparatus as recited in claim 2, wherein the moving mechanism further comprises:

the side guide wheel assembly comprises fixed side frames which are vertically and downwards arranged on the outer side faces of two ends of the cross frame, guide oil cylinders which are vertically arranged on the fixed side frames along the Y direction and connected with the hydraulic controller, and moving side frames which are located on the inner side faces of the cross frame and parallel to the fixed side frames and vertically arranged on the guide oil cylinders, wherein at least one side guide wheel rotating around the Z direction is arranged on each moving side frame.

4. The apparatus for automatically laying magnetically levitated long stator coil as claimed in claim 1, wherein said transport mechanism further comprises:

5. The apparatus for automatically laying magnetically levitated long stator coil as claimed in claim 1, wherein said jacking mechanism further comprises:

the fixing rods comprise a first fixing rod and a second fixing rod which penetrate through side plates arranged in the X direction of the box body and are arranged on two sides of the coil jacking bracket of each group of coil jacking assemblies along the Y direction;

the coil jacking assembly comprises a coil jacking assembly, a plurality of groups of overturning blocks and a plurality of groups of coil jacking assemblies, wherein each group of overturning blocks comprises a first overturning block, two second overturning blocks and a third overturning block, eccentric holes and eccentric columns which are distributed in a staggered mode along the Y direction are eccentrically arranged on the first overturning block and the third overturning block, the eccentric holes are located above the eccentric columns, and the second overturning blocks are provided with eccentric holes corresponding to the first overturning blocks or the third overturning blocks; the positions of the eccentric holes of the first overturning block and the third overturning block are correspondingly arranged, and the positions of the eccentric columns of the first overturning block and the third overturning block are opposite along the Y direction; the first turning block and the second turning block are fixedly arranged on the first fixing rod through the eccentric hole, and the first turning block is also arranged on the kidney-shaped hole of the first driving rod in a rotating and sliding manner through the eccentric column of the first turning block; the third overturning block and the other second overturning block are fixedly arranged on the second fixing rod through the eccentric hole, and the third overturning block is rotationally and slidably arranged on the kidney-shaped hole of the second driving rod through the eccentric column of the third overturning block;

6. The automatic laying device of the magnetic suspension long stator coil of claim 1, wherein the coil jacking assembly further comprises a cylinder frame disposed on the box body, and the coil jacking cylinder is disposed on the box body through the cylinder frame.

7. The apparatus for automatically laying magnetically levitated long stator coil as claimed in claim 1, wherein said jacking mechanism further comprises:

the box jacking assembly comprises a lifting plate arranged along the Z direction of the moving mechanism and a plurality of box jacking oil cylinders arranged on the box, and the box jacking oil cylinders are connected with the hydraulic controller.

8. The automatic laying device of the magnetic suspension long stator coil of claim 7, wherein the box jacking assembly further comprises a switching block arranged on the box, a cylinder seat of the box jacking cylinder positioned on at least one side in the X direction is fixedly arranged on the hanger plate, and a top rod is connected with the switching block; the box body jacking oil cylinder positioned on the other side in the X direction is a bidirectional jacking oil cylinder, a mandril of the bidirectional jacking oil cylinder is rotatably arranged on the box body through a switching block, and an oil cylinder seat of the bidirectional jacking oil cylinder is rotatably arranged on the hanger plate through a switching block.

9. The apparatus for automatically laying magnetically levitated long stator coil as claimed in claim 1, wherein said control mechanism further comprises:

the video monitoring system comprises a guide rod arranged on the hanging bracket along the X direction and a visual camera which is movably arranged on the guide rod and is aligned with the jacking mechanism and the cable fixing mechanism, and the visual camera is connected with the master controller;

and/or position monitoring system, including setting up position sensor on climbing mechanism's the box, position sensor aims at climbing mechanism's at least one coil jacking support's horizontal jacking frame and cable fixed establishment's cable clamp wait on the draw-in groove of mounted position, set up the sensor with the master controller is connected.

10. An automatic laying method of a magnetic suspension long stator coil, characterized in that the magnetic suspension long stator coil automatic laying device according to claims 5, 8 and 9 is adopted, comprising:

the position sensor detects whether a transverse jacking frame of a coil jacking bracket of a coil jacking assembly of the jacking mechanism is aligned with a clamping groove of the cable fixing mechanism, and when the transverse jacking frame is not aligned with the clamping groove of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller so as to align the transverse jacking frame with the clamping groove of the cable fixing mechanism;

after the transverse jacking frame is aligned with the clamping groove of the cable fixing mechanism, the main controller controls the motor of the transmission mechanism to rotate through the motor controller, the motor controls the transmission of the conveying belt or the transmission chain through the driving wheel of the driving wheel component and the driven wheel component, and the conveying belt or the transmission chain transmits the long stator coil to the coil jacking bracket of the jacking mechanism through the transmission claw on the conveying belt or the transmission chain;

when the central line of the Y-direction section of the long stator coil is aligned to the Y-direction central line of the transverse jacking frame, the main controller controls a first baffle plate and a second baffle plate of a baffle plate assembly of the jacking mechanism to be turned from a horizontal position to a vertical position through the hydraulic controller so as to surround or clamp the Y-direction section of the long stator coil on the transverse jacking frame of the coil jacking assembly through the first baffle plate and the second baffle plate;

when the baffle plate assembly is turned to the right position, the vision camera monitors whether the Y-direction section of the long stator coil is aligned with the clamping groove of the cable fixing mechanism, and when the Y-direction section of the long stator coil is not aligned with the clamping groove of the cable fixing mechanism, the main controller controls the moving mechanism to move on the track beam through the motor controller so as to align the Y-direction section of the long stator coil with the clamping groove of the cable fixing mechanism;

the vision camera monitors whether the long stator coil is laid and installed in place or not and whether an insulating layer of the long stator coil is damaged or not and feeds back the damaged insulating layer to the main controller;

when the long stator coil is laid and installed in place, the main controller controls the box body jacking assembly, the coil jacking assembly and the baffle plate assembly of the jacking mechanism to reset through the hydraulic controller.