CN119160794A - High-precision hydraulic mechanical arm lifting system and method for assembled station - Google Patents
High-precision hydraulic mechanical arm lifting system and method for assembled station Download PDFInfo
- Publication number
- CN119160794A CN119160794A CN202411359902.4A CN202411359902A CN119160794A CN 119160794 A CN119160794 A CN 119160794A CN 202411359902 A CN202411359902 A CN 202411359902A CN 119160794 A CN119160794 A CN 119160794A
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- Prior art keywords
- mechanical arm
- assembly
- driving
- grapple
- arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The application discloses an assembly type station high-precision hydraulic mechanical arm assembly system which comprises two supports, wherein the supports are erected on a beam conveying platform, the lower end of the beam conveying platform is rotatably connected with a plurality of rollers, the rollers are erected on a guide rail, a cross arm is movably connected between the two supports along the vertical direction, a climbing assembly for driving the cross arm to move is arranged on the cross arm, a mechanical arm is slidably connected with the cross arm along the horizontal direction, a driving assembly for driving the mechanical arm to slide is arranged on the cross arm, a grapple for hoisting a hanging piece is rotatably connected to the mechanical arm, the rotation axis of the grapple is arranged along the horizontal direction, and an adjusting assembly for driving the grapple assembly to rotate is further arranged on the mechanical arm.
Description
Technical Field
The invention relates to the field of high-voltage transmission, in particular to a high-precision hydraulic mechanical arm hoisting system and method for an assembled station.
Background
The construction industry has long been a major concern for countries as a consumer of high energy. Meanwhile, with the withdrawal of the climax of infrastructure construction, the building industry is transforming to the high-quality development direction driven by greenization, industrialization and informatization. In response to transformation and upgrading of the building industry, the assembled building is an important point for development of the building industry due to the characteristics of high benefit, high quality, low consumption and low emission.
Compared with the traditional building, the assembled building has two main characteristics, namely, the factory prefabricated standard component and the high-precision field assembly. The high-precision assembly is a difficulty of the assembly type building, not only determines the quality of the building engineering, but also ensures the safety of the construction site, and directly influences the construction efficiency of the assembly type building engineering. However, with the increasing demands of construction engineering scale and quality, various limitations of the existing assembly equipment gradually become bottlenecks in the development of the assembly type construction engineering.
In the assembly engineering, the influence of the hoisting equipment on the assembly precision and efficiency is very remarkable. Particularly in the case of hoisting ropes, when the mass of a component is large, the hoisting ropes inevitably undergo stretching, twisting and deformation, so that the operation is complex and the precision control is difficult.
Disclosure of Invention
In order to conveniently control the posture of a hanging piece during hanging so as to more accurately complete the assembly of the hanging piece, the application provides an assembly type station high-precision hydraulic mechanical arm hanging system and method.
The application provides an assembled station high-precision hydraulic mechanical arm hoisting system, which adopts the following technical scheme:
The high-precision hydraulic mechanical arm hoisting system for the assembled station comprises two supports, wherein the supports are erected on a beam conveying platform, the lower end of the beam conveying platform is rotatably connected with a plurality of rollers, the rollers are erected on a guide rail, a cross arm is movably connected between the two supports in the vertical direction, a climbing assembly for driving the cross arm to move is arranged on the cross arm, a mechanical arm is slidably connected with the cross arm in the horizontal direction, a driving assembly for driving the mechanical arm to slide is arranged on the cross arm, a grapple for hoisting a hoisting piece is rotatably connected to the mechanical arm, the rotation axis of the grapple is arranged in the horizontal direction, and an adjusting assembly for driving the grapple assembly to rotate is further arranged on the mechanical arm.
Optionally, rotate on the arm and be connected with the mount pad, grapple fixed connection is on the mount pad, adjusting part is used for driving the mount pad to rotate, is equipped with a plurality of lifting hooks on the grapple, and the lifting hook is used for being connected with the pilot hole on the hanging piece.
Optionally, the lifting hook includes two L templates that set up relatively, and L template is followed horizontal direction sliding connection and is in on the grapple, still be equipped with on the grapple and be used for driving the gliding hydraulic system of L template, L template slip with the pilot hole is connected.
Optionally, the mount pad is in through pivot rotation connection on the arm, adjusting component includes accommodate motor, accommodate motor fixed connection is on the arm, accommodate motor's output shaft and the coaxial fixed connection of pivot.
