CN118771218A - A crawler-type multifunctional transport vehicle for substation and operation method thereof - Google Patents

Abstract

A tracked multifunctional transport vehicle for a substation, comprising an integrated boom and a tracked chassis, wherein the integrated boom comprises a main boom and a slewing support unit, wherein the slewing support unit is connected to the tracked chassis, wherein one end of the main boom is connected to a swing unit via a boom interface, and one end of the swing unit is connected to a manned platform or a steel pipe gripper via a swing interface. The present invention provides a tracked multifunctional transport vehicle for a substation and a method for operating the same, which can realize the integrated reuse of manned, lifting, and steel pipe grabbing working conditions. Furthermore, the corresponding functional modules can be quickly replaced and disassembled without occupying the space of the vehicle chassis. The integrated boom allows the lateral space occupied by the vehicle to be relatively small, making it suitable for simultaneously realizing different working conditions in narrow and complex working environments such as substations and converter stations.

Description

Crawler-type multifunctional transport vehicle for transformer substation and operation method

Technical Field

The invention relates to on-site overhaul transportation equipment of a transformer substation or a converter station, in particular to a crawler-type multifunctional transportation vehicle of the transformer substation and an operation method.

Background

During construction or maintenance of a substation or a converter station, the requirements of the operation are more complex and diverse. For example, the steel pipe is required to be transported to a certain target place at high altitude by an operator for operation, or the steel pipe is required to be installed on site for transportation and hoisting, or the heavy object on the operation site is required to be hoisted and transported. At present, most of the working conditions are specific to the working conditions, the corresponding overhaul transport vehicle is utilized for working, for example, the aerial ladder truck realizes the manned working condition, the crane realizes the hoisting working condition and the like. Therefore, when multiple working stations coexist, the working stations need to pass through or different maintenance equipment exist on site, and the working efficiency is difficult to improve. Especially, according to the steel pipe grabbing and installing working condition, after the steel pipe is transported to an installing place, if the steel pipe is required to be vertically installed, the steel pipe is required to be lifted and conveyed through a complex lifting and conveying process, the whole operation flow is long in time consumption, more manpower is required, and certain potential safety hazards exist. Because the construction site route of the transformer substation or the convertor station is more complex, related equipment is more, the steel pipe is often required to pass through a more complex and crowded environment in the lifting and transporting process or the manned working condition and the lifting working condition, and the conventional lifting, manned and transporting vehicles are used for making the operation process difficult and have weak adaptability. If the overhaul equipment which can adapt to the various working conditions can be designed, the overhaul equipment has important significance for the construction, overhaul and maintenance of a transformer substation or a converter station.

By searching, technical documents of overhaul equipment of a transformer substation are disclosed in the prior art. For example, the utility model authorization notice file with the publication number of CN213537194U is named as a multifunctional substation equipment mini-maintenance vehicle. Discloses a multifunctional miniature overhauling vehicle for power transformation equipment. A rubber crawler chassis is arranged at the bottom of a main frame, hydraulic support legs are arranged at four corners of the main frame, a generator is fixed at the center of one side of the main frame, a lifting machine and a hydraulic pump station are arranged in front of and behind the generator respectively, an air compressor and a tool box are arranged at the bottom of the other side of the main frame, a rotary telescopic micro-boom is arranged at the top of the main frame, a traction winch is fixed at the front end of the main frame, and a standing pedal and a control panel are fixed at the rear end of the main frame. And all kinds of control valve rods, buttons or switches are connected and installed on the control panel through pipelines. This reference, while providing a service vehicle for a substation, does not relate to equipment solutions related to steel pipe gripping and handling.

For example, the invention patent publication with publication number of CN115817658A named as 'all-terrain multifunctional carrying device of transformer substation'. The all-terrain multifunctional carrying equipment of the transformer substation comprises a crawler travelling part, a bottom box and a hopper; the crawler belt walking part is used for driving the bottom box and the hopper to move; the bottom box is used for connecting the crawler travelling part and the hopper and is arranged above the crawler travelling part; the car hopper is used for loading a conventional electric power operation tool; track walking portion, bottom box and car hopper through setting up: the electric power operation construction tool is placed in the hopper for loading, and when the electric power operation construction tool is carried, the electric crawler belt walking part can drive the bottom box and the hopper to move, so that the construction tool can be conveniently carried to a construction operation point. The carrying device disclosed in the comparison document can be used for transporting the steel pipes, but does not relate to the scheme of equipment related to grabbing and carrying the steel pipes.

For example, the patent publication number "CN202625661U" entitled "a spider crane with additional arms". The utility model discloses a spider formula lifting machine with additional arm, including steel construction frame, power device, landing leg device, slewer, running gear, flexible arm and fluctuation pneumatic cylinder, its characterized in that: still include foraminiferous flange, additional arm, platform support and hanging flower basket device, foraminiferous flange is fixed to the front end of flexible arm, additional arm rotates to be installed on foraminiferous flange and is fixed through pin and foraminiferous flange, platform support frame fixed mounting is on additional arm, hanging flower basket device includes leveling pneumatic cylinder and work platform, work platform and leveling pneumatic cylinder rotate to be installed on the platform support frame, the one end and the work platform of leveling pneumatic cylinder are articulated. According to the technical scheme disclosed in the comparison document, the functions of carrying people and lifting heavy objects can be realized, but the steel pipe grabbing operation working condition under narrow and complicated operation environments such as a transformer substation and a converter station cannot be met.

