CN218507435U - Rotary crane gate accurate positioning auxiliary device - Google Patents
Rotary crane gate accurate positioning auxiliary device Download PDFInfo
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- CN218507435U CN218507435U CN202222386998.6U CN202222386998U CN218507435U CN 218507435 U CN218507435 U CN 218507435U CN 202222386998 U CN202222386998 U CN 202222386998U CN 218507435 U CN218507435 U CN 218507435U
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Abstract
The utility model relates to a power station jack-up headstock gear technical field, especially a gyration hangs gate accurate positioning auxiliary device, including controllable gyration hoist and folding manipulator, controllable gyration hoist is installed at the cantilever crane end, the side at the cantilever crane is installed to the folding manipulator, and the driving electricity jar is installed on the support, and the driving electricity jar links to each other with the sliding sleeve, be provided with the push rod in the sliding sleeve, the folding manipulator is including folding arm, folding hydro-cylinder and manipulator, it is articulated with the cantilever crane to fold the arm, just still be provided with the folding hydro-cylinder between folding arm and the cantilever crane, the end of folding arm is provided with the manipulator. The swing skew that the gate received wind influence production has been solved and the gate is offset to rotary gate and gate slot angle problem to this application, with gate handling to the gate slot in smoothly. The potential safety hazard of the gate hoisting work is eliminated, the hoisting efficiency of the gate entering the slot is improved, and the method has positive significance for the efficient and safe hoisting work of the hydropower station hoist.
Description
Technical Field
The application relates to the technical field of hoisting starting and stopping equipment of hydropower stations, in particular to a precise positioning auxiliary device for a gate of a rotary crane.
Background
In the process of entering the gate into the slot by the rotary hoisting hoist, the gate has angle deviation with the gate slot due to the rotary hoisting process, and under the action of horizontal wind power perpendicular to the direction of a gate panel, the gate swings back and forth so that the gate cannot be well aligned with the gate slot and smoothly enters the gate slot. The existing solution is to manually hold the push-pull gate, push the gate to align with the gate slot and keep the gate slot, and simultaneously, immediately lower the gate by a hoist until the gate is in the slot, so that auxiliary personnel can release the constraint on the gate. The operation method is time-consuming and labor-consuming, and has great potential safety hazard. The invention discloses an accurate positioning auxiliary adjusting method for a rotary crane gate, which aims to solve the problems, solve the problem of angle deviation between the gate and a gate slot caused by the rotation of the rotary crane on the premise of not needing manual assistance to hold the gate, offset the influence of wind power on the swing of the gate, adjust the position of the gate to be aligned with the gate slot and smoothly lower the gate into the gate slot.
For example, a patent in the prior art is a chinese invention patent with a patent application number of CN201910786159.3, which is named as a hoisting operation method for installation and construction of an ultra-large radial gate in a flood discharge tunnel, and the technical scheme is as follows: the invention belongs to the technical field of hydraulic metal structure installation, and relates to a hoisting operation method for installation and construction of an ultra-large radial gate in a flood discharge tunnel.A fluke is pre-embedded at a proper position such as a tunnel top, below a supporting beam of a lifting platform, a side wall and the like to serve as a fixed hoisting point, and the fixed hoisting point is used as an auxiliary hoisting means by configuring a pulley block, a lifting chain block, a winch and the like and is hoisted by matching with a truck crane; with the assistance of truck crane main crane, hoist engine and hoisting chain, the self-control transportation platform truck transports the installed part from the entrance to the hole in, and the self-control support frame is used for the installation adjustment alignment after the hinge takes one's place. Above-mentioned patent can not be convenient place the gate in the gate slot, also relatively complicated at the supplementary hoisting structure of its adoption, and the handling gate in-process receives the wind-force to influence the problem that causes the gate to hardly align with the gate slot, still needs the auxiliary personnel manual work to carry out too much participation and can realize.
Disclosure of Invention
For the above-mentioned problem that solves prior art and exist, this application provides a gyration and hangs gate accurate positioning auxiliary device that can realize gate accurate positioning.
