WO2020228067A1 - 一种自动安装h型钢柱的设备 - Google Patents

一种自动安装h型钢柱的设备 Download PDF

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Publication number
WO2020228067A1
WO2020228067A1 PCT/CN2019/089465 CN2019089465W WO2020228067A1 WO 2020228067 A1 WO2020228067 A1 WO 2020228067A1 CN 2019089465 W CN2019089465 W CN 2019089465W WO 2020228067 A1 WO2020228067 A1 WO 2020228067A1
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WIPO (PCT)
Prior art keywords
cantilever
axis
shaped steel
motor
steel columns
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PCT/CN2019/089465
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English (en)
French (fr)
Inventor
刘桐
任增堂
苗俊波
陈桀
任强
白胜锁
李剑锋
袁英杰
唐立新
张柏滔
崔达
高越
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中铁电气化局集团有限公司石家庄机械装备分公司
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Publication of WO2020228067A1 publication Critical patent/WO2020228067A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/20—Arrangements for supporting or suspending trolley wires, e.g. from buildings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines

Definitions

  • the utility model belongs to the technical field of engineering machinery, and relates to the installation of an H-shaped steel column of an electrified railway catenary, in particular to a device for automatically installing the H-shaped steel column.
  • the catenary is a high-voltage transmission line that is erected in a zigzag pattern over the rails in an electrified railway for the pantograph.
  • the catenary is the main frame of the railway electrification project. It is a special form of transmission line that is erected along the railway line to supply power to electric locomotives. It is composed of contact suspension, support device, positioning device, pillar and foundation. The pillar and foundation are used to bear the full load of the contact suspension, support and positioning device, and the contact suspension is fixed at a specified position and height.
  • Chinese catenary adopts prestressed reinforced concrete pillars and steel pillars.
  • the foundation is for steel pillars, that is, the steel pillars are fixed on the foundation made of reinforced concrete below, and the foundation bears all the loads transmitted by the pillars and guarantees Stability of the pillar.
  • the prestressed reinforced concrete pillars are integrated with the foundation, and the lower end is directly buried in the ground. Due to the large size and weight of the steel column, it is often necessary to use mechanical equipment for installation.
  • the domestic electrification construction adopts a semi-mechanized mode.
  • the steel column installation link before laying the track, the steel column is hoisted by a car crane or a car crane, and then the position of the steel column is corrected by manual assistance; in laying the track After that, the steel column was lifted by the catenary pole operation vehicle, and the installation was carried out with manual assistance.
  • This method has the following shortcomings: 1.
  • the degree of mechanization is low, and more manpower is required for auxiliary work.
  • the work efficiency is severely restricted by the proficiency of the construction personnel, the work efficiency is low, and the construction cost is high; 2.
  • the steel column is usually hoisted by ropes On the operating vehicle or crane, the steel column will shake during the movement. During the work, the worker must maintain a certain safe distance from the steel column; 3.
  • the present invention aims to provide a device for automatically installing H-shaped steel columns to achieve the purpose of improving the level of mechanization, reducing the work intensity of workers, and improving work efficiency.
  • a device for automatically installing H-shaped steel columns including a grabbing device for fixing the object, the grabbing device is fixed along the x axis , Y-axis, z-axis moving device, and a rotary device is fixed on the grabbing device;
  • the turning device includes a beam turning mechanism that rotates the loaded object in a horizontal state to above the installation position, and also includes a cantilever turning mechanism that rotates the loaded object in a horizontal state to a vertical state.
  • the grabbing device fixes the article by magnetic attraction.
  • the grasping device includes a cantilever and a cross beam.
  • the cantilever is vertically fixedly connected to the cross beam, and the bottom end of the cantilever is used to be fixedly connected to the object.
  • the moving device includes an x-direction moving mechanism placed at the top of the cantilever to move the cantilever along the x-axis, a y-direction moving mechanism placed at the left and right ends of the beam to move the beam along the y-axis, and a y-direction moving mechanism. The bottom end of the mechanism moves the beam along the z-axis to the z-direction moving mechanism.
  • both ends of the cross beam are provided with a cross beam rotation mechanism, and the cross beam rotation mechanism includes a cross beam rotation motor that drives the cross beam to rotate, and a coupling connecting the cross beam rotation motor and the cross beam.
  • the cantilever turning mechanism includes a driven gear ring fixed on the cantilever and a driving gear meshing with the driven gear ring so that the driven gear ring drives the cantilever to rotate around the cantilever axis.