It can be seen that the above-mentioned comparison documents have the defects of low integration level and low adaptability. Therefore, the crawler-type multifunctional transport vehicle applicable to the transport vehicle of the transformer substation and the operation method are provided in the field to have important significance.

Disclosure of Invention

The invention provides a crawler-type multifunctional transport vehicle for a transformer substation, which comprises an integrated arm support and a crawler-type vehicle body chassis, wherein the integrated arm support comprises a main arm support and a rotary support unit, the rotary support unit is connected with the crawler-type vehicle body chassis, one end of the main arm support is connected with a swinging unit through an arm interface, and one end of the swinging unit is connected with a manned platform or a steel pipe gripper through a swinging interface.

Further, the crawler-type vehicle body chassis comprises a chassis, the chassis is connected with the main suspension arm through a rotary supporting unit, steel pipe brackets are installed at two ends of the chassis, one ends of the steel pipe brackets are connected with one ends of the chassis through a telescopic arm II, and the other ends of the steel pipe brackets are hinged with steel pipe supporting arms.

Further, the landing leg is still installed at the both ends of chassis, landing leg one end and chassis pass through landing leg telescoping unit and connect, and landing leg telescoping unit is flexible arm two, and the landing leg passes through landing leg joint at flexible arm two one end, articulates the steel pipe bracket arm on the landing leg support.

Further, the manned platform or the steel pipe gripper is connected with the swing interface through a first quick-release interface, and the boom interface is connected with the main boom through a second quick-release interface.

Further, the steel pipe tongs include flexible arm, crossbeam one, clamping jaw, and crossbeam one is connected in flexible arm one end, the clamping jaw is connected in crossbeam one both ends respectively, still includes the clamping cylinder that can drive the clamping jaw and open and shut, and quick detach interface one is located flexible arm one end relative crossbeam one and through quick detach interface one and swing interface connection, swing interface connection swing unit, swing unit passes through the davit interface and is connected with main davit through quick detach interface two, and swing unit can drive flexible arm and swing around the A axle.

Further, one end of the telescopic arm, which is opposite to the swinging unit, is connected with the first beam through a rotary speed reducer, and an output shaft of the rotary speed reducer is connected with the middle part of the first beam and can drive the first beam to rotate around the B axis.

Further, the output shaft of the rotary speed reducer is connected with the second beam, one end of the second beam is hinged with the middle of the first beam through a pin roll four, the other end of the second beam is connected with the first beam through a fine adjustment oil cylinder, and the movable end of the fine adjustment oil cylinder stretches to drive the first beam to swing around the C axis.

Further, the bottom of the manned frame is fixedly connected with a supporting arm, the supporting arm is also vertically connected with a connecting arm, the connecting arm is fixedly connected with the side face of the manned frame, and one end of the connecting arm is connected with the first quick-release hanging pin.

The invention also provides a working method of the crawler-type multifunctional transport vehicle for the transformer substation, which adopts the crawler-type multifunctional transport vehicle for the transformer substation and comprises the following working conditions;

The walking working condition is that the main suspension arm is turned to a direction consistent with walking by using the turning support unit, the main suspension arm is placed to be horizontal, the supporting legs are recovered by the supporting leg telescopic units, the steel pipe supporting arms are recovered by the telescopic arms II, and the vehicle is driven to a target place by using the crawler-type vehicle body chassis;

The steel pipe grabbing and transporting working conditions are that a steel pipe grab and a swinging interface are connected, a supporting leg stretches out and supports the ground through a supporting leg telescopic unit, a steel pipe supporting arm is unfolded through a telescopic arm II, a steel pipe is grabbed by the steel pipe grab and placed on the steel pipe supporting arm, a crawler-type vehicle body chassis is driven to transport the steel pipe to a target place, and the steel pipe on the steel pipe supporting arm is grabbed by the steel pipe grab and installed to the target place;

The manned working condition is that a manned platform is connected with the swing interface, the landing legs extend out of the landing leg telescopic units and support the ground, the steel pipe supporting arms are recycled through the telescopic arms II, and passengers are conveyed to a target place by the manned platform;

And under the hoisting working condition, namely dismantling the steel pipe gripper or the manned platform and the swinging unit from the swinging interface, stretching out the supporting leg through the supporting leg telescopic unit and supporting the ground, recovering the steel pipe supporting arm through the telescopic arm II, and hoisting the heavy object to the target place by utilizing the main boom.

Further, when the steel pipe is in the grabbing working condition, the steel pipe gripper is connected with the swinging interface through the quick-dismantling interface I, so that the quick installation of the steel pipe gripper is completed;

when the manned working condition is that the manned platform is connected with the swing interface through the quick-release interface I, the quick installation of the manned platform is completed;

And when the hoisting working condition is met, the steel pipe gripper or the manned platform and the swinging unit are detached from the swinging interface through the quick-release interface II.

Compared with the prior art, the technical scheme of the application has the following beneficial effects: the crawler-type multifunctional transport vehicle for the transformer substation and the operation method thereof can realize the integrated multiplexing of the working conditions of manned, lifting and steel pipe grabbing. And corresponding functional modules can be quickly replaced and disassembled, so that the space of the underframe of the vehicle is not occupied. The integrated arm support enables the transverse space occupation of the vehicle to be small, and the integrated arm support is suitable for operation under different working conditions in narrow and complicated operation environments such as a transformer substation and a converter station.

