CN105800306A - Automatic equipment operating on water conservancy engineering construction site - Google Patents
Automatic equipment operating on water conservancy engineering construction site Download PDFInfo
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- CN105800306A CN105800306A CN201610351989.XA CN201610351989A CN105800306A CN 105800306 A CN105800306 A CN 105800306A CN 201610351989 A CN201610351989 A CN 201610351989A CN 105800306 A CN105800306 A CN 105800306A
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- fixed
- gripper jaw
- side chain
- clamping device
- ear mount
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
Abstract
The invention relates to automatic equipment operating on a water conservancy engineering construction site. The automatic equipment comprises a travelling device, an adjustable support, a rotating device, a redundant parallel mechanism and a clamping device, wherein the adjustable support is located at the rear upper part of the travelling device; the rotating device is located at the front end of the adjustable support and fixedly connected with the adjustable support; the redundant parallel mechanism is located between the rotating device and the clamping device; the upper end of the redundant parallel mechanism is connected with the rotating device; and the lower end of the redundant parallel mechanism is connected with the clamping device. The automatic equipment can realize a series of operations such as grabbing, carrying and stacking of water conservancy and hydropower pipelines, is high in automation degree, stable and flexible in movement and high in operating efficiency, and solves the problems of high cost, low efficiency, great risk and the like in manual carrying operation; both horizontal spacing and vertical spacing of the automatic equipment can be adjusted, so that water conservancy and hydropower pipelines with different diameters can be grabbed conveniently; the automatic equipment is convenient and quick in grabbing and stacking; the water conservancy and hydropower pipelines are clamped stably and firmly during a carrying process and cannot slip off easily, so that the automatic equipment has high safety.
Description
Technical field
The present invention relates to Hydraulic and Hydro-Power Engineering mechanical field, specifically a kind of construction of hydro project field operation automation equipment.
Background technology
Water power belongs to water economic system noun, is meant that power and water, hydroelectric generation etc.；Water power is clean energy resource, renewable, pollution-free, operating cost is low, it is simple to carry out power peak regulation, is conducive to improving the comprehensive benefit of resource utilization and economic society.When earth traditional energy growing tension, the general preferential development water power in countries in the world, utilize hydraulic power potentials energetically；China is explored potential hydroenergy whether, is still likely to the hydraulic power potentials of exploitation, all ranks first in the world.Hydroelectric resources is the superior resources of China, and hydroelectric resource development is the requirement of energy industry development and structural adjustment, is the requirement of land resources utilization and regional economy development, is the requirement of national environmental protection and sustainable development.Through construction and the practice of decades, China's hydropower technology is at the forefront in the world, it is sufficient to support the flourish of hydropower Industry.The reform of State Grid's system and the diversification of water power investment subject, will inject new vitality to the development of hydropower Industry.Along with implementing in full of economic and society further development, the raising day by day of environmental requirement, optimizing and revising of electric structure, and strategy to develop western regions, China's hydropower Industry welcomes development opportunity to be increased.
Relating to maximum in Hydraulic and Hydro-Power Engineering be also modal engineering is exactly pipe laying, and the pipeline used in Hydraulic and Hydro-Power Engineering is all heavy large-diameter pipeline, in Hydraulic and Hydro-Power Engineering, construction site is all rugged hollow area, general wheeled vehicle is difficult to enter, and manually lift fortune now for the many employings of the pipeline used in water conservancy and hydropower or roll fortune, so not only occupy substantial amounts of labour force, landed cost is high, and it is low to carry stacking efficiency, simultaneously its interprocedual easily causes certain dangerous security incident.In consideration of it, the invention provides a kind of construction of hydro project field operation automation equipment.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of construction of hydro project field operation automation equipment.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of construction of hydro project field operation automation equipment, including running gear, adjustable support, rotary apparatus, redundancy parallel mechanism and clamping device；Described adjustable support is positioned at running gear back upper place, rotary apparatus is positioned at adjustable support front position place, and rotary apparatus and adjustable support are connected, redundancy parallel mechanism is between rotary apparatus and clamping device, and redundancy parallel mechanism upper end is connected with rotary apparatus, redundancy parallel mechanism lower end is connected with clamping device.