  • the x-direction moving mechanism is a screw
  • the y-direction moving mechanism is a rack and pinion
  • the z-direction moving mechanism is a hydraulic cylinder
  • the cantilever and the beam are both columns with an octagonal cross section.
  • the bottom end of the cantilever is fixedly connected with an electromagnet
  • the lead screw drives the lead screw to rotate through the x-direction motor
  • the rack and pinion drives the gear to rotate through the y-direction motor.
  • the hydraulic cylinder is connected with the electro-hydraulic proportional valve, and the cantilever rotary motor drives the driving gear to rotate;
  • the signal input terminals are respectively connected with the control signal output terminals of the control device.
  • This utility model adjusts the distance between the relative installation positions of the x-axis, y-axis, and z-axis of the article, combined with the use of the rotating device, rotates the article in the horizontal state to the vertical state and then installs it, and moves flexibly .
  • the degree of mechanization is high, which is convenient for accurate and fast installation of the stuff, which greatly improves the work efficiency and reduces the labor intensity of the workers.
  • the utility model adopts the method of magnetic attraction to fix the article. Compared with the method of hoisting and fixing by the steel wire rope in the prior art, the article can be stabilized in the grasping device during the movement without shaking. Reduce the risk of the installation process; and, by adopting the method of magnetic attraction, it is not only easy to fix the loaded object on the grasping device, but also easy to make the loaded object separate from the grasping device.
  • the present utility model is equipped with an x-direction moving mechanism, a y-direction moving mechanism and a z-direction moving mechanism, which can simultaneously move the article in the x-axis, y-axis and z-axis directions, reducing the time for adjusting the position of the article ;
  • the cantilever and beam of the present invention adopt the shape of an octagonal prism, which is stronger and has a long service life than the quadrangular prism in the prior art;
  • the utility model can realize remote control through the control device, which is convenient for operation.
  • the utility model has a high level of mechanization, is convenient, fast and accurate to install, reduces manpower input, and can ensure the safety of workers, and has strong practicability.
  • the utility model is suitable for the installation process of the bedding, especially the bedding whose height is greater than the cross-sectional size, especially the bedding that can be magnetically absorbed, such as the installation of the H-shaped steel column of the electric railway contact net.
  • Figure 1 is a schematic structural diagram of an embodiment of the utility model
  • FIG. 2 is a schematic diagram of the structure of the y-direction moving mechanism and the beam turning mechanism of the embodiment of the utility model;
  • FIG. 3 is a schematic diagram of the structure of the cantilever revolving mechanism and the grasping mechanism of the embodiment of the utility model;
  • Figure 4 is a schematic diagram of the connection relationship of the control device of the embodiment of the present invention.
  • the object is fixed by the grabbing device, and the relative installation position of the object is adjusted by the moving device to move along the x-axis, y-axis, and z-axis directions, and the object is moved by the rotating device Rotate from the horizontal state to the vertical state when it is in the installation position.
  • This embodiment includes a grabbing device, a moving device, a turning device and a control device.
  • the grasping device includes an electromagnet 3, a beam 1 and a cantilever 2. Both the cantilever 2 and the beam 1 are cylinders with an octagonal cross section.
  • the beam 1 extends along the x-axis direction
  • the cantilever 2 extends along the y-axis direction
  • the cantilever 2 is vertically fixed at the center of the beam 1 in a "T" shape.
  • the bottom end of the cantilever 2 is fixedly connected with an object to be loaded.
  • the bottom end of the cantilever 2 can be detachably connected with the article by a threaded manner.
  • the magnetic attraction is used to fix the article in this embodiment.
  • the bottom end of the cantilever 2 is fixed with an electromagnet 3 for adsorbing the surface of the object.
  • the object to be loaded needs to be an object with a magnetic plane
  • the object to be loaded in this embodiment is an H-shaped steel column of the electric railway contact net.
  • the grabbing device is fixed with a moving device that makes the grabbing device move along the x-axis, y-axis, and z-axis.
  • the moving device includes an x-direction moving mechanism, a y-direction moving mechanism and a z-direction moving mechanism.
  • the x-direction moving mechanism 4 is placed at the top of the cantilever 2 to move the cantilever 2 along the x-axis direction.
  • the x-direction moving mechanism 4 uses a screw.
  • the screw body is fixed on the cantilever 2, and the screw bolt on the screw body is fixed on the cantilever 2.
  • the cantilever 2 moves in the x-axis direction along the thread on the screw body.
  • the screw model is SFU5005-4. In order to improve the degree of mechanization, the lead screw is driven by the x-direction motor.
  • a set of y-direction moving mechanisms are arranged on the left and right ends of the beam 1 to move the beam 1 along the y axis.