Drawings

Fig. 1: the overall structure of the crawler-type multifunctional transport vehicle of the transformer substation is schematically shown;

fig. 2: the integrated arm support is connected with a steel pipe gripper structure schematic diagram;

fig. 3: the integrated arm support is connected with a structural schematic diagram of the manned platform;

fig. 4: a man-carrying platform and a steel pipe gripper dismounting structure schematic diagram;

fig. 5: a state diagram of a steel pipe grabbing tool;

Fig. 6: the whole structure of the chassis is schematically shown;

Fig. 7: a chassis operation state diagram;

Fig. 8: schematic side structure of the chassis;

fig. 9: an integrated supporting leg structure schematic diagram;

fig. 10: integrated support leg operation state schematic diagram I:

Fig. 11: an integrated supporting leg operation state schematic diagram II;

fig. 12: the overall structure of the steel pipe gripper is schematically shown;

fig. 13: a side view I of the steel pipe gripper;

fig. 14: side view II of steel pipe tongs:

Fig. 15: the working state of the steel pipe gripper is shown as a first schematic diagram;

Fig. 16: a second working state diagram of the steel pipe gripper;

Fig. 17: a quick-release interface structure schematic diagram;

Fig. 18: a first manned frame structure schematic diagram;

Fig. 19: a second schematic diagram of the manned frame structure;

fig. 20: and a manned frame structure schematic diagram III.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1-4, the crawler-type multifunctional transport vehicle for the transformer substation comprises an integrated arm support 2 and a crawler-type vehicle body chassis 1, wherein the integrated arm support 2 comprises a main arm support 53 and a rotary support unit 52, the rotary support unit 52 is connected with the crawler-type vehicle body chassis 1, one end of the main arm support 53 is connected with a swinging unit through an arm interface 413, and one end of the swinging unit is connected with a manned platform 3 or a steel pipe gripper 4 through a swinging interface 411.

In this embodiment, the main boom 53 is telescopic, and specifically includes three sections of telescopic booms, the tail end of the main boom 53 is hinged with the big arm 532, the main boom 53 and the big arm 532 are connected through the luffing cylinder 531, and the luffing cylinder 531 can drive the main boom 53 to lift so as to drive the connected manned platform 3 or the steel pipe gripper 4 to lift. The large arm 532 is connected to the vehicle body via a swing support unit 52, and the entire main boom 53 can be driven to swing via the swing support unit 52. When people carrying working condition or steel pipe working condition operation is needed, the corresponding people carrying platform 3 or the connection between the steel pipe gripper 4 and the main boom 53 can be replaced to realize corresponding functions. The front end of the main boom 53 is provided with a pulley 533, the pulley 533 can be connected with a lifting hook through a steel rope, and the manned platform 3 or the steel pipe gripper 4 can be removed when the lifting hook is in a lifting working condition, and the lifting hook is matched with the main boom 53 to lift a heavy object.

As shown in fig. 5 to 11, in a more preferred embodiment, steel pipe brackets 511 are mounted at both ends of the chassis 51, and one end of each steel pipe bracket 511 is connected to one end of the chassis 51 via a second telescopic arm 512, and the other end is hinged to a steel pipe bracket 513. The steel pipe bracket 513 is provided with a plurality of arc-shaped supporting blocks 5131 which are arranged side by side, and the arc-shaped supporting blocks 5131 are movably connected to the steel pipe bracket 513 through U-shaped grooves 5132 and bolts, so that the mutual distance between the arc-shaped supporting blocks 5131 can be adjusted. When the outer diameter of the transported steel pipes changes, the distance can be adjusted to prevent collision interference when the steel pipes are placed. When the steel pipe is handled and carried, the steel pipe bracket 511 is extended laterally by the second telescopic arm 512, the steel pipe bracket 513 is turned over and swung to be horizontal, and the steel pipe is placed on the arc-shaped supporting block 5131 by the steel pipe gripper 4, so that the handling and carrying operation of the steel pipe is completed.

Legs 514 are further mounted at two ends of the underframe 51, and one end of each leg 514 is connected with the underframe 51 through a leg telescopic unit. The support leg 514 is firstly transversely stretched out through the support leg stretching unit during operation and then longitudinally stretched out and drawn back to be in contact with the ground, so that ground support is provided for hoisting and installing the steel pipe. The steel pipe bracket 511 and the supporting leg 514 can be retracted and folded, and when the operation is completed or the vehicle walks to an operation point, the steel pipe bracket 511 and the supporting leg 514 can be retracted and folded, and as the steel pipe bracket 511 and the supporting leg 514 are respectively arranged at two ends of the underframe 51, namely, the steel pipe bracket 511 and the supporting leg 514 are respectively arranged at two ends of the underframe 51 along the vehicle walking direction, the transverse space of the vehicle is reduced, and the vehicle is beneficial to walking and shuttling in a narrow space.

In a more preferred embodiment, the leg extension unit is an extension arm III 515, and the extension arm III 515 and the extension arm II 512 are connected to one end of the chassis 51 side by side. In this embodiment, the leg extension and retraction unit is independent of the extension and retraction arm two 512 of the steel pipe bracket 511, and is mounted on both ends of the chassis 51.

In another more preferred embodiment, as shown in fig. 9 to 11, the leg telescopic unit is a telescopic arm two 512, the leg 514 is connected to one end of the telescopic arm two 512 through a leg bracket 516, and a steel pipe bracket 513 is hinged to the leg bracket 516. In this embodiment, the leg telescoping unit and telescoping arm two 512 of the steel tube bracket 511 are multiplexed, the leg bracket 516 is longitudinally mounted, the leg 514 is mounted within the leg bracket 516, and the upper end of the leg bracket 516 is hinged to the steel tube bracket 513. The folding and overturning of the steel pipe bracket 513 is manual, and the concrete operation is that the bolt 5131 in the folded steel pipe bracket 513 is pulled out, and the bolt 5131 is inserted into the other pin hole after the steel pipe bracket 513 is overturned horizontally.

