CN108582445A - A kind of section of jurisdiction water supports handling system and method - Google Patents
A kind of section of jurisdiction water supports handling system and method Download PDFInfo
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- CN108582445A CN108582445A CN201810580638.5A CN201810580638A CN108582445A CN 108582445 A CN108582445 A CN 108582445A CN 201810580638 A CN201810580638 A CN 201810580638A CN 108582445 A CN108582445 A CN 108582445A
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- pond
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007306 turnover Effects 0.000 claims abstract description 85
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 230000009471 action Effects 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 9
- 230000032258 transport Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000012546 transfer Methods 0.000 description 5
- 239000004567 concrete Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000035800 maturation Effects 0.000 description 3
- 230000009183 running Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000011178 precast concrete Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010025 steaming Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B11/00—Apparatus or processes for treating or working the shaped or preshaped articles
- B28B11/24—Apparatus or processes for treating or working the shaped or preshaped articles for curing, setting or hardening
- B28B11/245—Curing concrete articles
- B28B11/246—Underwater curing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
- B28B17/0063—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Structural Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses a kind of section of jurisdiction water to support handling system and method, belongs to subway tunnel section of jurisdiction water and supports and carry technical field, including water supports pond, and the switching mechanism that picks and places supported in water on pond, and the transportation trolley for transporting section of jurisdiction is arranged；The water supports pond side and is provided with the cart track run for picking and placeing switching mechanism；The switching mechanism that picks and places includes the portal frame being erected on the foster pond side cart track of water, portal frame includes driving mechanism for driving portal frame to be run on cart track, the trolley track vertical with cart orbital direction is provided on portal frame, lifting turning trolley is provided on the trolley track, lifting turning trolley bottom is provided with rigid flexible prypole towards ground, flexible prypole bottom is provided with turnover fixture, and the turnover fixture can overturn 90 ° in vertical plane；For placing section of jurisdiction vertically or horizontally at the top of the transportation trolley.
Description
Technical field
Technical field is supported and carried the invention belongs to subway tunnel section of jurisdiction water, and in particular to a kind of foster handling system of section of jurisdiction water
And method.
Background technology
As technological progress underground pipe gallery using shield-tunneling construction there is apparent advantage, shield method more and more to be connect
By mating to need a large amount of precast concrete section of jurisdiction.Precast concrete section of jurisdiction is a kind of underground tunnel applied to shield construction
The prefabricated concrete component of high-precision of road engineering structure main body, section of jurisdiction water resistance, endurance quality, dimensional accuracy and
The technology of surface quality etc. requires to be significantly larger than ordinary concrete member, this is just needed should be stringent in the production process of section of jurisdiction
The quality for controlling each process, improves the automation and intelligence of production.Section of jurisdiction after the completion of steaming kiln steam curing process, in order to
It prevents the appearance of the cup shake of concrete and is conducive to the development of the later strength of section of jurisdiction concrete, it is necessary to the pipe after mark
Piece is conserved, and is conserved at this point, maintenance is typically chosen pond, at least high 300mm when the depth of curing pool is more edge-on than section of jurisdiction, with
Ensure that section of jurisdiction can be adequately by water curing.
Currently, after being detached in grinding tool be the sleeping volt state that arc core is downward after section of jurisdiction is steam-cured, need to by band vacuum cup or
The crane of manual operation suspender is hung to special 90 ° of rollover stands, turns to edge-on state；Then pass through another band again
The crane of manual operation suspender is hung on transfer trolley, is transported to water and is supported by pond；Using universal crane equipment and artificial behaviour
The suspender of work is edge-on by section of jurisdiction and is put into the foster pond of water；Water supports process（Generally 7 days or so）After, it is set using universal crane
Standby and manually-operated suspender slings the edge-on state in section of jurisdiction, and is put on the transfer trolley of pool side or interim storing place；Lead to again
The crane for stacking field is crossed, section of jurisdiction is manually overturn to the upward state of lying of facing upward of arc core and is piled up.There is lifting in whole process
Operation is more, and hand labor intensity is big, and above-water hoisting operating environment is poor and security risk is big, and section of jurisdiction, which is put, positions relatively random, precision
Relatively low, curing pool wants partition identification management, and there are certain difficulty.Section of jurisdiction is being lifted up into and is being hung by also promising reduction personal safety risk
It is discharged before supporting pond, the operating type for first draining pool inner water.So have the activity duration long, the production cycle is long, production efficiency
Low, water resource also wastes the features such as larger.