As a further improvement on the present invention, described running gear includes chassis, drive motor, driving axle, walking belt wheel, tight locking button and traveling crawler, and the quantity of drive motor, tight locking button and traveling crawler is two, and driving axle and walking belt wheel quantity is four；Described chassis is in rectangular configuration, rear and front end, chassis offers mounting groove respectively, drive motor is separately fixed at before and after chassis in the mounting groove of both sides, and drive motor adopts Biaxial synchronous output motor, drive axle one end to be connected with drive motor output shaft, drive the axle other end to be connected with walking belt wheel, and be fixed by tight locking button between driving axle and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle tread plate outside traveling crawler；By the rotation rotating drive walking belt wheel of drive motor, thus driving the motion of traveling crawler, running gear is mainly used in the walking of the present invention, movement and turns to, and running gear is by adopting track structure to easily facilitate the walking of different physical features ground condition so that the suitability of the present invention is higher.
As a further improvement on the present invention, described adjustable support includes rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft, regulates connecting rod, the second rotating shaft and the 3rd rotating shaft；Described elevating lever bottom is fixed on upper surface, chassis by rotary disk basement, telescoping crossbeam rear end is connected with elevating lever top by the first rotating shaft, telescoping crossbeam adopts double-deck telescopic structure, and between telescoping crossbeam the upper and lower, adopt support column to be attached, telescoping crossbeam rear end is provided with the first ear mount, in the middle part of telescoping crossbeam, lower end position place is provided with the second ear mount, telescoping crossbeam front end is provided with installation ring, regulate connecting rod one end to be connected with second ear mount at lower end position place in the middle part of telescoping crossbeam by the second rotating shaft, regulate the connecting rod other end and be arranged on elevating lever medium position place by the 3rd rotating shaft, and adjustment connecting rod is I-shaped structure；Elevating lever can realize the function regulating the integral-rotation of support and whole height adjustment, telescoping crossbeam can carry out the adjustment of horizontal cross length, telescoping crossbeam can be driven to carry out local rotary motion with the first rotating shaft for center of rotation by the stretching motion of adjustment connecting rod simultaneously, it is achieved thereby that the adjustment of the overall angle that adjustable support is on the vertical plane, adjustable support can carry out two translations two in space and rotate the motion in totally four degree of freedom directions, the adjustment of entirety orientation of the present invention and angle can be realized by regulating support, and regulate quick and convenient, it is easy to the present invention the carrying out to water conservancy and hydropower pipeline transport operation.
As a further improvement on the present invention, described rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotation dish；Described electric rotating machine adopts low-speed high-torque motor, electric rotating machine vertically stands upside down and is positioned at inside the installation ring of telescoping crossbeam front end, and be fixed by motor cabinet between electric rotating machine and telescoping crossbeam, it is attached by key between electric rotating machine main shaft and column spinner upper end, column spinner lower end is connected with rotation dish, rotation dish upper end structure in the form of annular discs, rotation dish lower end edge its center axis is that circumferential direction is evenly arranged with joint pin and the stepped column structure of joint pin；The integral-rotation that can be driven redundancy parallel mechanism and clamping device by rotary apparatus is moved.