In a more preferred embodiment, the swing support unit 52 is located at the middle of the bottom chassis 51, and the storage box 517 is spatially connected to the bottom chassis 51 between the swing support unit 52 and the steel pipe bracket 511. The storage bin 517 may be used to house the relevant tools. The underframe 51 is used as a mounting platform and is also provided with the steel pipe brackets 511 and the supporting legs 514 respectively, and the whole steel pipe grabbing and transporting device does not occupy too much transverse space of the vehicle, so that the vehicle is more integrated and miniaturized, and the steel pipe grabbing and transporting device can be suitable for complex and narrow working environments such as transformer substations and converter stations.

In a more preferred embodiment, the manned platform 3 or the steel pipe gripper 4 is connected with the swing interface 411 through a first quick-release interface 61, and the boom interface 413 is connected with the main boom 53 through a second quick-release interface 62. The first quick-release interface 61 and the second quick-release interface 62 have similar structural designs, and are mainly aimed at realizing quick disassembly of the manned platform 3 or the steel pipe gripper 4 and quick disassembly together with the whole swinging unit.

As shown in fig. 1,4 and 17, in a more preferred embodiment, the first quick-release interface 61 includes a first quick-release hanging tab 611 connected to the swing interface 411, and a first quick-release hanging pin 612 connected to the manned platform 3 or the steel pipe gripper 4, the first quick-release hanging tab 611 is provided with a first quick-release hanging slot 6111 and a first quick-release pin hole 6112, the first quick-release hanging pin 612 includes a first fixing pin 6121 that can be embedded in the first quick-release hanging slot 6111, and a second quick-release pin hole 6122 that is matched with the first quick-release pin hole 6112, when the first fixing pin 6121 is embedded in the first quick-release hanging slot 6111, the first quick-release pin 6112 and the second quick-release pin hole 6122 coincide, and the first quick-release pin 6123 is inserted into the first quick-release pin hole 6112 and the second quick-release pin hole 6122 to complete connection between the manned platform 3 or the steel pipe gripper 4 and the swing interface 411. Specifically, the quick-release hanging groove 6111 and the quick-release pin hole 6112 are both formed on one connecting plate and connected with the swinging interface 411. The first fixing pin 6121 and the second quick-release pin hole 6122 are both arranged on the other connecting plate connected with the manned platform 3 or the steel pipe gripper 4, when the manned platform 3 or the steel pipe gripper 4 is required to be connected with the swinging interface 411 through the first quick-release interface 61, the first fixing pin 6121 is only required to be hung on the first quick-release hanging groove 6111, at the moment, the first quick-release pin hole 6112 and the second quick-release pin hole 6122 are overlapped, the first quick-release pin 6123 is inserted into the first quick-release pin hole 6112 and the second quick-release pin hole 6122, the connection and locking of the telescopic arm 41 and the swinging interface 411 can be completed, and further, the locking pins can be inserted into two ends of the first fixing pin 6121 to prevent the telescopic arm from falling out. And in the dismantling step, otherwise, the first quick-dismantling bolt 6123 is pulled out, and the angle of the swinging interface 411 or the manned platform 3 and the steel pipe gripper 4 is adjusted, so that the first fixing pin 6121 is separated from the first quick-dismantling hanging groove 6111, and the dismantling work can be completed.

In a more preferred embodiment, the second quick-release interface 62 includes a second quick-release hanging lug 621 connected to the main boom 53 and a second quick-release pin 622 connected to the boom interface 413, the second quick-release hanging lug 621 is provided with a second quick-release hanging slot 6211 and a third quick-release pin hole 6212, the second quick-release hanging pin 622 includes a second fixing pin 6221 capable of being embedded in the second quick-release hanging slot 6211 and a fourth quick-release pin hole 6222 matched with the third quick-release pin hole 6212, when the second fixing pin 6221 is embedded in the second quick-release hanging slot 6211, the third quick-release pin hole 6212 and the fourth quick-release pin hole 6222 are overlapped, and the second quick-release plug 6223 is inserted into the third quick-release pin hole 6212 and the fourth-release pin hole 6222 to complete the connection between the boom interface 413 and the main boom 53. The structure of the quick release interface II 62 and the quick release interface I61 are the same, and are both of the quick-connection structural design. The second quick-release hanging groove 6211 and the third quick-release pin hole 6212 are directly arranged at the tail end of the main boom 53 through the second quick-release hanging lug 621, and the second fixing pin 6221 and the third quick-release pin hole 6212 are arranged on a plate connected with the boom interface 413. The dismounting mode of the quick-release interface II 62 is identical to that of the quick-release interface I61.