As in the prior art, such as Publication No. CN202805397U, the time of disclosure is on March 20th, 2013, entitled " new
The Chinese utility model patent document of type hanging type demoulding reversal hanger " discloses a kind of novel hanging type demoulding reversal hanger,
It for the demoulding of inverted arch block/section of jurisdiction, carrying, overturns, hang in the process of entrucking, realize from demoulding, carrying, overturn, hang, adopt
It is once completed with an equipment.Opening and the clamping for controlling left and right clamp arm respectively using two clamping cylinders, are easily adjusted balance
State.Using the hanging ring to match with crane hook, when making lifting, inverted arch block/section of jurisdiction run-off the straight is not made.Using hydraulic motor
Inverted arch block/segment overturning is driven, ensure that the dynamic stationarity in switching process, protects inverted arch block/section of jurisdiction, it is without damage.But
Be this technical solution it is exactly that can only realize to the lifting of the horizontal direction of section of jurisdiction, along the circumferential direction overturns, reverses direction can not be real
Side vertical placement status when existing section of jurisdiction water is supported, the actions such as overturning, transport still need manual operation, the degree of automation and dynamic
It is bad to make continuity, manpower requirements are high.
Invention content
The purpose of the present invention is to provide a kind of high degree of automation, can voluntarily realize section of jurisdiction far turn, lift by crane, overturn,
The foster section of jurisdiction water of water supports handling system and method.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of foster handling system of section of jurisdiction water, it is characterised in that：Pond is supported including water, is arranged to support in water and picks and places switching mechanism on pond,
And the transportation trolley for transporting section of jurisdiction；
The water supports pond side and is provided with the cart track run for picking and placeing switching mechanism；
The switching mechanism that picks and places includes the portal frame being erected on the foster pond side cart track of water, and portal frame includes driving mechanism
For driving portal frame to be run on cart track, the trolley track vertical with cart orbital direction, institute are provided on portal frame
It states and is provided with lifting turning trolley on trolley track, lifting turning trolley bottom is provided with rigid stretch towards ground
Weight bar, flexible prypole bottom are provided with turnover fixture, and the turnover fixture can overturn 90 ° in vertical plane；
For placing section of jurisdiction vertically or horizontally at the top of the transportation trolley.
It further include the control centre for being provided with information management server and action management server.
The water supports and is provided with Level monitor in pond, and water supports the area that several have been divided in pond for placing section of jurisdiction
Domain is both provided with the sensor for monitoring whether to place section of jurisdiction in each region, and the Level monitor and sensor are equal
It communicates and is connected with control centre.
The flexible prypole is fluid pressure type telescopic rod, and lifting turning trolley is rotatably attached at the top of flexible prypole
Bottom so that flexible prypole can be rotated with 180o.
The turnover fixture includes the collet on top, and 90 ° of turnover fixture bottom end is turnover to be hinged on flexible prypole bottom
Portion, and the telescopic rod for driving turnover fixture to overturn is provided between turnover fixture and flexible lifting club shaft.
Preferably, the turnover fixture includes clamping piece, mechanical arm, cylinder, flip body and connector, and clamping piece setting exists
Mechanical arm front end, cylinder are installed on the inside of mechanical arm, and flip body is articulated with the front end of mechanical arm, one end of flip body and cylinder
The front end of telescopic rod is hingedly connected to the both ends of connector；It is characterized in that：The shaft outer surface of flip body and mechanical arm hinged place
It is cased with oil-free bushing；Flip body and the shaft outer surface of connector hinged place are cased with oil-free bushing；Flip body and connector are matched
It closes gap location and is equipped with thrust washer.
The transportation trolley is AGV intelligence transiting vehicles, and transportation trolley is communicated with control centre to be connected, and corresponding, operating is small
It is provided with identification of lines block on the operating track of vehicle.