As a further improvement on the present invention, described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at immediately below fixed platform；The first described side chain and the quantity of the second side chain are two, first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the two ends of the first side chain and the second side chain are connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first joint pin and the first damping spring；The first described ear mount is fixed on fixed platform upper surface, Hooke's hinge is adopted to be attached between first ear mount and the first electric pushrod lower end, first electric pushrod upper end is connected with the first spherical hinge, first spherical hinge is fixed on the lower surface of moving platform by the first joint pin, and the first damping spring is around being enclosed within the first electric pushrod；The rotation of both direction can be carried out by Hooke's hinge, the rotation in three directions can be carried out by the first spherical hinge, can be moved up and down by the first electric pushrod, first side chain adopts the form of 2-UPS parallel institution, and add stationarity during first chain movement by the first damping spring, improve the exercise performance of the present invention；The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second joint pin and the second damping spring；The second described ear mount is fixed on fixed platform upper surface, rotational pin is adopted to be attached between second ear mount and the second electric pushrod lower end, second electric pushrod upper end is connected with the second spherical hinge, second spherical hinge is fixed on the lower surface of moving platform by the second joint pin, and the second damping spring is around being enclosed within the second electric pushrod；The rotation in a direction can be carried out by rotational pin, the rotation in three directions can be carried out by the second spherical hinge, can be moved up and down by the second electric pushrod, second side chain adopts the form of 2-RPS parallel institution, and add stationarity during second chain movement by the second damping spring, improve the exercise performance of the present invention；Redundancy parallel mechanism passes through fixed platform, moving platform, first side chain and the second side chain constitute four-degree-of-freedom symmetric parallel mechanism, and it adopts the parallel institution form of 2-UPS-2-RPS, it can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, and four degree of freedom are all independent, can also co-ordination by four degree of freedom, the moving platform track made is along the curvilinear motion of predetermined space, stable movement, motion is flexibly, in the present invention, drive whole clamping device can carry out a translation three in space by redundancy parallel mechanism and rotate the motion in totally four degree of freedom directions, redundancy parallel mechanism be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As a further improvement on the present invention, described clamping device includes fixing plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at immediately below fixing plate, and clamping device is linearly equally spaced along the central transverse axis fixing plate；Described clamping device includes directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, extension spring, connecting stud, the second slide block, hydraulic cylinder, mobile ear mount, mobile ships and resell on another market, air-leg, fixed ear base and fixing swing pin；nullDescribed directive slide track has a bar shape shape structure，And the directive slide track left and right sides is respectively arranged with baffle plate，Directive slide track vertical cross section is I-shaped structure，First slide block is arranged on directive slide track，And first slide block be respectively symmetrically layout along the central axis of directive slide track，Upper gripper jaw upper end is fixed on immediately below the first slide block，And upper gripper jaw is quadrant shape column structure，Lower gripper jaw is positioned at immediately below gripper jaw，Lower gripper jaw is also quadrant shape column structure，Extension spring is between upper gripper jaw and lower gripper jaw，And extension spring is arranged side by side between upper gripper jaw and lower gripper jaw，Extension spring upper end is connected with upper gripper jaw lower surface by connecting stud，Extension spring lower end is connected with lower gripper jaw upper surface by connecting stud，Second slide block is positioned at outside the first slide block，And second slide block be arranged on directive slide track，Hydraulic cylinder upper end is fixed on the second slide block，And hydraulic cylinder adopts single-acting single-stage telescoping hydraulic cylinder，Hydraulic cylinder lower end is fixed with mobile ear mount，Mobile shipping and reselling on another market is adopted to be attached between air-leg one end and mobile ear mount，The air-leg other end is connected with fixed ear base by fixing swing pin，Fixed ear base is fixed on lower gripper jaw lateral wall，And move ear mount and all U-shaped structure of fixed ear base；During specific works, first pass through clamping diameter when directive slide track, the first slide block and the second slide block adjustment gripping apparatus grips；Then upper gripper jaw and lower gripper jaw are placed into the outside of water conservancy and hydropower pipeline to be handled, wherein extension spring serves the present invention on the one hand and clamps the effect of clamping diameter dimension adjustment change, the effect resetted after serving clamping water conservancy and hydropower pipeline on the other hand during water conservancy and hydropower pipeline；Stretching again through air-leg drives lower gripper jaw compressional movement to the inside, is further clamped by water conservancy and hydropower pipeline, it is prevented that the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower gripper jaw extension movement laterally by the contractile motion of air-leg so that lower gripper jaw opens, and is discharged by water conservancy and hydropower pipeline.
Compared with prior art, the invention have the advantages that
(1) present invention can realize a series of operations such as the crawl of water conservancy and hydropower pipeline, carrying and stackings, and automaticity is high, stable movement is flexible, working performance is high, the problem such as solve that a dead lift operating cost is high, efficiency is low and danger is big.
(2) running gear of the present invention is mainly used in walking, moves and turn to, and running gear is by adopting track structure to easily facilitate the walking of different physical features ground condition so that the suitability of the present invention is higher.