Optionally, the adjusting unit further comprises a ratchet wheel and a pawl, the ratchet wheel is coaxially and fixedly connected to the rotating shaft, the pawl is rotatably connected to the mechanical arm, a torsion spring for limiting the pawl to rotate is further arranged on the mechanical arm, and when the torsion spring is in a natural state, the pawl is inserted into the ratchet wheel.
Optionally, two support are all equipped with the seat of erect on the support, the both ends overlap joint of xarm is on the seat of erect, erects the seat and passes through climbing subassembly removes on the support.
Optionally, the climbing assembly comprises a climbing hydraulic cylinder, the climbing hydraulic cylinder is arranged on the erection seat, the telescopic direction of the climbing hydraulic cylinder is arranged along the vertical direction, the two ends of the climbing hydraulic cylinder are respectively provided with an inserting hydraulic cylinder, and a plurality of inserting grooves for inserting the inserting hydraulic cylinders are arranged on the support at intervals along the vertical direction.
Optionally, the drive assembly includes track and driving motor, and the track surrounds and sets up on the xarm, arm and track fixed connection, driving motor are used for driving the track rotation.
The application also discloses a high-precision hoisting method for the assembled station in the second aspect, which adopts the following technical means:
A high-precision hoisting method for an assembled station comprises the following steps:
s1, finishing equipment and hanging part entering, and checking the equipment;
s2, paving guide rails, erecting a support, and installing a climbing assembly on the cross arm;
s3, connecting the grapple with the hanging piece;
s4, lifting the height of the cross arm through the climbing assembly, changing the horizontal position of the support through the guide rail, and moving the hanging piece to a preset position;
s5, adjusting the posture of the hanging piece through the adjusting component and completing the installation of the hanging piece.
In summary, the application has the following beneficial technical effects:
According to the application, through the arrangement of the grapple, the adjusting component and the climbing component, the hanging piece can be stably controlled by the grapple without randomly changing the posture when being lifted, meanwhile, the climbing component replaces the conventional steel rope lifting, and no disturbance of the telescopic swing of the steel rope exists, and meanwhile, the arrangement of the adjusting component enables the posture of the hanging piece in the air to be changed, so that the hanging piece can be conveniently and accurately assembled.
Drawings
FIG. 1 is an overall block diagram of an assembled station high-precision hydraulic mechanical arm hoisting system of the application;
FIG. 2 is an overall block diagram of the mount of FIG. 1;
FIG. 3 is a schematic view of the overall structure of the grapple of FIG. 2;
Fig. 4 is a schematic view of the connection of the grapple with the hanger assembly hole.
Reference numerals illustrate:
11. The device comprises a support, a beam conveying platform, 13, rollers, 14, a splicing groove, 15, a guide rail, 21, a erection seat, 22, a climbing hydraulic cylinder, 23, a splicing hydraulic cylinder, 31, a cross arm, 32, a mechanical arm, 33, an installation seat, 34, a grapple, 35, a lifting hook, 41, a rotating shaft, 42, a ratchet wheel, 43, a pawl, 44 and an adjusting motor.
Detailed Description
The application is described in further detail below with reference to fig. 1-4.
The embodiment of the application discloses an assembled station high-precision hydraulic mechanical arm hoisting system, which works in a field assembly mode, and comprises two supports 11, wherein the supports 11 are erected on a beam conveying table 12, rollers 13 are arranged at the lower end of the beam conveying table 12, the rollers 13 are erected on guide rails 15 during construction, erection seats 21 are arranged on the two supports 11, climbing components are arranged on the erection seats 21, the erection seats 21 can move on the supports through the climbing components, cross arms 31 are erected on the two erection seats 21, sliding rails are arranged on the cross arms 31 in the horizontal direction, mechanical arms 32 are connected onto the sliding rails in a sliding mode, meanwhile, driving components for driving the mechanical arms 32 to slide are also arranged on the sliding rails, a grapple 34 for hoisting a hoisting piece is rotatably connected onto the mechanical arms 32, the rotation axes of the grapple 34 are arranged in the horizontal direction, and an adjusting component for driving the grapple 34 component to rotate is also arranged on the mechanical arms 32.