Using the foster handling system of this section of jurisdiction water, section of jurisdiction horizontal stacking to be maintained is placed in transportation trolley after mark,
These sections of jurisdiction to be maintained are operated the lower section supported pool side to water, pick and place switching mechanism by transportation trolley；Pick and place the dragon of switching mechanism
Door frame runs the lifting turning trolley that switching mechanism is picked and placeed to being loaded with above the transportation trolley of section of jurisdiction to be maintained on cart track
Section of jurisdiction to be maintained on trolley track on portal frame below movement alignment in transportation trolley, and lifting turning trolley bottom
Turnover fixture on flexible prypole is flipped up 90 ° in vertical plane keeps turnover fixture parallel with horizontal plane, then by flexible
The adjustment of prypole and portal frame picks up the section of jurisdiction being horizontally arranged in transportation trolley, and the prypole that stretches is with the overturning for accompanying section of jurisdiction
Fixture raising, and move to water with portal frame and support above pond, the turnover fixture for accompanying section of jurisdiction downwardly turns over 90 ° in vertical plane and makes
Turnover fixture and horizontal plane, even if section of jurisdiction becomes vertical from level, the prypole that stretches is with the turnover fixture for accompanying section of jurisdiction
Lower general who has surrendered section of jurisdiction, which is put into after water is supported in pond, to be resetted；The portal frame for picking and placeing switching mechanism runs to water on cart track and supports Chi Zhongbao
It supports and finishes above section of jurisdiction to be taken, pick and place the lifting turning trolley of switching mechanism and moved on the trolley track on portal frame pair
Quasi- lower section section of jurisdiction to be taken, and the flexible prypole drive turnover fixture in lifting turning trolley bottom is supported in pond from water and is gripped out
Section of jurisdiction to be taken, it is in level that turnover fixture, which is flipped up 90 ° to make the section of jurisdiction of turnover fixture and its gripping all in vertical plane,
Then state operates section of jurisdiction to above transportation trolley under the movement of portal frame and lifting turning trolley, stretch under prypole
Drop, section of jurisdiction are placed in transportation trolley, and turnover fixture unclamps, and pick and place switching mechanism reset.
The technical program has the beneficial effect that：
Section of jurisdiction water provided by the present invention supports handling system, and supporting setting on pond using water picks and places switching mechanism, coordinates for transporting
The transportation trolley of section of jurisdiction realizes that completely automatic operating and water are supported, and greatly reduces artificial participation, saves manpower, and
Switching process is realized automatically, while also saving the volume that water supports pond, improves efficiency；Portal frame, lifting turning trolley, operating are small
It is moved on vehicle cooperation progress X, Y-direction, has the function of realizing that handling system accurately shuts down positioning as desired；Turnover fixture has
The function being rotated by 90 ° in vertical plane, and can also have detection identification gripping object under the cooperation of sensing device and control system
The function of body；And the flexible prypole of rigidity provides support shaft for overturning.
Further, the control centre for being provided with information management server and action management server is added, coordinates vision
Identify the electronic component of positioning, vacancy induction, identification device etc. so that portal frame, lifting turning trolley, transportation trolley and control
The control system at center processed links, and there is realization system to press the accurate stopping function of predeterminated position；Information management system supports pond to water
Interior section of jurisdiction placement location, standing time carry out positioning record and data preparation, and the section of jurisdiction that the time is supported to reaching default water carries out
Signal exports；The positioning setting such as visual identity positioning is accurately identified and is positioned to placement location of the section of jurisdiction in pond, is
System is according to positioning signal by section of jurisdiction handling to herein or to hanging section of jurisdiction herein.
Turnover fixture, can be automatic during operating lifting as the mechanism for realizing 90 ° of turn over function on vertical direction
Realize the automatic turning to section of jurisdiction.
Using preferably turnover fixture structure, the shaft outer surface of two hinged places of flip body is cased with oil-free bushing,
So that the rotary movement of flip body has stable low-friction coefficient, to avoid overturning from vibrating；Flip body and connector are matched
It closes gap location and is equipped with thrust washer, shaking of the flip body along shaft axial direction can be eliminated.It is of the invention novel in design, it is reasonable for structure,
Not only it can be vibrated to avoid overturning, but also axial shaking can be eliminated so that entire rotary movement is steady, is picked and placeed to improve manipulator
The reliability of action has good promotional value.
AGV intelligence transiting vehicle automatic intelligents are strong, have the technical solution of many maturations that can refer at present.
It is transported from steam-cured area to the areas Shui Yang by transportation trolley section of jurisdiction；The portal frame for picking and placeing switching mechanism is overturn with lifting
Above trolley travelling to section of jurisdiction, level slings section of jurisdiction, and rigid lifting arm promotes the turning height to setting, turnover fixture overturning pipe
Piece is to edge-on state；Section of jurisdiction handling to water is supported above the specified rest position in pond, under the rigid lifting arm of elevating mechanism driving
The edge-on placement in section of jurisdiction is unclamped fixture by drop；Section of jurisdiction water supports handling system and repeats above-mentioned flow, and lower section of jurisdiction of handling to water is supported
Pond conserves, equally, reversed according to the method described above to can be taken off taking after the completion of the section of jurisdiction water curing period.