As shown in fig. 12 to 16, in a more preferred embodiment, the steel pipe gripper 4 includes a telescopic arm 41, a first beam 42, a clamping jaw 43, the first beam 42 is connected to one end of the telescopic arm 41, the clamping jaws 43 are respectively connected to two ends of the first beam 42, and further includes a clamping cylinder 431 capable of driving the clamping jaws 43 to open and close, a first quick-release interface 61 is located at one end of the telescopic arm 41 opposite to the first beam 42 and is connected to the swing interface 411 through the first quick-release interface 61, the swing interface 411 is connected to a swing unit, the swing unit is connected to the main boom 53 through a second quick-release interface 62 through a boom interface 413, and the swing unit can drive the telescopic arm 41 to swing around the a axis. In this embodiment, the swing interface 411 is a swing connection lug 414, the swing connection lug 414 is connected with the quick-release hanging lug 611, the swing unit is a spiral swing cylinder 44, an output shaft of the spiral swing cylinder 44 is connected with the swing connection lug 414, and the swing connection lug 414 can be driven to drive the telescopic arm 41 to swing around the axis a, and the boom interface 413 is located on the spiral swing cylinder 44. The output shaft of the spiral swinging cylinder 44 is rotatable, and as it is connected with the swinging connecting lug 414, the swinging connecting lug 414 can be driven, and finally the whole telescopic arm 41, the first beam 42 and the clamping jaw 43 can swing around the axis A. Alternatively, the spiral swing cylinder 44 may be driven by a motor in combination with a gear to swing the a-axis, but the driving structure is more, and the space occupied by the spiral swing cylinder is larger than that of the previous embodiment.

In a more preferred embodiment, the end of the telescopic arm 41 opposite to the swinging unit is connected to the first beam 42 by a turning unit, and the turning unit can drive the first beam 42 to rotate around the B axis. The rotary unit is connected between the telescopic arm 41 and the first beam 42, so that the whole first beam 42 and the clamping jaw 43 can be driven to rotate around the axis B, and the movement track of the clamping jaw 43 is further enriched on the basis of the embodiment.

A preferred embodiment of the turning unit may be that the turning unit is a turning reducer 45, and an output shaft of the turning reducer 45 is connected to a middle portion of the first beam 42.

In a more preferred embodiment, the two ends of the first beam 42 are respectively and fixedly connected to the longitudinal beam 46, one end of the clamping cylinder 431 is fixedly connected to the longitudinal beam 46, the clamping jaw 43 includes a pair of clamping arms 432 and a driving arm 433, the clamping arms 432 are hinged to the longitudinal beam 46 through a first pin 434, the clamping arms 432 are also hinged to the driving arm 433 through a second pin 435, and the driving arm 433 is hinged to the movable end of the clamping cylinder 431 through a third pin 436. In the present embodiment, the holding arm 432 and the transmission arm 433 are two sets and are disposed opposite to each other on the one-side grip jaw 43. A pair of gripping arms 432 are hinged to the longitudinal beam 46 on both sides by a first pin 434, and a pair of driving arms 433 are also hinged to the pair of gripping arms 432 by a second pin 435, respectively. The connecting structure enables the clamping arms 432 and the transmission arms 433 which are oppositely arranged to form a diamond-shaped opening and closing structure, and the clamping arms 432 can be driven to open and close to finish the grabbing and releasing of the steel pipe by means of the expansion and contraction of the movable end of the clamping oil cylinder 431. Obviously, the opening and closing mode of the structure is that the pair of clamping arms 432 are synchronously opened and closed, and compared with a single-opening and closing grabbing device, the opening and closing stroke is shorter, the efficiency is higher, and the grabbing and placing of the steel pipe are facilitated.

In a more preferred embodiment, the output shaft of the rotary speed reducer 45 is connected with a second beam 47, one end of the second beam 47 is hinged with the middle part of the first beam 42 through a fourth pin 471, the other end of the second beam is connected with the first beam 42 through a fine adjustment cylinder 48, and the movable end of the fine adjustment cylinder 48 stretches to drive the first beam 42 to swing around the C axis. In the field environment of the transformer station or the converter station, the place where the steel pipe is placed is not flat, a certain gradient or inclination angle exists in the place where the steel pipe is obtained, and the fine adjustment oil cylinder 48 is used for driving the first beam 42 to swing around the C axis, so that the clamping jaws 43 at two ends of the first beam 42 can grab and place the steel pipe in parallel.

In a more preferred embodiment, the movable end of the fine adjustment cylinder 48 is hinged to the first beam 42, and the fixed end is hinged to the second beam 47.

As shown in fig. 15 and 16, since the steel pipes are stacked on the site, it is possible to arrange the steel pipes in a row or in a layered stack, when the stacked steel pipes are opened and closed by the clamping jaws 43 in the above embodiment, the clamping jaws 43 may interfere with adjacent steel pipes due to the different outer diameters of the steel pipes or due to stacking and bonding between the steel pipes, so that the clamping jaws 43 cannot clamp the steel pipes smoothly. The following embodiments can be adopted to solve the problem:

One is that the clamping arm 432 has one end connected to the replacing arm 4322 by a flange. The change arms 4322 can be provided with different curvatures, whereby gripping of steel pipes of different outer diameters can be accommodated and gripping of steel pipes in a stack can also be achieved by changing the appropriate change arms 4322. Preferably, the disassembling and replacing arms 4322 with different lengths and curvatures can be simultaneously arranged on the clamping arms 432 to form an asymmetric clamping opening and closing state, when the spacing between adjacent steel pipes is too small to clamp from the right upper side, the angle of the clamping arms 432 can be adjusted to clamp from the side upper side, and the steel pipes can be firmly clamped and grabbed as long as the opening and closing spacing between the disassembling and replacing arms 4322 and the clamping arms 432 can be smaller than the outer diameter of the steel pipes. This is also an advantage achieved in combination with the multi-track multi-angle adjustable steel pipe gripper of the above embodiments.