  • the y-direction moving mechanism adopts the form of a gear 5 and a rack 6.
  • the beam 1 is fixedly connected to at least one gear 5, and all the gears 5 mesh with a rack 6 extending along the y-axis direction.
  • the gear 5 moves on the rack 6 Drive the beam 1 to move along the y axis.
  • a y-direction motor 13 is fixed on the gear 5, and the y-direction motor 13 is connected to the beam 1 through a y-direction reducer of model WPDX-80-10-1.5.
  • the gear 5, the y-direction motor 13 and the y-direction reducer are all fixed on the mobile trolley 14.
  • a sliding slide 15 is provided under the mobile trolley 14, and as the gear 5 runs along the rack With the movement of 6, the mobile trolley 14 also moves along the slideway 15 in the y direction to ensure the stability of the cross beam 1 during the movement along the y axis.
  • the z-direction moving mechanism is placed under the y-direction moving mechanism to move the beam 1 along the z-axis.
  • the z-direction moving mechanism adopts the form of a hydraulic cylinder 7.
  • the hydraulic cylinder 7 is fixedly connected under the slideway 15 and the rack 6 in the y-direction moving mechanism.
  • At least one set of z-direction moving mechanisms can be provided.
  • each group of y A hydraulic cylinder 7 is provided at each end of the moving mechanism, and a total of four hydraulic cylinders 7 are provided.
  • the hydraulic cylinder 7 is connected with an electro-hydraulic proportional valve, and the electro-hydraulic proportional valve controls the lifting.
  • the four hydraulic cylinders 7 are raised and lowered at the same time, the height is 1700mm when not raised, and the maximum height is 3300mm.
  • the power of the hydraulic cylinder 7 is provided by the hydraulic pump station.
  • the pump station selects a gear oil pump with a rated pressure of 20Mpa and a maximum pressure of 25Mpa, driven by 4 7.5kw motors and a flow rate of 35L/min.
  • the turning device includes a beam turning mechanism that rotates the loaded object in a horizontal state to above the installation position, and a cantilever turning mechanism that rotates the loaded object in a horizontal state to a vertical state.
  • Each of the left and right ends of the beam 1 is provided with a set of beam rotation mechanisms, and the beam rotation mechanism includes a beam rotation motor 8 and a coupling 9.
  • the coupling 9 is fixedly connected to the moving trolley 14 of the y-direction moving mechanism, so that the coupling 9 moves along the y-direction with the moving trolley 14.
  • the coupling 9 connects the beam 1 and the beam rotation motor 8.
  • the beam rotation motor 8 uses a servo motor, which controls the speed of the beam 1 by controlling the speed of the servo motor.
  • the rotation of the beam 1 around its axis drives the object to be rotated to the installation position Above.
  • the cross beam rotating motor 8 and the coupling 9 are connected by a double-stage reducer: the motor cycloid reducer XWVCD-3-4-71, and the worm gear reducer WHX2880-1-30.
  • the cantilever rotation mechanism is placed on the cantilever 2, and the cantilever rotation mechanism includes a driven ring gear 10 and a driving gear 11.
  • the bottom surface of the driven ring gear 10 is fixedly connected to the lower part of the cantilever 2, and the center of the top surface of the driven ring gear 10 is hinged to the upper part of the cantilever 2 through a hinge shaft.
  • the driven ring gear 10 meshes with at least one driving gear 11 through the driving gear 11
  • the rotation of ⁇ drives the driven ring gear 10 to rotate, so that the lower part of the cantilever 2 rotates around its own axis.
  • the driving gear 11 is driven to rotate by a cantilever rotary motor 12, and the cantilever rotary motor 12 and the driving gear 11 are connected through a reducer. By controlling the rotation speed of the cantilever rotation motor 12, the rotation process of the cantilever 2 is controlled.
  • the control device can realize intelligent control. 4, the control signal input end of the electro-hydraulic proportional valve is connected to the control signal output end of the electro-hydraulic proportional valve control circuit, and the control signal input end of the electro-hydraulic proportional valve control circuit is connected to the control signal output end of the electro-hydraulic proportional valve of the control device;
  • the control signal input end of the electromagnet 3 is connected to the control signal output end of the control circuit of the electromagnet 3, and the control line number input end of the control circuit of the electromagnet 3 is connected to the control signal output end of the electromagnet 3 of the control device;
  • x-direction motor control The signal input end is connected to the x-direction motor control signal output end of the control device, the y-direction motor 13 control signal input end is connected to the y-direction motor 13 control signal output end of the control device, and the control signal input end of the beam rotating motor 8 is connected to the control The control signal output end of the beam rotating motor 8 of the device is connected, and the control
  • control device and electromagnet 3 control circuit all adopt conventional circuits in the prior art.