In order to achieve the technical effects, the method is achieved through the following technical scheme:
the utility model provides a gyration hangs gate accurate positioning auxiliary device, includes controllable gyration hoist and a receipts manipulator, controllable gyration hoist is installed at the cantilever crane end, the side at the cantilever crane is installed to the receipts manipulator, controllable gyration hoist includes driving electric jar, sliding sleeve, push rod, support and hydraulic pressure grabs the roof beam, driving electric jar is installed on the support, just driving electric jar and sliding sleeve link to each other, be provided with the push rod in the sliding sleeve, the push rod links to each other with swivel nut, swivel nut links to each other with the hydraulic pressure of below grabs the roof beam to it rotates along with it to drive hydraulic pressure, the receipts manipulator includes a receipts arm, a receipts hydro-cylinder and manipulator, it is articulated with the cantilever crane to roll over a receipts arm, just still be provided with a receipts hydro-cylinder between a receipts arm and the cantilever crane, the end of receipts arm is provided with the manipulator.
Further, the tail end of the manipulator is provided with a clamp, and a pulley is arranged on the clamp.
Further, the manipulator is a six-degree-of-freedom manipulator.
Further, a hanger body is arranged below the hydraulic grabbing beam.
Furthermore, one end of the folding oil cylinder is fixedly arranged on the arm support, the output end of the folding oil cylinder is connected with the middle part of the folding arm, and the folding oil cylinder is controlled by a hydraulic system to feed oil and return oil.
Furthermore, the fixture is [ shaped and comprises a slide rail plate, two clamping plates and a driving motor, wherein each clamping plate is provided with at least one pulley, the driving motor drives the slide plate to move on the slide rail plate, and the pulleys are in direct contact with the gate.
The application has the advantages that:
the application of the auxiliary adjusting device for accurately positioning the rotary lifting gate can realize the positioning of the manual auxiliary push-pull gate without manual assistance, can solve the angle problem of the rotary gate and the gate slot and offset the swing offset generated by the gate due to the influence of wind force, and smoothly lifts the gate into the gate slot. The potential safety hazard of the gate hoisting work is eliminated, the hoisting efficiency of the gate entering the slot is improved, and the method has positive significance for the efficient and safe hoisting work of the hydropower station hoist.
This application hangs the headstock gear to former gyration and does not have the change, on current structure basis, newly-increased removable apparatus does not have the influence to the use of its former equipment.
Drawings
Fig. 1 is a schematic structural diagram of a part of a controllable rotary spreader in the present application.
Fig. 2 is a schematic structural diagram of the present application.
Fig. 3-7 are schematic views of the work flow of the present application.
In the drawings:
1-controllable rotary lifting tool, 2-folding manipulator, 3-arm support, 4-driving electric cylinder, 5-sliding sleeve, 6-push rod, 7-support, 8-hydraulic grabbing beam, 9-folding arm, 10-folding oil cylinder, 12-clamp, 13-pulley, 14-gate, 15-gate slot and 16-rotary nut.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
It should be noted that all directional indicators (such as two sides, an edge, an upper side, a lower side, a left side, a right side, a front side, a rear side, a middle side, a top side, a bottom side, a tail side, an axial side, and a radial side) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion state, and the like in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
Example 1
The utility model provides a gyration and hang gate 14 accurate positioning auxiliary device includes controllable gyration hoist 1 and receipts manipulator 2, controllable gyration hoist 1 is installed at the cantilever crane 3 end, it installs the side at cantilever crane 3 to receive manipulator 2, and controllable gyration hoist 1 is used for adjusting gyration and hangs the rotation angle change, and receipts manipulator 2 provides wind-force stability and moment, controllable gyration hoist 1 includes driving electric jar 4, sliding sleeve 5, push rod 6, support 7 and hydraulic pressure and grabs roof beam 8, driving electric jar 4 is installed on support 7, just driving electric jar 4 links to each other with sliding sleeve 5, be provided with push rod 6 in the sliding sleeve 5, push rod 6 links to each other with swivel nut 16, swivel nut 16 links to each other with the hydraulic pressure of below grabs roof beam 8 to drive hydraulic pressure and grab roof beam 8 and rotate along with it, and the detailed structure is shown as figure 1. The folding manipulator 2 comprises a folding arm 9, a folding oil cylinder 10 and the folding manipulator 2, the folding arm 9 is hinged to the arm support 3, the folding oil cylinder 10 is further arranged between the folding arm 9 and the arm support 3, and the folding manipulator 2 is arranged at the tail end of the folding arm 9. The detailed structure is shown in figure 2.