(3) adjustable support of the present invention can carry out two translations two in space and rotates the motion in totally four degree of freedom directions, the adjustment of entirety orientation of the present invention and angle can be realized by regulating support, and regulate quick and convenient, it is simple to the present invention the carrying out to water conservancy and hydropower pipeline transport operation.
(4) redundancy parallel mechanism of the present invention adopts the parallel institution form of 2-UPS-2-RPS, it can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, and four degree of freedom are all independent, can also co-ordination by four degree of freedom, drive whole clamping device can carry out a translation three in space by redundancy parallel mechanism and rotate the motion in totally four degree of freedom directions, redundancy parallel mechanism be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
(5) the clamping device level interval of the present invention and vertical interval are all adjustable, it is simple to the water conservancy and hydropower pipeline of different-diameter size is captured, and capture and stack fast and easy, and in handling process, clamping is stable firmly not easily slips, and safety is good.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when running gear of the present invention, adjustable support and rotary apparatus cooperation；
Fig. 3 is perspective view when redundancy parallel mechanism of the present invention and clamping device cooperation；
Fig. 4 is the front view of redundancy parallel mechanism of the present invention；
Fig. 5 is the perspective view of clamping device of the present invention；
Fig. 6 is the perspective view of clamping device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.
As shown in Figures 1 to 6, a kind of construction of hydro project field operation automation equipment, including running gear 1, adjustable support 2, rotary apparatus 3, redundancy parallel mechanism 4 and clamping device 5；Described adjustable support 2 is positioned at running gear 1 back upper place, rotary apparatus 3 is positioned at adjustable support 2 front position place, and rotary apparatus 3 is connected with adjustable support 2, redundancy parallel mechanism 4 is between rotary apparatus 3 and clamping device 5, and redundancy parallel mechanism 4 upper end is connected with rotary apparatus 3, redundancy parallel mechanism 4 lower end is connected with clamping device 5.
As shown in Figure 2, described running gear 1 includes chassis 11, drive motor 12, drives axle 13, walking belt wheel 14, tight locking button 15 and traveling crawler 16, and the quantity of drive motor 12, tight locking button 15 and traveling crawler 16 is two, driving axle 13 and walking belt wheel 14 quantity is four；Described chassis 11 is in rectangular configuration, rear and front end, chassis 11 offers mounting groove respectively, drive motor 12 is separately fixed at before and after chassis 11 in the mounting groove of both sides, and drive motor 12 adopts Biaxial synchronous output motor, axle 13 one end is driven to be connected with drive motor 12 output shaft, axle 13 other end is driven to be connected with walking belt wheel 14, and be fixed by tight locking button 15 between driving axle 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking belt wheel 14, and are evenly arranged with semicircle tread plate outside traveling crawler 16；By the rotation rotating drive walking belt wheel 14 of drive motor 12, thus driving the motion of traveling crawler 16, running gear 1 is mainly used in the walking of the present invention, movement and turns to, and running gear 1 is by adopting track structure to easily facilitate the walking of different physical features ground condition so that the suitability of the present invention is higher.
As in figure 2 it is shown, described adjustable support 2 includes rotary disk basement 21, elevating lever 22, telescoping crossbeam the 23, first rotating shaft 24, regulates connecting rod the 25, second rotating shaft 26 and the 3rd rotating shaft 27；Described elevating lever 22 bottom is fixed on upper surface, chassis 11 by rotary disk basement 21, telescoping crossbeam 23 rear end is connected with elevating lever 22 top by the first rotating shaft 24, telescoping crossbeam 23 adopts double-deck telescopic structure, and between telescoping crossbeam 23 the upper and lower, adopt support column to be attached, telescoping crossbeam 23 rear end is provided with the first ear mount, in the middle part of telescoping crossbeam 23, lower end position place is provided with the second ear mount, telescoping crossbeam 23 front end is provided with installation ring, regulate connecting rod 25 one end to be connected with second ear mount at lower end position place in the middle part of telescoping crossbeam 23 by the second rotating shaft 26, regulate connecting rod 25 other end and be arranged on elevating lever 22 medium position place by the 3rd rotating shaft 27, and regulate connecting rod 25 in I-shaped structure；Elevating lever 22 can realize the function regulating the integral-rotation of support 2 and whole height adjustment, telescoping crossbeam 23 can carry out the adjustment of horizontal cross length, telescoping crossbeam 23 can be driven to carry out local rotary motion with the first rotating shaft 24 for center of rotation by the stretching motion of adjustment connecting rod 25 simultaneously, it is achieved thereby that the adjustment of the overall angle that adjustable support 2 is on the vertical plane, adjustable support 2 can carry out two translations two in space and rotate the motion in totally four degree of freedom directions, the adjustment of entirety orientation of the present invention and angle can be realized by regulating support 2, and regulate quick and convenient, it is easy to the present invention the carrying out to water conservancy and hydropower pipeline transport operation.