  • the connection relationship and model of control device and electromagnet 3, control device and electro-hydraulic proportional valve, control device and x-direction motor, control device and y-direction motor 13, control device and beam rotation motor 8, control device and cantilever rotation motor 12 All use existing well-known technologies.
  • the method of automatically installing H-shaped steel columns includes the following steps:
  • the control device controls the electromagnet 3 to be energized, and the middle part of the loaded object in a horizontal state is magnetically fixed to the bottom end of the cantilever 2 of the grasping device by the electromagnet 3.
  • the control device controls the rotation of the screw through the x-direction motor, and the screw adjusts the position of the object in the x-axis direction.
  • the connection line between the cantilever 2 and the center of the installation position is parallel to the plane of the y-z axis; the control device controls the movement of the gear 5 along the rack 6 through the y-direction motor 13 to adjust the position of the object in the y-axis direction.
  • the control device controls the lifting of the hydraulic cylinder 7 through the electro-hydraulic proportional valve, so as to adjust the position of the loaded object in the z-axis direction, so that the horizontal state of the loaded object is There is enough space for rotation when rotating to the vertical position;
  • the beam rotation mechanism 8 is used to adjust the rotating position of the loaded object on the plane where the y-axis-z axis is located.
  • the control device controls the rotation of the beam rotating motor 8 to control the beam 1 to rotate around the axis of the beam 1 to rotate the object to be above the installation position;
  • the installation position referred to here is directly above the installation position, which can make the article in the horizontal state rotate to the vertical The position aligned with the installation position after the straight state.
  • the cantilever revolving mechanism rotates the horizontally loaded object 90° to the vertical state:
  • the control device controls the rotation of the cantilever rotary motor 12, so that the rotation of the driving gear 11 drives the driven ring gear 10 to rotate, rotates the cantilever 2 around the axis of the cantilever 2, and finally turns the object to be installed from the horizontal state to the vertical state.