The application of 14 accurate positioning auxiliary adjusting devices of gate are hung in gyration of this application carries out the handling work of gate 14, can realize need not artifical supplementary push-and-pull gate 14 location, can solve 14 and the 15 angle problems of gate slot of gyration and offset the swing skew that gate 14 receives the wind-force influence to produce, with gate 14 handling to the gate slot 15 in smoothly. The potential safety hazard of the lifting operation of the gate 14 is eliminated, the lifting efficiency of the gate 14 in the groove is improved, and the method has positive significance for the efficient and safe lifting operation of the gate 14 of the hydropower station hoist. This application hangs the headstock gear to former gyration and does not have the change, on current structure basis, newly-increased removable apparatus does not have the influence to the use of its former equipment.
Example 2
The utility model provides a 14 accurate positioning auxiliary device of gyration crane gate includes controllable gyration hoist 1 and receipts manipulator 2, controllable gyration hoist 1 is installed at the cantilever crane 3 end, receipts manipulator 2 is installed in the side of cantilever crane 3, and controllable gyration hoist 1 is used for adjusting gyration crane rotation angle change, and receipts manipulator 2 provides wind-force stability and moment, controllable gyration hoist 1 includes driving electric jar 4, sliding sleeve 5, push rod 6, support 7 and hydraulic pressure grab beam 8, driving electric jar 4 is installed on support 7, just driving electric jar 4 links to each other with sliding sleeve 5, be provided with push rod 6 in the sliding sleeve 5, push rod 6 links to each other with swivel nut 16, swivel nut 16 links to each other with the hydraulic pressure grab beam 8 of below to drive hydraulic pressure grab beam 8 and rotate along with it, the detailed structure is shown as figure 1. The folding manipulator 2 comprises a folding arm 9, a folding oil cylinder 10 and the folding manipulator 2, the folding arm 9 is hinged to the arm support 3, the folding oil cylinder 10 is further arranged between the folding arm 9 and the arm support 3, and the folding manipulator 2 is arranged at the tail end of the folding arm 9. The detailed structure is shown in figure 2.
The tail end of the folding manipulator 2 is provided with a clamp 12, and a pulley 13 is arranged on the clamp 12.
The folding manipulator 2 comprises an execution mechanism, a driving system, a control system and a position detection device, wherein the execution mechanism comprises a hand (clamp 12), a wrist, an arm, an upright post and the like. The arm of the industrial folding robot 2 is usually coupled with a driving source (e.g., hydraulic pressure, pneumatic pressure, motor, etc.) by a member (e.g., an oil cylinder, an air cylinder, a rack and pinion mechanism, a link mechanism, a screw mechanism, a cam mechanism, etc.) for driving the arm to move, so as to realize various movements of the arm. The specific structure and operation principle of the folding manipulator 2 are known to those skilled in the art, and will not be described herein.
The folding manipulator 2 is a six-degree-of-freedom folding manipulator 2. The six-degree-of-freedom folding manipulator 2 is matched through all joints, so that the tail end of the folding manipulator 2 can reach any position in the working range. Meanwhile, the wrist of the folding manipulator 2 is of a rotary structure and is driven by a rotary cylinder, so that the folding manipulator 2 can rotate freely.
A lifting appliance body is arranged below the hydraulic grabbing beam 8. One end of a folding oil cylinder 10 is fixedly arranged on the arm support 3, the output end of the folding oil cylinder 10 is connected with the middle part of the folding arm 9, and the folding oil cylinder 10 is controlled by a hydraulic system to feed oil and return oil.