It is above-mentioned after the automatic control systems such as visual identity positioning system, information management system and automatic control system are added
Fully automated action can be achieved in each step, after the completion of the section of jurisdiction water curing period, information management system receive reach default water support
The section of jurisdiction signal output of time, is automatically controlled by visual identity positioning system, information management system and automatic control system etc.
System interlink, the portal frame for picking and placeing switching mechanism are run to lifting turning trolley above the section of jurisdiction position that water is supported in pond；
Flexible prypole drives turnover fixture to decline, and section of jurisdiction is gripped vertically；Flexible prypole drives turnover fixture to rise；Turnover fixture
Promote the turning height of setting；It picks and places switching mechanism and slings section of jurisdiction and run to above transfer trolley, turnover fixture overturns section of jurisdiction
The upward horizontality of arc core is such as arrived, section of jurisdiction is put on trolley；Section of jurisdiction water supports handling system and passes through section of jurisdiction automatic turning, accurate
The functions such as positioning, few people's automatic running, effectively reduce operating personnel, reduce manual work intensity, improve water and support pond operation effect
Rate promotes the automatization level of section of jurisdiction production.
Description of the drawings
The present invention it is aforementioned and be detailed description below in conjunction with the following drawings read when become more apparent upon, in attached drawing：
Fig. 1 is a kind of structural schematic diagram of preferred embodiment of the present invention；
Fig. 2 is the transport diagram that transportation trolley of the present invention supports that pond operates section of jurisdiction to water；
Fig. 3 is the transport diagram that transportation trolley of the present invention supports that pond transports section of jurisdiction from water；
In figure：
1, water supports pond；2, transportation trolley；3, cart track；4, portal frame；5, trolley track；6, lifting turning trolley；7, it stretches
Prypole；8, turnover fixture.
Specific implementation mode
The object of the invention technical solution is realized to further illustrate, need to illustrate below by several specific embodiments
It is that claimed technical solution includes but not limited to following embodiment.
Embodiment 1
As a kind of most basic embodiment of the present invention, such as Fig. 1, present embodiment discloses a kind of section of jurisdiction water to support handling system,
Pond 1 is supported including water, the switching mechanism that picks and places supported in water on pond 1, and the transportation trolley 2 for transporting section of jurisdiction are set；The water
It supports 1 side of pond and is provided with the cart track 3 run for picking and placeing switching mechanism；The switching mechanism that picks and places includes being erected at water to support pond
Portal frame 4 on 1 side cart track 3, portal frame 4 include driving mechanism for driving portal frame 4 to be transported on cart track 3
It goes, is provided with the trolley track 5 vertical with 3 direction of cart track on portal frame 4, being provided with lifting on the trolley track 5 turns over
Turn trolley 6,6 bottom of lifting turning trolley is provided with rigid flexible prypole 7 towards ground, 7 bottom of prypole of stretching
It is provided with turnover fixture 8, the turnover fixture 8 can overturn 90 ° in vertical plane；2 top of the transportation trolley is perpendicular for placing
Straight or horizontal section of jurisdiction.
Section of jurisdiction water provided by the present invention supports handling system, and supporting setting on pond 1 using water picks and places switching mechanism, and cooperation is used for
The transportation trolley 2 of transport section of jurisdiction realizes that completely automatic operating and water are supported, and greatly reduces artificial participation, saves people
Power, and switching process is realized automatically, while the volume that water supports pond 1 is also saved, improve efficiency；Portal frame 4, lifting overturning are small
Vehicle 6, the cooperation of transportation trolley 2 carry out X, move in Y-direction, have the function of that realization handling system accurately shuts down positioning as desired；
Turnover fixture 8 has the function being rotated by 90 ° in vertical plane, and can also have inspection under the cooperation of sensing device and control system
Survey the function of identification gripping object；And the flexible prypole 7 of rigidity provides support shaft for overturning.