  • the state at the installation location controls the rotation of the cantilever rotary motor 12, so that the rotation of the driving gear 11 drives the driven ring gear 10 to rotate, rotates the cantilever 2 around the axis of the cantilever 2, and finally turns the object to be installed from the horizontal state to the vertical state.
  • the state at the installation location controls the rotation of the cantilever rotary motor 12, so that the rotation of the driving gear 11 drives the driven ring gear 10 to rotate, rotates the cantilever 2 around the axis of the cantilever 2, and finally turns the object to be installed from the horizontal state to the vertical state. The state at the installation location.
  • the lowering of the hydraulic cylinder is controlled by the control device through the electro-hydraulic proportional valve, so that the loaded object falls vertically along the z-axis direction to the installation position, and the loaded object is fixed in the installation position by bolts;
  • the object is placed above the installation position and the object is not aligned with the installation position, that is, the object is directly above the deviation from the installation position, and the position of the object is fine-tuned through the x-direction moving mechanism 4 and the y-direction moving mechanism.
  • the z-direction moving mechanism will lower the loaded object to the installation position, namely:
  • the control device controls the rotation of the screw through the x-direction motor, and adjusts the position of the object in the x-axis direction by the screw; the control device controls the movement of the gear 5 along the rack 6 through the y-direction motor 13 to adjust the mounted The position of the object in the y-axis direction, so that the object to be loaded is aligned with the installation position. Then the control device controls the lowering of the hydraulic cylinder 7 through the electro-hydraulic proportional valve, so that the loaded object falls vertically along the z-axis direction to the installation position, and the loaded object is fixed in the installation position by bolts.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • Electric Cable Installation (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