The clamp 12 is in a shape of a rectangle and comprises a slide rail plate, two clamping plates and a driving motor, wherein each clamping plate is provided with at least one pulley 13, the driving motor drives the slide plate to move on the slide rail plate, and the pulleys 13 are in direct contact with the gate 14.
The application of 14 accurate positioning auxiliary adjusting devices of gate are hung in gyration of this application carry out the handling work of gate 14, can realize need not artifical supplementary push-and-pull gate 14 location, can solve the swing skew that 14 and 15 angle problems of gate slot of gyration gate and offset gate 14 and receive the wind influence to produce, smoothly with gate 14 handling to the gate slot 15 in. The potential safety hazard of the lifting operation of the gate 14 is eliminated, the lifting efficiency of the gate 14 entering the groove is improved, and the method has positive significance for the efficient and safe lifting operation of the gate 14 of the hydropower station hoist.
This application hangs the headstock gear to former gyration and does not have the change, on current structure basis, newly-increased removable apparatus does not have the influence to the use of its former equipment.
The working principle of the application is as follows:
the hoist damper 14 is arranged in the manner shown in figure 3. Under normal working conditions, the folding mechanical arm retracts under the rotary lifting arm frame 3 of the hoist, the lifting work of the hoist cannot be influenced, and the controllable rotary lifting tool 1 keeps the gate 14 flush with the gate slot 15. When the gate 14 is deflected due to the working condition of strong wind, the folding mechanical arm starts to work, the posture of the gate 14 is adjusted, and the hoist is assisted to finish the lifting and groove-entering work of the gate 14.
Specifically, the method comprises the following steps: the arm support 3 of the hoist slewing crane is rotated to the position above the gate slot 15, the gate 14 is lifted under the controllable slewing hanger 1, and the controllable slewing hanger 1 is synchronously driven to keep the gate 14 flush with the gate slot 15, as shown in the attached figure 4; the folding oil cylinder 10 is driven to unfold the folding manipulator 2, the folding oil cylinder 10 drives the folding arm 9 to be unfolded, the folding manipulator 2 is controlled to unfold by a control driving system of the folding manipulator 2, for example, each mechanical arm joint is driven by hydraulic control, pneumatics or a motor, the folding manipulator 2 does not interfere with the gate 14 at the moment, the relative position relation between the gate 14 and the grabbing beam and the folding manipulator 2 is detected through posture detection, the position information of the gate 14 and the grabbing beam is converted into coordinate parameters through a vision camera and is input into the control system of the folding manipulator 2, the internal program of the folding manipulator 2 can automatically calculate the relative space coordinate relation between the folding manipulator 2 and the gate 14 and the grabbing beam, then the folding manipulator 2 is controlled to move to a working position, the folding manipulator 2 automatically clamps the gate 14, the signals are output to the folding manipulator 2 through posture detection to control the movement to be in place, the posture detection device can detect the output signals again after the movement of the folding manipulator 2 is in place, the internal program of the folding manipulator 2 can recalculate the checking position relation, and the clamping position of the folding manipulator 2 is ensured to be accurate. In addition, if the folding manipulator 2 still clamps and misplaces, the judgment can be assisted manually, the folding manipulator 2 is controlled to recalculate the coordinate relationship, the clamp 12 of the folding manipulator 2 is in contact with the gate 14 through the pulley 13, so that the gate 14 can slide up and down, force transmission mechanisms of the clamp 12 are various, such as a chute lever type, a connecting rod lever type, a slope lever type, a gear rack type, a screw nut spring type and the like, for example, the clamp 12 moves linearly along the chute by taking the chute lever type as an example, a clamp plate of the clamp 12 moves linearly along the chute, and the pulley 13 is matched with a pressure sensor, so that when the pulley 13 contacts the gate 14, a feedback signal is fed back to a servo motor for controlling driving, and at the moment, the clamp 12 is clamped. When the gate 14 enters the groove, the visual camera feeds back a signal, and the servo motor controls the clamp 12 to be loosened, as shown in figures 5 and 6; the gate 14 is completely restrained in the horizontal direction, and the folding mechanical arm 2 arranged on the side surface of the rotary cantilever frame 3 of the hoist counteracts the influence of wind power on the gate 14 so as to completely align the gate 14 with the gate slot 15;
the hoist drives the controllable rotary lifting tool 1 to lower the gate 14, the gate 14 keeps stable in the horizontal direction and slides downwards along the pulley 13 on the clamp 12 to smoothly enter the gate slot 15, and the lifting work of the gate 14 is completed, as shown in fig. 7.