As in figure 2 it is shown, described rotary apparatus 3 includes electric rotating machine 31, motor cabinet 32, column spinner 33 and rotation dish 34；Described electric rotating machine 31 adopts low-speed high-torque motor, electric rotating machine 31 vertically stands upside down inside the installation ring being positioned at telescoping crossbeam 23 front end, and be fixed by motor cabinet 32 between electric rotating machine 31 and telescoping crossbeam 23, it is attached by key between electric rotating machine 31 main shaft and column spinner 33 upper end, column spinner 33 lower end is connected with rotation dish 34, rotation dish 34 upper end structure in the form of annular discs, rotation dish 34 lower end edge its center axis is that circumferential direction is evenly arranged with joint pin and the stepped column structure of joint pin；The integral-rotation that can be driven redundancy parallel mechanism 4 and clamping device 5 by rotary apparatus 3 is moved.
As shown in Figure 3 and Figure 4, described redundancy parallel mechanism 4 includes fixed platform 41, moving platform the 42, first side chain 43 and the second side chain 44；Described fixed platform 41 and moving platform 42 are disc-shaped structure, and moving platform 42 is positioned at immediately below fixed platform 41；The first described side chain 43 and the quantity of the second side chain 44 are two, first side chain 43 and the second side chain 44 are respectively positioned between fixed platform 41 and moving platform 42, first side chain 43 is connected with fixed platform 41 and moving platform 42 respectively with the two ends of the second side chain 44, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；The first described side chain 43 includes the first ear mount 431, Hooke's hinge the 432, first electric pushrod the 433, first spherical hinge the 434, first joint pin 435 and the first damping spring 436；The first described ear mount 431 is fixed on fixed platform 41 upper surface, Hooke's hinge 432 is adopted to be attached between first ear mount 431 and the first electric pushrod 433 lower end, first electric pushrod 433 upper end is connected with the first spherical hinge 434, first spherical hinge 434 is fixed on the lower surface of moving platform 42 by the first joint pin 435, and the first damping spring 436 is around being enclosed within the first electric pushrod 433；The rotation of both direction can be carried out by Hooke's hinge 432, the rotation in three directions can be carried out by the first spherical hinge 434, can be moved up and down by the first electric pushrod 433, first side chain 43 adopts the form of 2-UPS parallel institution, and add stationarity when the first side chain 43 moves by the first damping spring 436, improve the exercise performance of the present invention；The second described side chain 44 includes the second ear mount 441, rotational pin the 442, second electric pushrod the 443, second spherical hinge the 444, second joint pin 445 and the second damping spring 446；The second described ear mount 441 is fixed on fixed platform 41 upper surface, rotational pin 442 is adopted to be attached between second ear mount 441 and the second electric pushrod 443 lower end, second electric pushrod 443 upper end is connected with the second spherical hinge 444, second spherical hinge 444 is fixed on the lower surface of moving platform 42 by the second joint pin 445, and the second damping spring 446 is around being enclosed within the second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, the rotation in three directions can be carried out by the second spherical hinge 444, can be moved up and down by the second electric pushrod 443, second side chain 44 adopts the form of 2-RPS parallel institution, and add stationarity when the second side chain 44 moves by the second damping spring 446, improve the exercise performance of the present invention；Redundancy parallel mechanism 4 is by fixed platform 41, moving platform 42, first side chain 43 and the second side chain 44 constitute four-degree-of-freedom symmetric parallel mechanism, and it adopts the parallel institution form of 2-UPS-2-RPS, it can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, and four degree of freedom are all independent, can also co-ordination by four degree of freedom, the moving platform track made is along the curvilinear motion of predetermined space, stable movement, motion is flexibly, in the present invention, drive whole clamping device 5 can carry out a translation three in space by redundancy parallel mechanism 4 and rotate the motion in totally four degree of freedom directions, redundancy parallel mechanism 4 be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As shown in Figure 5 and Figure 6, described clamping device 5 includes fixing plate 51 and clamping device 52, and clamping device 52 