一种自动安装H型钢柱的设备，包括用于固定被装物的抓取装置，抓取装置上固定有使抓取装置沿x轴、y轴、z轴移动的移动装置，抓取装置上还固定有回转装置；回转装置包括将处于水平状态被装物旋转至安装位置上方的横梁回转机构，还包括将处于水平状态被装物旋转至竖直状态的悬臂回转机构。

Description

一种自动安装H型钢柱的设备 技术领域
本实用新型属于工程机械技术领域，涉及电气化铁路接触网H型钢柱的安装,具体地说是一种自动安装H型钢柱的设备。
背景技术
接触网是在电气化铁道中，沿钢轨上空“之”字形架设的，供受电弓取流的高压输电线。接触网是铁路电气化工程的主构架，是沿铁路线上空架设的向电力机车供电的特殊形式的输电线路。其由接触悬挂、支持装置、定位装置、支柱与基础几部分组成，其中的支柱与基础用以承受接触悬挂、支持和定位装置的全部负荷，并将接触悬挂固定在规定的位置和高度上。中国接触网中采用预应力钢筋混凝土支柱和钢柱，基础是对钢支柱而言的，即钢支柱固定在下面的钢筋混凝土制成的基础上，由基础承受支柱传给的全部负荷，并保证支柱的稳定性。预应力钢筋混凝土支柱与基础制成一个整体，下端直接埋入地下。由于钢柱的尺寸及重量较大，往往需要利用机械设备进行安装。
早在2005年，德国就采用改进的履带式挖掘机来完成电气化钢柱安装施工环节。将传统的履带式挖掘机当中的挖斗装置改为封闭对向用力的抓斗装置，在未铺设铁路轨道之前，设备运行到基础坑旁时，将提前撒放在基坑边的水泥杆或钢柱抓起，依靠履带的移动灵活优势，准确快速的完成钢柱施工。在铺设轨道之后，采用接触网立杆作业车完成余下立杆任务。这种方式，在进行水泥杆或钢柱的安装工作时，需要依赖于在地面上铺设铁路轨道，以利用履带进行移动，使用较为不便，工作效率低。
国内电气化施工采用的是半机械化模式，在钢柱安装环节中，在未铺设轨道之前，采用汽车随车吊或汽车吊车将钢柱吊起，再由人工辅助将其位置找正；在铺设轨道之后，采用接触网立杆作业车将钢柱吊起，人工辅助，进行安装。这种方式存在以下缺陷：一、机械化程度低，需要较多的人力辅助工作，工作效率受施工人员的熟练度的限制严重，工作效率低，施工成本高；二、由于钢柱通常通过绳索吊装在作业车或吊车上，在钢柱的移动过程中会发生晃动，工作过程中，工人与钢 柱之间需保持一定的安全距离；三、工作过程中存在一定的危险性，如需要人工扶杆子、找正杆子位置、爬杆摘取吊带等。
实用新型内容
为解决现有技术中存在的以上不足，本实用新型旨在提供一种自动安装H型钢柱的设备，以达到提高机械化水平、降低工人的工作强度、提高工作效率的目的。
为实现上述目的，本实用新型所采用的技术方案如下：一种自动安装H型钢柱的设备，包括用于固定被装物的抓取装置，抓取装置上固定有使抓取装置沿x轴、y轴、z轴移动的移动装置，抓取装置上还固定有回转装置；
回转装置包括将处于水平状态被装物旋转至安装位置上方的横梁回转机构，还包括将处于水平状态被装物旋转至竖直状态的悬臂回转机构。
作为本实用新型的限定，抓取装置通过磁吸固定被装物。
作为本实用新型的另一种限定，抓取装置包括悬臂及横梁，悬臂垂直固定连接在横梁上，悬臂底端用于与被装物固定相连。
作为本实用新型的进一步限定，移动装置包括置于悬臂顶端使悬臂沿x轴移动的x向移动机构、置于横梁左右两端使横梁沿y轴移动的y向移动机构及置于y向移动机构底端使横梁沿z轴移动的z向移动机构。
作为本实用新型的再进一步限定，横梁的两端皆设有横梁回转机构，横梁回转机构包括驱动横梁转动的横梁回转电机以及连接横梁回转电机与横梁的联轴器。
作为本实用新型的更进一步限定，悬臂回转机构包括固定在悬臂上的从动齿圈以及与从动齿圈啮合使从动齿圈带动悬臂绕悬臂轴线转动的主动齿轮。
作为本实用新型的其它限定，x向移动机构为丝杠，y向移动机构为齿轮齿条，z向移动机构为液压缸。
作为本实用新型的进一步限定，悬臂及横梁均为截面为八边形的柱体。
作为本实用新型的更进一步限定，悬臂底端固定连接有电磁铁，丝杠通过x向电机驱动丝杠转动，齿轮齿条通过y向电机驱动齿轮转动。
作为本实用新型的再进一步限定，液压缸与电液比例阀相连，悬臂回转电机驱动主动齿轮转动；
电液比例阀的控制信号输入端、电磁铁的控制信号输入端、x向电机的控制信号输入端、y向电机的控制信号输入端、横梁回转电机的控制信号输入端、悬臂回转电机的控制信号输入端分别与控制装置的控制信号输出端相连。
由于采用了上述的技术方案，本实用新型与现有技术相比，所取得的有益效果是：
(1)本实用新型采用调整被装物在x轴、y轴、z轴相对安装位置的距离，结合回转装置的使用，将处于水平状态的被装物旋转至竖直状态后安装，移动灵活，机械化程度高，便于将被装物准确、快速的安装，大大提高了工作效率，降低了工人的劳动强度。
(2)本实用新型采用磁吸固定被装物的方式，相较现有技术中采用钢丝绳吊装固定的方式，被装物在移动过程中能够稳固于抓取装置中，并不会发生晃动，降低安装过程的危险性；并且，采用磁吸的方式，不仅容易将被装物固定在抓取装置上，也容易使被装物脱离抓取装置。
(3)本实用新型通过设置x向移动机构、y向移动机构及z向移动机构，能够同时使被装物在x轴、y轴、z轴方向移动，减少被装物位置的调整的时间；
(4)本实用新型的悬臂及横梁通过采用八棱柱的形状，相较现有技术中的四棱柱形状，强度大，使用寿命长；
(5)本实用新型通过控制装置，能够实现远程控制，便于操作。
综上所述，本实用新型机械化水平高，安装方便、快捷、准确，降低了人力投入的同时也能保证工人的安全，实用性强。