Embodiment 2
As a kind of preferred embodiment of the present invention, such as Fig. 1, present embodiment discloses a kind of section of jurisdiction water to support handling system, packet
It includes water and supports pond 1, the switching mechanism that picks and places supported in water on pond 1, and the transportation trolley 2 for transporting section of jurisdiction are set, further include setting
It is equipped with the control centre of information management server and action management server；
The water supports 1 side of pond and is provided with the cart track 3 run for picking and placeing switching mechanism, and water, which is supported, is provided with water level prison in pond 1
Device is surveyed, and water supports the region that several have been divided in pond 1 for placing section of jurisdiction, be both provided in each region is for monitoring
The no sensor for placing section of jurisdiction, the Level monitor and sensor, which are communicated with control centre, to be connected；
The switching mechanism that picks and places includes the portal frame 4 being erected on the foster 1 side cart track 3 of pond of water, and portal frame 4 includes driving
Mechanism is provided with the trolley vertical with 3 direction of cart track for driving portal frame 4 to be run on cart track 3 on portal frame 4
Track 5 is provided with lifting turning trolley 6 on the trolley track 5, and 6 bottom of lifting turning trolley is provided with towards ground
The flexible prypole 7 of rigidity, the flexible prypole 7 are fluid pressure type telescopic rod, and 7 top of flexible prypole is rotatably attached to
6 bottom of lifting turning trolley so that flexible prypole 7 can be rotated with 180o, and flexible 7 bottom of prypole is provided with turnover fixture 8,
The turnover fixture 8 can overturn 90 ° in vertical plane, and the turnover fixture 8 includes the collet on top, 90 ° of 8 bottom end of turnover fixture
It is turnover to be hinged on 7 bottom of flexible prypole, and be provided between 7 body of rod of turnover fixture 8 and flexible prypole for driving
The telescopic rod that dynamic turnover fixture 8 is overturn
The transportation trolley 2 is AGV intelligence transiting vehicles, and for placing section of jurisdiction vertically or horizontally, operating is small at transportation trolley 2 top
Vehicle 2 is communicated with control centre to be connected, corresponding, and identification of lines block is provided on the operating track of transportation trolley 2.
Section of jurisdiction water provided by the present invention supports handling system, and supporting setting on pond 1 using water picks and places switching mechanism, and cooperation is used for
The transportation trolley 2 of transport section of jurisdiction realizes that completely automatic operating and water are supported, and greatly reduces artificial participation, saves people
Power, and switching process is realized automatically, while the volume that water supports pond 1 is also saved, improve efficiency；Portal frame 4, lifting overturning are small
Vehicle 6, the cooperation of transportation trolley 2 carry out X, move in Y-direction, have the function of that realization handling system accurately shuts down positioning as desired；
Turnover fixture 8 has the function being rotated by 90 ° in vertical plane, and can also have inspection under the cooperation of sensing device and control system
Survey the function of identification gripping object；And the flexible prypole 7 of rigidity provides support shaft for overturning；Addition is provided with information management clothes
The control centre of business device and action management server, the electronics member device of cooperation visual identity positioning, vacancy induction, identification device etc.
Part so that portal frame 4, lifting turning trolley 6, transportation trolley 2 and the control system of control centre link, and there is realization system to press
The accurate stopping function of predeterminated position；Information management system supports water section of jurisdiction placement location in pond 1, standing time carries out positioning note
Record and data preparation, the section of jurisdiction that the time is supported to reaching default water carry out signal output；The positioning such as visual identity positioning are arranged to pipe
Placement location of the piece in pond is accurately identified and is positioned, and system is according to positioning signal by section of jurisdiction handling to herein or arriving this
Place hangs section of jurisdiction；Turnover fixture 8, can be in operating lifting process as the mechanism for realizing 90 ° of turn over function on vertical direction
In realize automatic turning to section of jurisdiction automatically；AGV intelligence transiting vehicle automatic intelligents are strong, there is the skill of many maturations at present
Art scheme can refer to.