After the gate 14 is in the groove, the clamp 12 is unfolded, the folding manipulator 2 is retracted, and the folding oil cylinder 10 drives the folding arm 9 to retract, so that the next gate 14 is lifted.
Claims (6)
1. The utility model provides a gyration hangs gate accurate positioning auxiliary device which characterized in that: the foldable manipulator comprises a controllable rotary lifting tool (1) and a foldable manipulator (2), wherein the controllable rotary lifting tool (1) is installed at the tail end of an arm support (3), the foldable manipulator (2) is installed on the side face of the arm support (3), the controllable rotary lifting tool (1) comprises a driving electric cylinder (4), a sliding sleeve (5), a push rod (6), a support (7) and a hydraulic grabbing beam (8), the driving electric cylinder (4) is installed on the support (7), the driving electric cylinder (4) is connected with the sliding sleeve (5), the push rod (6) is arranged in the sliding sleeve (5), the push rod (6) is connected with a rotary nut (16), the rotary nut (16) is connected with the hydraulic grabbing beam (8) below and drives the hydraulic grabbing beam (8) to rotate along with the rotary electric cylinder, the foldable manipulator (2) comprises a foldable arm (9), a foldable oil cylinder (10) and the foldable manipulator (2), the foldable arm (9) is hinged to the arm (3), and the foldable manipulator (9) is further arranged between the foldable arm (9) and the tail end of the foldable manipulator (2).
2. The accurate positioning auxiliary device of the gate of the revolving crane according to claim 1, characterized in that: the tail end of the folding manipulator (2) is provided with a clamp (12), and a pulley (13) is arranged on the clamp (12).
3. The precise positioning auxiliary device for the rotary crane gate according to claim 1, wherein: the folding manipulator (2) is a six-degree-of-freedom folding manipulator (2).
4. The precise positioning auxiliary device for the rotary crane gate according to claim 1, wherein: and a lifting appliance body is arranged below the hydraulic grabbing beam (8).
5. The accurate positioning auxiliary device of the gate of the revolving crane according to claim 1, characterized in that: one end of the folding oil cylinder (10) is fixedly arranged on the arm support (3), the output end of the folding oil cylinder (10) is connected with the middle part of the folding arm (9), and the folding oil cylinder (10) is controlled by a hydraulic system to feed oil and return oil.
6. The precise positioning auxiliary device for the rotary crane gate according to claim 2, wherein: the fixture (12) is in a shape of a [ and comprises a sliding rail plate, two clamping plates and a driving motor, wherein each clamping plate is provided with at least one pulley (13), the driving motor drives the sliding plate to move on the sliding rail plate, and the pulleys (13) are in direct contact with the gate (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222386998.6U CN218507435U (en) | 2022-09-08 | 2022-09-08 | Rotary crane gate accurate positioning auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222386998.6U CN218507435U (en) | 2022-09-08 | 2022-09-08 | Rotary crane gate accurate positioning auxiliary device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218507435U true CN218507435U (en) | 2023-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222386998.6U Active CN218507435U (en) | 2022-09-08 | 2022-09-08 | Rotary crane gate accurate positioning auxiliary device |
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| Country | Link |
|---|---|
| CN (1) | CN218507435U (en) |
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- 2022-09-08 CN CN202222386998.6U patent/CN218507435U/en active Active
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