After the grapple 34 grabs the hanging piece, the cross arm 31 is lifted by the climbing assembly, the support 11 is pushed to move the hanging piece to a preset position, the hanging piece is lowered, and the posture of the hanging piece is adjusted in the air by the adjusting assembly, so that the effect of high-precision assembly is achieved.
In the embodiment of the application, the climbing assembly comprises a climbing hydraulic cylinder 22, wherein the climbing hydraulic cylinder 22 is arranged on a erection seat 21, the telescopic directions of the climbing hydraulic cylinder 22 are arranged along the vertical direction, a plurality of inserting grooves 14 for inserting the inserting hydraulic cylinders 23 are arranged on a support 11 at intervals along the vertical direction, the two inserting hydraulic cylinders 23 are lifted up and down, after the inserting hydraulic cylinders 23 at the upper end are inserted into the inserting grooves 14, the inserting hydraulic cylinders 23 at the lower end are separated from the inserting grooves 14 and lifted up under the action of the climbing hydraulic cylinder 22, so that the inserting grooves 14 at the upper end are inserted, and then the inserting hydraulic cylinders 23 at the upper end are separated and lifted up, and are inserted into the inserting grooves 14, so that the erection seat 21 and a cross arm 31 are lifted up step by step.
In the embodiment of the application, the driving assembly comprises a driving motor and a crawler belt, the crawler belt surrounds the cross arm 31, the mechanical arm 32 is fixed with a certain position of the crawler belt, and the driving motor is used for driving the crawler belt to move around the cross arm 31.
The mechanical arm 32 is rotatably connected with a mounting seat 33, the grapple 34 is fixedly connected to the mounting seat 33, the adjusting assembly is used for driving the mounting seat 33 to rotate, the grapple 34 is provided with a plurality of lifting hooks 35, each lifting hook 35 comprises two L-shaped plates which are oppositely arranged, the L-shaped plates are connected to the grapple 34 in a sliding mode along the horizontal direction, the grapple 34 is also provided with a hydraulic system for driving the L-shaped plates to slide, the L-shaped plates are connected with the mounting holes of the hanging piece, the mounting holes are the characteristics of the mounting structure, two wing plates are arranged at the gaps of the mounting holes, the two L-shaped plates are mutually far away from each other to be connected with the wing plates of the mounting holes after being inserted into the mounting holes, so that the hanging piece and the grapple 34 form a rigid whole, and the posture of the hanging piece can be changed only by changing the posture of the mounting seat 33 through the adjusting assembly after the L-shaped plates are connected with the mounting holes.
In the embodiment of the application, the mounting seat 33 is rotationally connected to the mechanical arm 32 through the rotating shaft 41, the adjusting assembly comprises an adjusting motor 44, an output shaft of the adjusting motor 44 is fixedly connected with the rotating shaft 41 in a coaxial way, the adjusting motor 44 can drive the mounting seat 33 to rotate, in order to enable the rotated angle to be more accurate, a ratchet wheel 42 is fixedly connected to the rotating shaft 41 in a coaxial way, a pawl 43 is rotationally connected to the mechanical arm 32, the pawl 43 rotates to be inserted into or separated from the mechanical arm 32, meanwhile, a torsion spring for limiting the rotation of the pawl 43 is further arranged on the mechanical arm 32, when the torsion spring is in a natural state, the pawl 43 is inserted into the ratchet wheel 42, and therefore, the adjusting motor 44 is reversed to fix the posture of the hanging piece after the mounting seat 33 rotates to a preset angle.
The application also discloses a high-precision hoisting method of the assembled station, which comprises the following steps:
Step one, preparing work
1. Preparing a field:
cleaning the assembly site, ensuring the ground to be smooth and free of barriers.
The rail system is installed on site to ensure its level and firmness.
2. Checking equipment:
and checking all components of the mechanical arm, the cross arm, the erection seat and the beam conveying table, and ensuring normal functions and no damage.
And the hydraulic system is subjected to pressure test, so that the normal functions of the hydraulic lock catches of the erection seat and the mechanical arm are ensured.
3. Component preparation:
The prefabricated components are transported to the site and stacked in the assembly order.
The size and quality of the components are checked to ensure that they meet the design requirements.
Step two, mounting a cross arm
And (3) mounting a cross arm:
The cross arm is arranged on the erection seat of the support and is fixed.
The bridge is lifted to the working height by using the erection seat, and the horizontal level of the bridge is ensured.