The other is that at least one clamping arm 432 is provided with an arc-shaped groove 4323, and the device further comprises a dismounting arm 4322 sleeved at one end of the clamping arm 432, one end of the dismounting arm 4322 is connected with a roller pin 4324, the roller pin 4324 penetrates through the arc-shaped groove 4323, and the arc-shaped dismounting arm 4322 can stretch and retract in the arc-shaped groove 4323 through the roller pin 4324. In this embodiment, the replacement arm 4322 may not be replaced or may not be replaced frequently. Because the disassembling and replacing arm 4322 is telescopic relative to the clamping arm 432, when the clamping jaw 43 approaches to the steel pipe to carry out clamping and grabbing operation, for example, adjacent steel pipes block interference, the disassembling and replacing arm 4322 can retract due to blocking contact of the steel pipes, and the clamping arm 432 only needs to be normally opened and closed according to the actual position of the steel pipes to grab, even if the steel pipes stacked at the bottommost layer are in direct contact with the ground, the telescopic disassembling and replacing arm 4322 in the embodiment can grab normally. When the gripping jaw 43 is lifted without gripping the steel pipe, the replacement arm 4322 is restored to the most extended state due to the dead weight, and the steel pipe with smaller outer diameter can be gripped. The replacing arms 4322 can be arranged in pairs or singly, and can be flexibly selected according to the actual size of the steel pipe.

In a more preferred embodiment, the inner side of the clamping arm 432 has an arc surface 4321. The bottom of the first beam 42 is connected with an arc-shaped cushion block 421, and when the clamping arms 432 are close, the arc-shaped cushion block 421 and the arc-shaped surface 4321 are contacted with the outer wall of the steel pipe. The arrangement of the arc surface 4321 and the arc cushion block 421 ensures that the clamping jaw 43 and the steel pipe contact part are attached to the steel pipe as much as possible, and the phenomenon of unstable clamping in the steel pipe grabbing process is avoided.

As shown in fig. 18-20, the manned platform 3 includes a manned frame 31 connected to a swing interface 411, one end of the swing interface 411 is a swing connection lug 414, the swing connection lug 414 is connected to a quick-release hanger 611, the swing unit is a spiral swing cylinder 44, an output shaft of the spiral swing cylinder 44 is connected to the swing connection lug 414, and the swing connection lug 414 can be driven to drive the manned frame 31 to swing, and the boom interface 413 is located on the spiral swing cylinder 44. When the operation is required for the manned working condition, the swing connecting lug 414 is connected with the manned platform 3 through the first quick-release hanging lug 611, the manned platform 3 is lifted by the main suspension arm 53, and the spiral swing cylinder 44 can maintain the horizontal state of the manned platform 3 in the lifting process.

In the present embodiment, the people carrier 31 is a platform for the operator to take, which is connected to the main boom 53 via a swinging unit and a boom interface 413, which swinging unit allows the people carrier 31 as a whole to remain level as the main boom 53 is lifted. In contrast to conventional unpowered articulated connections, the swinging unit is an active control unit, which allows the inclination of the people carrier 31 to be adjusted, without the people carrier 31 being swung at a higher height, although this is also possible.

One end of the swinging interface 411 is a swinging connecting lug 414, the swinging connecting lug 414 is connected with the quick-release hanging lug 611, the swinging unit is a spiral swinging cylinder 44, an output shaft of the spiral swinging cylinder 44 is connected with the swinging connecting lug 414 and can drive the swinging connecting lug 414 to drive the manned frame 31 to swing, and the boom interface 413 is positioned on the spiral swinging cylinder 44. In this embodiment, the swing connection lug 414 is driven by the rotation of the spiral swing cylinder 44 to drive the manned frame 31 to swing, so as to adjust the overall inclination of the manned frame 31. The spiral swinging cylinder 44 can also receive feedback of an angle sensor arranged on the manned frame 31, and timely adjust the inclination angle of the manned frame 31, so that the manned frame 31 can always keep a horizontal state. After the angle of the people carrier 31 is determined by the spiral swinging cylinders 44 under normal conditions, the people carrier 31 is kept stable and does not swing and shake at will, because the spiral swinging cylinders 44 are controlled by the whole hydraulic system, and a certain load is kept.

In a more preferred embodiment, the bottom of the manned frame 31 is fixedly connected with a supporting arm 310, the supporting arm 310 is also vertically connected with a connecting arm 311, the connecting arm 311 is fixedly connected with the side surface of the manned frame 31, and one end of the connecting arm 311 is connected with a quick release first hanging pin 612. The support arm 310 and the connecting arm 311 form a right angle shaped fixed bearing unit fixedly connected with the bottom and the side of the man frame 31, and the support arm 310 and the connecting arm 311 can firmly bear the whole man frame 31 along with the actions of the spiral swinging cylinder 44 and the main boom 53. More preferably, as shown in fig. 4, the support arm 310 has three connection arms 311 connected at appropriate intervals when viewed from the bottom, and the support arm 310 completely supports the bottom of the manned frame 31, so that the manned frame 31 is more stable in posture and more firm in structure.

In a more preferred embodiment, a sealing plate 312 is attached to the bottom of the side of the man frame 31. The sealing plate 312 is enclosed on the side of the man frame 31 and occupies approximately half the height of the side in this embodiment, and mainly serves to prevent the operator or fine foreign matters in the man frame 31 from falling from the man frame 31.