quantity is three；Described clamping device 52 is positioned at immediately below fixing plate 51, and clamping device 52 is linearly equally spaced along the central transverse axis of fixing plate 51；Described clamping device 52 includes directive slide track the 521, first slide block 522, upper gripper jaw 523, lower gripper jaw 524, extension spring 525, connecting stud the 526, second slide block 527, hydraulic cylinder 528, mobile ear mount 529, mobile ships and resell on another market 5210, air-leg 5211, fixed ear base 5212 and fixing swing pin 5213；nullDescribed directive slide track 521 has a bar shape shape structure，And directive slide track 521 left and right sides is respectively arranged with baffle plate，Directive slide track 521 vertical cross section is I-shaped structure，First slide block 522 is arranged on directive slide track 521，And first slide block 522 be respectively symmetrically layout along the central axis of directive slide track 521，Upper gripper jaw 523 upper end is fixed on immediately below the first slide block 522，And upper gripper jaw 523 is in quadrant shape column structure，Lower gripper jaw 524 is positioned at immediately below gripper jaw 523，Lower gripper jaw 524 is also quadrant shape column structure，Extension spring 525 is between upper gripper jaw 523 and lower gripper jaw 524，And extension spring 525 is arranged side by side between upper gripper jaw 523 and lower gripper jaw 524，Extension spring 525 upper end is connected with upper gripper jaw 523 lower surface by connecting stud 526，Extension spring 525 lower end is connected with lower gripper jaw 524 upper surface by connecting stud 526，Second slide block 527 is positioned at outside the first slide block 522，And second slide block 527 be arranged on directive slide track 521，Hydraulic cylinder 528 upper end is fixed on the second slide block 527，And hydraulic cylinder 528 adopts single-acting single-stage telescoping hydraulic cylinder，Hydraulic cylinder 528 lower end is fixed with mobile ear mount 529，Mobile shipping and reselling on another market is adopted 5210 to be attached between air-leg 5211 one end and mobile ear mount 529，Air-leg 5211 other end is connected with fixed ear base 5212 by fixing swing pin 5213，Fixed ear base 5212 is fixed on lower gripper jaw 5247 lateral wall，And move ear mount 529 and all U-shaped structure of fixed ear base 5212；During specific works, first pass through directive slide track the 521, first slide block 522 and clamping diameter when the second slide block 527 adjusts gripping apparatus grips；Then upper gripper jaw 523 and lower gripper jaw 524 are placed into the outside of water conservancy and hydropower pipeline to be handled, wherein extension spring 525 1 aspect serves the present invention and clamps the effect of clamping diameter dimension adjustment change, the effect resetted after serving clamping water conservancy and hydropower pipeline on the other hand during water conservancy and hydropower pipeline；Stretching again through air-leg 5211 drives lower gripper jaw 524 compressional movement to the inside, is further clamped by water conservancy and hydropower pipeline, it is prevented that the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower clamping 524 pawls extension movement laterally by the contractile motion of air-leg 5211 so that lower gripper jaw 524 opens, and is discharged by water conservancy and hydropower pipeline.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; description in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (2)
1. a construction of hydro project field operation automation equipment, it is characterised in that: include running gear, adjustable support, rotary apparatus, redundancy parallel mechanism and clamping device；Described adjustable support is positioned at running gear back upper place, rotary apparatus is positioned at adjustable support front position place, and rotary apparatus and adjustable support are connected, redundancy parallel mechanism is between rotary apparatus and clamping device, and redundancy parallel mechanism upper end is connected with rotary apparatus, redundancy parallel mechanism lower end is connected with clamping device；Wherein:
Described running gear includes chassis, drive motor, driving axle, walking belt wheel, tight locking button and traveling crawler, and the quantity of drive motor, tight locking button and traveling crawler is two, and driving axle and walking belt wheel quantity is four；Described chassis is in rectangular configuration, rear and front end, chassis offers mounting groove respectively, drive motor is separately fixed at before and after chassis in the mounting groove of both sides, and drive motor adopts Biaxial synchronous output motor, drive axle one end to be connected with drive motor output shaft, drive the axle other end to be connected with walking belt wheel, and be fixed by tight locking button between driving axle and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle tread plate outside traveling crawler；