And (3) mechanical arm installation:
the mechanical arm is fixed on the caterpillar band of the cross arm, so that the mechanical arm can stably move on the sliding rail.
And the hydraulic system connected with the mechanical arm ensures that the hydraulic and electric rotating equipment is normal in function.
Mechanical arm debugging:
the locking function of the mechanical arm is controlled through the hydraulic system, so that the mechanical arm can be locked smoothly.
Checking the electric rotation and hydraulic retraction functions of the mechanical arm, and ensuring that the mechanical arm can accurately adjust the position of the component.
Step four, hoisting and initially positioning the component
1. And (3) locking a component:
the hydraulic lock catch of the mechanical arm is used for firmly locking the prefabricated component, so that the component is ensured not to shake in the moving process.
2. Lifting a component:
The cross arm is lifted through the climbing assembly, and the hanging piece is driven to move to the required height in the plumb direction.
The hanging piece is moved to a general installation position along the direction of the cross arm by a driving assembly on the cross arm.
Step five, accurately positioning and installing the hanging piece
1. Fine adjustment positioning:
And (3) accurately fine-tuning the hanging piece by using an adjusting component of the mechanical arm.
The position and the angle of the hanging piece in all directions are ensured to reach the design requirement.
2. Hanging piece fixing:
After the hanger reaches the precise position, the member is fixed at the target position by means of a latch or the like.
And (3) carrying out secondary inspection on the fixing piece to ensure that all the connections are firm and reliable.
Step six, preparing the next component before assembling
1. Checking the assembly device to ensure that all functions are operating normally
2. Unlocking mechanical arm
After the installed components are ensured to be stable, the installed hanging parts are separated from the mechanical arm for locking.
3. Resetting the assembly device
Firstly, starting the climbing assembly, moving the cross arm to be above the height of the next component, and then starting the beam conveying platform to integrally move the assembly device to the position of the next component.
The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.
Claims (9)
1. The high-precision hydraulic mechanical arm hoisting system for the assembled station is characterized by comprising two supports (11), wherein the supports (11) are erected on a beam conveying table (12), the lower end of the beam conveying table (12) is rotatably connected with a plurality of rollers (13), the rollers (13) are erected on a guide rail (15), a cross arm (31) is movably connected between the two supports (11) along the vertical direction, a climbing component for driving the cross arm (31) to move is arranged on the cross arm (31), a mechanical arm (32) is slidably connected with the cross arm (31) along the horizontal direction, a driving component for driving the mechanical arm (32) to slide is arranged on the cross arm (31), a grapple (34) for hoisting a crane is rotatably connected to the mechanical arm (32), the rotation axis of the grapple (34) is arranged along the horizontal direction, and an adjusting component for driving the grapple (34) component to rotate is further arranged on the mechanical arm (32).
2. The assembly type station high-precision hydraulic mechanical arm hoisting system of claim 1, wherein the mechanical arm (32) is rotatably connected with a mounting seat (33), the grapple hook (34) is fixedly connected to the mounting seat (33), the adjusting component is used for driving the mounting seat (33) to rotate, the grapple hook (34) is provided with a plurality of lifting hooks (35), and the lifting hooks (35) are used for being connected with assembly holes in a hoisting piece.
3. The high-precision hydraulic mechanical arm hoisting system for the assembled station as claimed in claim 2, wherein the lifting hook (35) comprises two L-shaped plates which are oppositely arranged, the L-shaped plates are connected to the grapple hooks (34) in a sliding manner along the horizontal direction, the grapple hooks (34) are further provided with a hydraulic system for driving the L-shaped plates to slide, and the L-shaped plates slide to be connected with the assembly holes.
4. The assembly type station high-precision hydraulic mechanical arm hoisting system according to claim 2, wherein the mounting seat (33) is rotatably connected to the mechanical arm (32) through a rotating shaft (41), the adjusting assembly comprises an adjusting motor (44), the adjusting motor (44) is fixedly connected to the mechanical arm (32), and an output shaft of the adjusting motor (44) is fixedly connected with the rotating shaft (41) in a coaxial mode.
5. The high-precision hydraulic mechanical arm hoisting system for the assembled station as claimed in claim 4, wherein the adjusting unit further comprises a ratchet wheel (42) and a pawl (43), the ratchet wheel (42) is coaxially and fixedly connected to the rotating shaft (41), the pawl (43) is rotatably connected to the mechanical arm (32), a torsion spring for limiting rotation of the pawl (43) is further arranged on the mechanical arm (32), and when the torsion spring is in a natural state, the pawl (43) is inserted into the ratchet wheel (42).