In a more preferred embodiment, the swing support unit 52 includes a swing reducer 520, the output end of the swing reducer 520 is connected to the main boom 53 through a turntable 521, and the swing support unit 52 further includes an intermediate base 522, and the intermediate base 522 is connected to the vehicle body. When the rotary speed reducer 520 acts, the rotary table 521 drives the main boom 53 to rotate, thereby driving the manned platform 3 to rotate, and enriching the action path of the manned platform 3.

The embodiment also relates to a working method of the crawler-type multifunctional transport vehicle of the transformer substation, which specifically comprises the following working conditions; the walking working condition is that the main boom 53 is turned to the direction consistent with the walking by using the turning support unit 52, the main boom 53 is placed to be horizontal, the supporting leg 514 is recovered by the supporting leg telescopic unit, the steel pipe supporting arm 513 is recovered by the telescopic arm II 512, and the crawler-type vehicle body chassis 1 is used for driving the vehicle to a target place;

the steel pipe grabbing working condition is that the steel pipe grippers 4 are connected with the swinging interfaces 411, the supporting legs 514 extend out and support the ground through the supporting leg telescopic units, the steel pipe supporting arms 513 are unfolded through the telescopic arms II 512, the steel pipe is grabbed by the steel pipe grippers 4 and placed on the steel pipe supporting arms 513, the crawler-type vehicle body chassis 1 is driven to transport the steel pipe to a target place, and the steel pipe on the steel pipe supporting arms 513 is grabbed by the steel pipe grippers 4 and installed to the target place;

The manned working condition is that the manned platform 3 is connected with the swing interface 411, the landing leg 514 is extended out through the landing leg telescopic unit and supports the ground, the steel pipe supporting arm 513 is recovered through the telescopic arm II 512, and the passenger is conveyed to the target site by utilizing the manned platform 3;

The hoisting working condition is that the steel pipe gripper 4 or the manned platform 3 and the swinging unit are dismounted from the swinging interface 411, the supporting legs 514 are extended out through the supporting leg telescopic units and support the ground, the steel pipe supporting arms 513 are recovered through the telescopic arms II 512, and the main boom 53 is used for hoisting the heavy object to the target place. Namely, corresponding functional modules need to be connected under corresponding working conditions, for example, manned working conditions are connected with functional modules of the manned platform 3, and the rest are analogized. Under the lifting working condition, the steel pipe gripper 4 or the manned platform 3 and the swinging unit are required to be detached from the swinging interface 411, and the steel pipe gripper 4 or the manned platform 3 functional module is not required to participate in the lifting of the heavy object, the swinging unit is not required, and the self weight of the swinging unit is large, so that the whole lifting device is beneficial to lifting the heavy object after being detached. During the running condition, the steel pipe bracket arm 513 and the supporting leg 514 are required to be recovered, so that the transverse distance between the vehicles is reduced as much as possible, and the vehicles can walk in a shuttle manner in a narrow complex working space.

In a more preferred embodiment, during the steel pipe grabbing working condition, the steel pipe gripper 4 is connected with the swinging connector 411 through the quick-dismantling connector 61, so that the quick installation of the steel pipe gripper 4 is completed;

In the manned working condition, the manned platform 3 is connected with the swing interface 411 through the first quick release interface 61, so that the manned platform 3 is quickly installed;

In the lifting working condition, the steel pipe gripper 4 or the manned platform 3 and the swinging unit are removed from the swinging interface 411 through the quick-release interface II 62. In this embodiment, the first quick-release interface 61 and the second quick-release interface 62 are quick-release interfaces corresponding to the functional modules, and the quick-release interfaces can be used to realize quick-release of the functional modules, thereby improving the working efficiency.

Specifically, when the steel pipe gripper 4 or the manned platform 3 is installed, the first fixing pin 6121 is embedded into the first quick-release hanging groove 6111, and then the first quick-release bolt 6123 is inserted into the first quick-release pin hole 6112 and the second quick-release pin hole 6122 to complete connection between the manned platform 3 or the steel pipe gripper 4 and the swinging interface 411;

When the steel pipe gripper 4 or the manned platform 3 is dismounted, the first quick-release bolt 6123 is pulled out of the first quick-release pin hole 6112 and the second quick-release pin hole 6122, and then the first fixing pin 6121 is pulled out of the first quick-release hanging groove 6111, so that the steel pipe gripper 4 or the manned platform 3 is dismounted;

When the steel pipe gripper 4 or the manned platform 3 is dismounted under the lifting working condition, the second quick-release bolt 6223 is pulled out of the third quick-release pin hole 6212, and then the second fixing pin 6221 is pulled out of the second quick-release hanging groove 6211, so that the steel pipe gripper 4 or the manned platform 3 and the swinging unit are integrally dismounted. In the pulling and inserting process of the first quick-release bolt 6123 and the second quick-release bolt 6223, a pin hole can be formed in the first quick-release bolt 6123 and the second quick-release bolt 6223, the locking pin is prevented from being pulled out by transversely inserting the locking pin, and the locking pin is required to be pulled out when the quick-release bolts are removed in the same way.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a transformer substation crawler-type multifunctional transport vechicle, includes integrated cantilever crane (2) and crawler-type automobile body chassis (1), its characterized in that: the integrated arm support (2) comprises a main arm (53) and a rotary supporting unit (52), the rotary supporting unit (52) is connected with the crawler-type vehicle body chassis (1), one end of the main arm (53) is connected with a swinging unit through an arm interface (413), and one end of the swinging unit is connected with the manned platform (3) or the steel pipe gripper (4) through a swinging interface (411).