本实用新型适用于被装物的安装过程使用，尤其是高度大于截面尺寸的被装物，特别是具有能被磁力吸附的被装物，如安装电气化铁路接触网H型钢柱。
附图说明
下面结合附图及具体实施例对本实用新型作更进一步详细说明。
图1为本实用新型实施例的结构示意图；
图2为本实用新型实施例的y向移动机构及横梁回转机构结构示意图；
图3为本实用新型实施例的悬臂回转机构及抓取机构结构示意图；
图4为本实用新型实施例的控制装置连接关系示意图。
图中：1、横梁；2、悬臂；3、电磁铁；4、x向移动机构；5、齿轮；6、齿条；7、液压缸；8、横梁回转电机；9、联轴器；10、从动齿圈；11、主动齿轮；12、悬臂回转电机；13、y向电机；14、移动小车；15、滑道。
具体实施方式
以下结合附图对本实用新型的优选实施例进行说明。应当理解，此处所描述的优选实施例仅用于说明和理解本实用新型，并不用于限定本实用新型。
实施例一种自动安装H型钢柱的设备
如图1至图3所示，本实施例由抓取装置固定被装物，由移动装置调整被装物相对安装位置沿x轴、y轴、z轴方向移动，由回转装置将被装物由水平状态旋转至位于安装位置时所处的竖直状态。本实施例包括抓取装置、移动装置、回转装置及控制装置。
一、抓取装置
抓取装置包括电磁铁3、横梁1及悬臂2。悬臂2及横梁1均为截面为八边形的柱体。
横梁1沿x轴方向延伸，悬臂2沿y轴方向延伸，悬臂2垂直固定在横梁1的中心呈“T”形。悬臂2底端固定连接有被装物。悬臂2底端可通过螺纹方式可拆卸连接有被装物，为了安装方便且不破坏被装物的表面，本实施例采用磁吸固定被装物。悬臂2底端固定有吸附被装物表平面的电磁铁3。这样，被装物需为具有磁吸平面的物体，本实施例中的被装物为电气化铁路接触网H型钢柱。
二、移动装置
抓取装置上固定有使抓取装置沿x轴、y轴、z轴移动的移动装置，移动装置包括x向移动机构、y向移动机构及z向移动机构。
(1)x向移动机构4
x向移动机构4置于悬臂2顶端，使悬臂2沿x轴方向移动，x向移动机构4采用丝杠，丝杠主体固定在悬臂2上，丝杠主体上的丝杠螺栓固定在悬臂2顶端，使悬臂2沿丝杠主体上的螺纹在x轴方 向移动。丝杠型号为SFU5005-4。为了提高机械化程度，丝杠由x向电机驱动转动。
(2)y向移动机构
横梁1的左右两端各置有一组y向移动机构，使横梁1沿y轴移动。y向移动机构采用齿轮5齿条6形式，将横梁1与至少一个齿轮5固定相连，所有齿轮5啮合在沿y轴方向延伸的齿条6上，通过齿轮5在齿条6上的移动从而带动横梁1沿y轴移动。为了提高机械化程度，齿轮5上固定y向电机13，y向电机13通过型号为WPDX-80-10-1.5的y向减速机与横梁1相连。为了易于安装且增加移动的稳定性，齿轮5与y向电机13及y向减速机皆固定在移动小车14上，移动小车14下方设有滑动连接的滑道15，随着齿轮5沿齿条6的移动，移动小车14也沿滑道15在y向移动，保证横梁1沿y轴方向移动过程中的稳定性。
(3)z向移动机构
z向移动机构置于y向移动机构下方，使横梁1沿z轴移动。z向移动机构采用液压缸7形式，将液压缸7固定连接于y向移动机构中滑道15及齿条6的下方，可设置至少一组z向移动机构，本实施例中，每组y向移动机构的两端各设有一个液压缸7，共设有四个液压缸7。液压缸7与电液比例阀相连，由电液比例阀控制升降。四个液压缸7同时升降，未升起时高度为1700mm，最大高度为3300mm。液压缸7的动力由液压泵站提供，泵站选用额定压力20Mpa，最大压力25Mpa，由4个7.5kw电机带动、流量为35L/min的齿轮油泵。
三、回转装置
回转装置包括将处于水平状态被装物旋转至安装位置上方的横梁回转机构，以及将处于水平状态被装物旋转至竖直状态的悬臂回转机构。
(1)横梁回转机构
横梁1的左右两端各设有一组横梁回转机构，横梁回转机构包括横梁回转电机8及联轴器9。联轴器9固定连接在y向移动机构的移动小车14上，使得联轴器9随移动小车14沿y向移动。联轴器9连接横梁1与横梁回转电机8，横梁回转电机8采用伺服电机，通过控制伺服电机的转速从而控制横梁1的转速，由横梁1绕自身轴线的转动带动被装物旋转至安装位置上方。横梁回转电机8与联轴器9之间采用双级减速器相连：电机摆线减速机XWVCD-3-4-71，蜗轮蜗杆减速机WHX2880-1-30。
(2)悬臂回转机构
悬臂回转机构置于悬臂2上，悬臂回转机构包括从动齿圈10及主动齿轮11。
从动齿圈10底面固定连接在悬臂2下部，从动齿圈10顶面的中心处通过铰接轴铰接在悬臂2上部，从动齿圈10与至少一个主动齿轮11相啮合，通过主动齿轮11的转动带动从动齿圈10转动，从而使悬臂2下部绕自身轴线转动。主动齿轮11由悬臂回转电机12驱动转动，悬臂回转电机12与主动齿轮11之间通过减速机相连。通过控制悬臂回转电机12的转速，进而控制悬臂2的回转过程。
四、控制装置
控制装置能够实现智能化控制。参考图4，电液比例阀控制信号输入端与电液比例阀控制电路控制信号输出端相连，电液比例阀控制电路的控制信号输入端与控制装置的电液比例阀控制信号输出端相连；电磁铁3的控制信号输入端与电磁铁3控制电路的控制信号输出端相连，电磁铁3控制电路的控制线号输入端与控制装置的电磁铁3控制信号输出端相连；x向电机的控制信号输入端与控制装置的x向电机控制信号输出端相连，y向电机13的控制信号输入端与控制装置的y向电机13控制信号输出端相连，横梁回转电机8的控制信号输入端与控制装置的横梁回转电机8控制信号输出端相连，悬臂回转电机12的控制信号输入端与控制装置的悬臂回转电机12的控制信号输出端相连。其中，电液比例阀控制电路、电磁铁3控制电路皆采用现有技术中的常规电路。控制装置与电磁铁3、控制装置与电液比例阀、控制装置与x向电机、控制装置与y向电机13、控制装置与横梁回转电机8、控制装置与悬臂回转电机12的连接关系及型号均采用现有的公知技术。