6. The high-precision hydraulic mechanical arm hoisting system for the assembled station as claimed in claim 1, wherein the two supports (11) are respectively provided with a erection seat (21), two ends of the cross arm (31) are lapped on the erection seats (21), and the erection seats (21) move on the support through the climbing assembly.
7. The high-precision hydraulic mechanical arm hoisting system for the assembled station as claimed in claim 6, wherein the climbing assembly comprises a climbing hydraulic cylinder (22), the climbing hydraulic cylinder (22) is arranged on the erection seat (21) and has a telescopic direction along a vertical direction, two ends of the climbing hydraulic cylinder (22) are respectively provided with an inserting hydraulic cylinder (23), and a plurality of inserting grooves (14) for inserting the inserting hydraulic cylinders (23) are formed in the support (11) at intervals along the vertical direction.
8. The assembly type station high-precision hydraulic mechanical arm hoisting system of claim 1, wherein the driving assembly comprises a crawler and a driving motor, the crawler is arranged on the cross arm (31) in a surrounding mode, the mechanical arm (32) is fixedly connected with the crawler, and the driving motor is used for driving the crawler to rotate.
9. The high-precision hoisting method for the assembled station, which is applied to the hoisting system for the high-precision hydraulic mechanical arm (32) of the assembled station as claimed in claim 5, is characterized by comprising the following steps of:
s1, finishing equipment and hanging part entering, and checking the equipment;
s2, paving guide rails (15), erecting a support (11), and installing a climbing assembly on a cross arm (31);
s3, connecting the grapple (34) with the hanging piece;
S4, lifting the height of the cross arm (31) through the climbing assembly, changing the horizontal position of the support (11) through the guide rail (15), and moving the hanging piece to a preset position;
s5, adjusting the posture of the hanging piece through the adjusting component and completing the installation of the hanging piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411359902.4A CN119160794B (en) | 2024-09-27 | 2024-09-27 | High-precision hydraulic mechanical arm lifting system and method for assembled station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411359902.4A CN119160794B (en) | 2024-09-27 | 2024-09-27 | High-precision hydraulic mechanical arm lifting system and method for assembled station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119160794A true CN119160794A (en) | 2024-12-20 |
| CN119160794B CN119160794B (en) | 2025-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411359902.4A Active CN119160794B (en) | 2024-09-27 | 2024-09-27 | High-precision hydraulic mechanical arm lifting system and method for assembled station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119160794B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1396693A (en) * | 1971-04-13 | 1975-06-04 | Blackstone C E J | Grab for handling loads |
| CN105819358A (en) * | 2016-06-13 | 2016-08-03 | 中冶建工集团有限公司 | Anti-falling assistance device for vertical ladder climbing |
| CN211920698U (en) * | 2019-12-31 | 2020-11-13 | 巩义市百万金属制品有限公司 | Steel belt hoisting device for armored cable |
| CN115285863A (en) * | 2022-08-17 | 2022-11-04 | 北京市市政一建设工程有限责任公司 | Hoisting device for large-span steel concrete superposed beam |
| CN116730185A (en) * | 2023-06-19 | 2023-09-12 | 安徽明诚建设项目管理有限公司 | Assembled building lifting device |
-
2024
- 2024-09-27 CN CN202411359902.4A patent/CN119160794B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1396693A (en) * | 1971-04-13 | 1975-06-04 | Blackstone C E J | Grab for handling loads |
| CN105819358A (en) * | 2016-06-13 | 2016-08-03 | 中冶建工集团有限公司 | Anti-falling assistance device for vertical ladder climbing |
| CN211920698U (en) * | 2019-12-31 | 2020-11-13 | 巩义市百万金属制品有限公司 | Steel belt hoisting device for armored cable |
| CN115285863A (en) * | 2022-08-17 | 2022-11-04 | 北京市市政一建设工程有限责任公司 | Hoisting device for large-span steel concrete superposed beam |
| CN116730185A (en) * | 2023-06-19 | 2023-09-12 | 安徽明诚建设项目管理有限公司 | Assembled building lifting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119160794B (en) | 2025-09-26 |
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