2. The transformer substation crawler-type multifunctional transportation vehicle according to claim 1, wherein: the crawler-type vehicle body chassis (1) comprises a chassis (51), the chassis (51) is connected with a main suspension arm (53) through a rotary supporting unit (52), steel pipe brackets (511) are arranged at two ends of the chassis (51), one ends of the steel pipe brackets (511) are connected with one end of the chassis (51) through a telescopic arm II (512), and the other ends of the steel pipe brackets are hinged with steel pipe brackets (513).

3. A multi-function trolley for a transformer substation crawler belt according to claim 2, characterized in that: the two ends of the underframe (51) are further provided with supporting legs (514), one ends of the supporting legs (514) are connected with the underframe (51) through supporting leg telescopic units, the supporting leg telescopic units are telescopic arms II (512), the supporting legs (514) are connected to one ends of the telescopic arms II (512) through supporting leg supports (516), and the supporting leg supports (516) are hinged with steel pipe supporting arms (513).

4. A multi-function trolley for a transformer substation crawler belt as claimed in claim 3, wherein: the manned platform (3) or the steel pipe gripper (4) is connected with the swing interface (411) through a first quick-release interface (61), and the boom interface (413) is connected with the main boom (53) through a second quick-release interface (62).

5. The transformer substation crawler-type multifunctional transportation vehicle according to claim 4, wherein: the steel pipe tongs (4) include flexible arm (41), crossbeam one (42), clamping jaw (43), and crossbeam one (42) is connected in flexible arm (41) one end, clamping jaw (43) are connected respectively in crossbeam one (42) both ends, still include clamping cylinder (431) that can drive clamping jaw (43) open and shut, quick detach interface one (61) are located flexible arm (41) relative crossbeam one (42) one end and are connected through quick detach interface one (61) and swing interface (411), swing interface (411) connect swing unit, and swing unit is connected through davit interface (413) through quick detach interface two (62) and main davit (53), and swing unit can drive flexible arm (41) swing around A axle.

6. The transformer substation crawler-type multifunctional transportation vehicle according to claim 5, wherein: one end of the telescopic arm (41) opposite to the swinging unit is connected with the first beam (42) through a rotary speed reducer (45), and an output shaft of the rotary speed reducer (45) is connected with the middle part of the first beam (42) and can drive the first beam (42) to rotate around the axis B.

7. The multi-purpose crawler-type carrier vehicle for a transformer substation as set forth in claim 6, wherein: the output shaft of the rotary speed reducer (45) is connected with a beam II (47), one end of the beam II (47) is hinged with the middle part of the beam I (42) through a pin roll IV (471), the other end of the beam II is connected with the beam I (42) through a fine adjustment oil cylinder (48), and the movable end of the fine adjustment oil cylinder (48) stretches and contracts to drive the beam I (42) to swing around the C axis.

8. The transformer substation crawler-type multifunctional transportation vehicle according to claim 7, wherein: the bottom of the manned frame (31) is fixedly connected with a supporting arm (310), the supporting arm (310) is also vertically connected with a connecting arm (311), the connecting arm (311) is fixedly connected with the side face of the manned frame (31), and one end of the connecting arm (311) is connected with a quick-release hanging pin I (612).

9. A working method of a crawler-type multifunctional transport vehicle for a transformer substation is characterized by comprising the following steps of: a crawler-type multifunctional transport vehicle for a transformer substation according to claim 8, characterized in that: the working conditions are as follows;

The walking working condition is that the main boom (53) is turned to a direction consistent with the walking direction by using the turning support unit (52), the main boom (53) is placed to be horizontal, the supporting leg (514) is recovered by the supporting leg telescopic unit, the steel pipe supporting arm (513) is recovered by the telescopic arm II (512), and the vehicle is driven to a target place by using the crawler-type vehicle body chassis (1);

The steel pipe grabbing working condition is that a steel pipe gripper (4) is connected with a swinging interface (411), a supporting leg (514) extends out and supports the ground through a supporting leg telescopic unit, a steel pipe supporting arm (513) is unfolded through a telescopic arm II (512), a steel pipe is grabbed by the steel pipe gripper (4) and placed on the steel pipe supporting arm (513), a crawler-type vehicle body chassis (1) is driven to transport the steel pipe to a target place, and the steel pipe on the steel pipe supporting arm (513) is grabbed by the steel pipe gripper (4) and installed to the target place;

the manned working condition is that a manned platform (3) is connected with a swing interface (411), a landing leg (514) is extended out through a landing leg telescopic unit and supports the ground, a steel pipe supporting arm (513) is recovered through a telescopic arm II (512), and passengers are conveyed to a target place by the manned platform (3);

And under the hoisting working condition, namely, the steel pipe gripper (4) or the manned platform (3) and the swinging unit are dismounted from the swinging interface (411), the supporting legs (514) are extended out through the supporting leg telescopic units and support the ground, the steel pipe supporting arms (513) are recycled through the telescopic arms II (512), and the weight is hoisted to the target place by the main hoisting arm (53).

10. A method of operating a crawler-type utility vehicle for a transformer substation as set forth in claim 9, wherein:

when the steel pipe is in the grabbing working condition, the steel pipe grabber (4) is connected with the swinging connector (411) through the quick-dismantling connector I (61), so that the quick installation of the steel pipe grabber (4) is completed;

When the manned working condition is that the manned platform (3) is connected with the swing interface (411) through the quick-release interface I (61), the quick installation of the manned platform (3) is completed;

and in the hoisting working condition, the steel pipe gripper (4) or the manned platform (3) and the swinging unit are detached from the swinging interface (411) through the quick-release interface II (62).