Described adjustable support includes rotary disk basement, elevating lever, telescoping crossbeam, the first rotating shaft, regulates connecting rod, the second rotating shaft and the 3rd rotating shaft；Described elevating lever bottom is fixed on upper surface, chassis by rotary disk basement, telescoping crossbeam rear end is connected with elevating lever top by the first rotating shaft, telescoping crossbeam adopts double-deck telescopic structure, and between telescoping crossbeam the upper and lower, adopt support column to be attached, telescoping crossbeam rear end is provided with the first ear mount, in the middle part of telescoping crossbeam, lower end position place is provided with the second ear mount, telescoping crossbeam front end is provided with installation ring, regulate connecting rod one end to be connected with second ear mount at lower end position place in the middle part of telescoping crossbeam by the second rotating shaft, regulate the connecting rod other end and be arranged on elevating lever medium position place by the 3rd rotating shaft, and adjustment connecting rod is I-shaped structure；
Described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at immediately below fixed platform；The first described side chain and the quantity of the second side chain are two, first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the two ends of the first side chain and the second side chain are connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；
The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first joint pin and the first damping spring；The first described ear mount is fixed on fixed platform upper surface, Hooke's hinge is adopted to be attached between first ear mount and the first electric pushrod lower end, first electric pushrod upper end is connected with the first spherical hinge, first spherical hinge is fixed on the lower surface of moving platform by the first joint pin, and the first damping spring is around being enclosed within the first electric pushrod；
The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, the second joint pin and the second damping spring；The second described ear mount is fixed on fixed platform upper surface, rotational pin is adopted to be attached between second ear mount and the second electric pushrod lower end, second electric pushrod upper end is connected with the second spherical hinge, second spherical hinge is fixed on the lower surface of moving platform by the second joint pin, and the second damping spring is around being enclosed within the second electric pushrod；
Described clamping device includes fixing plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at immediately below fixing plate, and clamping device is linearly equally spaced along the central transverse axis fixing plate；Described clamping device includes directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, extension spring, connecting stud, the second slide block, hydraulic cylinder, mobile ear mount, mobile ships and resell on another market, air-leg, fixed ear base and fixing swing pin；nullDescribed directive slide track has a bar shape shape structure，And the directive slide track left and right sides is respectively arranged with baffle plate，Directive slide track vertical cross section is I-shaped structure，First slide block is arranged on directive slide track，And first slide block be respectively symmetrically layout along the central axis of directive slide track，Upper gripper jaw upper end is fixed on immediately below the first slide block，And upper gripper jaw is quadrant shape column structure，Lower gripper jaw is positioned at immediately below gripper jaw，Lower gripper jaw is also quadrant shape column structure，Extension spring is between upper gripper jaw and lower gripper jaw，And extension spring is arranged side by side between upper gripper jaw and lower gripper jaw，Extension spring upper end is connected with upper gripper jaw lower surface by connecting stud，Extension spring lower end is connected with lower gripper jaw upper surface by connecting stud，Second slide block is positioned at outside the first slide block，And second slide block be arranged on directive slide track，Hydraulic cylinder upper end is fixed on the second slide block，And hydraulic cylinder adopts single-acting single-stage telescoping hydraulic cylinder，Hydraulic cylinder lower end is fixed with mobile ear mount，Mobile shipping and reselling on another market is adopted to be attached between air-leg one end and mobile ear mount，The air-leg other end is connected with fixed ear base by fixing swing pin，Fixed ear base is fixed on lower gripper jaw lateral wall，And move ear mount and all U-shaped structure of fixed ear base.