五、安装方法
自动安装H型钢柱的方法包括以下步骤：
S1.由控制装置控制电磁铁3通电，处于水平状态被装物的中部通过电磁铁3磁吸固定在抓取装置的悬臂2底端。
S2.结合使用移动装置及横梁回转机构将处于水平状态的被装物移动及旋转至安装位置的上方：
使用移动装置调整被装物在x轴、y轴、z轴方向的位置：由控制装置通过x向电机控制丝杠的转动， 由丝杠调整被装物在x轴方向的位置，最好使悬臂2与安装位置中心连线与y轴-z轴所在平面平行；由控制装置通过y向电机13控制齿轮5沿齿条6的移动，从而调整被装物在y轴方向的位置，最好使被装物与安装位置中心连线与z轴平行；由控制装置通过电液比例阀控制液压缸7的升降，从而调整被装物在z轴方向的位置，使水平状态的被装物在旋转至竖直状态时具有足够的旋转空间；
在使用移动装置调整被装物位置的同时，使用横梁回转机构8调整被装物在y轴-z轴所处平面上的旋转位置。由控制装置控制横梁回转电机8的转动，以控制横梁1绕横梁1轴线转动，将被装物转动至安装位置上方；
经移动装置与横梁回转机构的调整，最终使被装物置于安装位置的正上方或靠近正上方的位置，这里所指的安装位置正上方，是能够使处于水平状态的被装物旋转至竖直状态后与安装位置对准的位置。
S3.由悬臂回转机构将处于水平状态的被装物旋转90°至竖直状态：
由控制装置控制悬臂回转电机12的转动，从而使主动齿轮11的转动带动从动齿圈10转动，将悬臂2绕悬臂2轴线转动，最终使被装物由水平状态转动至竖直状态即安装在安装位置时的状态。
S4.由移动装置将处于竖直状态的被装物移动至安装位置，此时分两种情况：
S41.被装物置于安装位置上方且被装物与安装位置已对准，即被装物处于安装位置的正上方
由控制装置通过电液比例阀控制液压缸的下降，从而使被装物沿z轴方向竖直下落在安装位置上，由螺栓将被装物固定在安装位置；
S42.被装物置于安装位置上方且被装物未与安装位置已对准，即被装物处于偏离安装位置的正上方先通过x向移动机构4、y向移动机构微调被装物的位置，使被装物与安装位置对准后，再由z向移动机构将被装物下降至安装位置，即：
先由控制装置通过x向电机控制丝杠的转动，由丝杠调整被装物在x轴方向的位置；由控制装置通过y向电机13控制齿轮5沿齿条6的移动，从而调整被装物在y轴方向的位置，使被装物与安装位置对准。再由控制装置通过电液比例阀控制液压缸7的下降，从而使被装物沿z轴方向竖直下落在安装位置上，由螺栓将被装物固定在安装位置。
由此，完成被装物的安装过程。
需要说明的是，以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，尽管参照上述实施例对本实用新型进行了详细的说明，对于本领域技术人员来说，其依然可以对上述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本实用新型的经精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。

Claims (10)

  1. 一种自动安装H型钢柱的设备，包括用于固定被装物的抓取装置，其特征在于：抓取装置上固定有使抓取装置沿x轴、y轴、z轴移动的移动装置，抓取装置上还固定有回转装置；
    回转装置包括将处于水平状态被装物旋转至安装位置上方的横梁回转机构，还包括将处于水平状态被装物旋转至竖直状态的悬臂回转机构。
  2. 根据权利要求1所述的一种自动安装H型钢柱的设备，其特征在于：抓取装置通过磁吸固定被装物。
  3. 根据权利要求1所述的一种自动安装H型钢柱的设备，其特征在于：抓取装置包括悬臂及横梁，悬臂垂直固定连接在横梁上，悬臂底端用于与被装物固定相连。
  4. 根据权利要求3所述的一种自动安装H型钢柱的设备，其特征在于：移动装置包括置于悬臂顶端使悬臂沿x轴移动的x向移动机构、置于横梁左右两端使横梁沿y轴移动的y向移动机构及置于y向移动机构底端使横梁沿z轴移动的z向移动机构。
  5. 根据权利要求4所述的一种自动安装H型钢柱的设备，其特征在于：横梁的两端皆设有横梁回转机构，横梁回转机构包括驱动横梁转动的横梁回转电机以及连接横梁回转电机与横梁的联轴器。
  6. 根据权利要求5所述的一种自动安装H型钢柱的设备，其特征在于：悬臂回转机构包括固定在悬臂上的从动齿圈以及与从动齿圈啮合使从动齿圈带动悬臂绕悬臂轴线转动的主动齿轮。
  7. 根据权利要求6所述的一种自动安装H型钢柱的设备，其特征在于：x向移动机构为丝杠，y向移动机构为齿轮齿条，z向移动机构为液压缸。
  8. 根据权利要求3-7中任意一项所述的一种自动安装H型钢柱的设备，其特征在于：悬臂及横梁均为截面为八边形的柱体。
  9. 根据权利要求6所述的一种自动安装H型钢柱的设备，其特征在于：悬臂底端固定连接有电磁铁，丝杠通过x向电机驱动丝杠转动，齿轮齿条通过y向电机驱动齿轮转动。
  10. 根据权利要求9所述的一种自动安装H型钢柱的设备，其特征在于：液压缸与电 液比例阀相连，悬臂回转电机驱动主动齿轮转动；
    电液比例阀的控制信号输入端、电磁铁的控制信号输入端、x向电机的控制信号输入端、y向电机的控制信号输入端、横梁回转电机的控制信号输入端、悬臂回转电机的控制信号输入端分别与控制装置的控制信号输出端相连。
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