2. a kind of construction of hydro project field operation automation equipment according to claim 1, it is characterised in that: described rotary apparatus includes electric rotating machine, motor cabinet, column spinner and rotation dish；Described electric rotating machine adopts low-speed high-torque motor, electric rotating machine vertically stands upside down and is positioned at inside the installation ring of telescoping crossbeam front end, and be fixed by motor cabinet between electric rotating machine and telescoping crossbeam, it is attached by key between electric rotating machine main shaft and column spinner upper end, column spinner lower end is connected with rotation dish, rotation dish upper end structure in the form of annular discs, rotation dish lower end edge its center axis is that circumferential direction is evenly arranged with joint pin and the stepped column structure of joint pin.
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| CN201610351989.XA CN105800306A (en) | 2016-05-24 | 2016-05-24 | Automatic equipment operating on water conservancy engineering construction site |
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| CN201610351989.XA CN105800306A (en) | 2016-05-24 | 2016-05-24 | Automatic equipment operating on water conservancy engineering construction site |
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| CN105800306A true CN105800306A (en) | 2016-07-27 |
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| CN108045929A (en) * | 2017-11-27 | 2018-05-18 | 马鞍山云林百成机械制造有限公司 | A kind of liner blank transports positioner |
| CN108016872A (en) * | 2017-12-07 | 2018-05-11 | 马鞍山市华科实业有限公司 | A kind of feeding device |
| CN110386453A (en) * | 2018-04-17 | 2019-10-29 | 江苏帝迈柯智能制造有限公司 | A kind of rotation conveying suspender |
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| CN109230489A (en) * | 2018-09-19 | 2019-01-18 | 成都中机盈科科技有限公司 | A kind of manipulator device for discharging |
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| CN110282418A (en) * | 2019-06-24 | 2019-09-27 | 繁昌县速诚智能设备科技有限公司 | A kind of mold transhipment lifting linear transport device |
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| CN110654941A (en) * | 2019-09-30 | 2020-01-07 | 大唐郓城发电有限公司 | Winding and unwinding devices for cooling tower condenser pipe based on thermal power factory |
| CN111438474A (en) * | 2020-04-13 | 2020-07-24 | 马鞍山市帅诚科技发展有限公司 | Steel construction building girder steel welded fastening anchor clamps |
| CN111551083A (en) * | 2020-05-15 | 2020-08-18 | 刘凤江 | Rotatory ammunition equipment of wasing of high-pressure squirt |
| CN111551083B (en) * | 2020-05-15 | 2022-12-16 | 刘凤江 | Rotatory ammunition equipment that washs of high-pressure squirt |
| CN112247994A (en) * | 2020-08-28 | 2021-01-22 | 南京驭逡通信科技有限公司 | Climbing surveying robot suitable for multiple topography |
| CN112079115A (en) * | 2020-09-10 | 2020-12-15 | 厚力德机器（杭州）有限公司 | Flexible metering robot and transportation method |
| CN112518634A (en) * | 2020-11-26 | 2021-03-19 | 珠海格力智能装备有限公司 | Compressor callus on sole anchor clamps |
| CN113697476A (en) * | 2021-08-13 | 2021-11-26 | 罗浩 | Garden building construction structure |
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| CN115072366A (en) * | 2022-07-28 | 2022-09-20 | 华北水利水电大学 | Large-scale thin wall steel pipe production transfer system |
| CN115072366B (en) * | 2022-07-28 | 2023-10-20 | 华北水利水电大学 | Large thin-wall steel pipe production and transfer system |
| CN117169642A (en) * | 2023-11-02 | 2023-12-05 | 陕西生益嘉华生物科技有限公司 | Computer interface plug testing arrangement |
| CN117169642B (en) * | 2023-11-02 | 2024-03-01 | 陕西生益嘉华生物科技有限公司 | Computer interface plug testing arrangement |
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