Embodiment 3
As a kind of preferred embodiment of the present invention, such as Fig. 1, present embodiment discloses a kind of section of jurisdiction water to support handling system, packet
It includes water and supports pond 1, the switching mechanism that picks and places supported in water on pond 1, and the transportation trolley 2 for transporting section of jurisdiction are set, further include setting
It is equipped with the control centre of information management server and action management server；
The water supports 1 side of pond and is provided with the cart track 3 run for picking and placeing switching mechanism, and water, which is supported, is provided with water level prison in pond 1
Device is surveyed, and water supports the region that several have been divided in pond 1 for placing section of jurisdiction, be both provided in each region is for monitoring
The no sensor for placing section of jurisdiction, the Level monitor and sensor, which are communicated with control centre, to be connected；
The switching mechanism that picks and places includes the portal frame 4 being erected on the foster 1 side cart track 3 of pond of water, and portal frame 4 includes driving
Mechanism is provided with the trolley vertical with 3 direction of cart track for driving portal frame 4 to be run on cart track 3 on portal frame 4
Track 5 is provided with lifting turning trolley 6 on the trolley track 5, and 6 bottom of lifting turning trolley is provided with towards ground
The flexible prypole 7 of rigidity, the flexible prypole 7 are fluid pressure type telescopic rod, and 7 top of flexible prypole is rotatably attached to
6 bottom of lifting turning trolley so that flexible prypole 7 can be rotated with 180o, and flexible 7 bottom of prypole is provided with turnover fixture 8,
The turnover fixture 8 can overturn 90 ° in vertical plane；The turnover fixture 8 include clamping piece, mechanical arm, cylinder, flip body and
Connector, clamping piece are arranged in mechanical arm front end, and cylinder is installed on the inside of mechanical arm, before flip body is articulated with mechanical arm
End, one end of flip body are hingedly connected to the both ends of connector with the front end of Telescopic-cylinder bar；It is characterized in that：Flip body and machinery
The shaft outer surface of arm hinged place is cased with oil-free bushing；The shaft outer surface of flip body and connector hinged place is cased with oil-free lining
Set；Thrust washer is equipped at the fit clearance of flip body and connector.
The transportation trolley 2 is AGV intelligence transiting vehicles, and 2 top of transportation trolley is for placing section of jurisdiction vertically or horizontally, fortune
Turn the communication of trolley 2 and control centre to be connected, it is corresponding, it is provided with identification of lines block on the operating track of transportation trolley 2.
Section of jurisdiction water provided by the present invention supports handling system, and supporting setting on pond 1 using water picks and places switching mechanism, and cooperation is used for
The transportation trolley 2 of transport section of jurisdiction realizes that completely automatic operating and water are supported, and greatly reduces artificial participation, saves people
Power, and switching process is realized automatically, while the volume that water supports pond 1 is also saved, improve efficiency；Portal frame 4, lifting overturning are small
Vehicle 6, the cooperation of transportation trolley 2 carry out X, move in Y-direction, have the function of that realization handling system accurately shuts down positioning as desired；
Turnover fixture 8 has the function being rotated by 90 ° in vertical plane, and can also have inspection under the cooperation of sensing device and control system
Survey the function of identification gripping object；And the flexible prypole 7 of rigidity provides support shaft for overturning；Using preferably turnover fixture 8
The shaft outer surface of structure, two hinged places of flip body is cased with oil-free bushing so that the rotary movement of flip body has steady
Fixed low-friction coefficient, to avoid overturning from vibrating；It is equipped with thrust washer at the fit clearance of flip body and connector, can disappear
Except flip body is along the shaking of shaft axial direction.It is of the invention novel in design, it is reasonable for structure, it can not only be vibrated to avoid overturning, but also can disappear
Except axial shaking so that entire rotary movement is steady, to improve the reliability that manipulator picks and places action, has good popularization
Value；AGV intelligence transiting vehicle automatic intelligents are strong, have the technical solution of many maturations that can refer at present
Embodiment 4
A kind of foster method for carrying of section of jurisdiction water, which is characterized in that include the following steps：
Section of jurisdiction commissioning steps to be maintained, section of jurisdiction horizontal stacking to be maintained is placed in transportation trolley 2 after mark, transportation trolley 2
These sections of jurisdiction to be maintained are operated to the lower section supported 1 side of pond to water, pick and place switching mechanism；
Segment overturning maintains step, and the portal frame 4 for picking and placeing switching mechanism is run on cart track 3 to being loaded with section of jurisdiction to be maintained
2 top of transportation trolley, picks and places the lifting turning trolley 6 of switching mechanism and is moved on the trolley track 5 on portal frame 4 below alignment
Section of jurisdiction to be maintained in transportation trolley 2, and the turnover fixture 8 that 6 bottom of lifting turning trolley is stretched on prypole 7 is in vertical plane
Inside being flipped up 90 ° keeps turnover fixture 8 parallel with horizontal plane, then picks up operating by the adjustment of stretch prypole 7 and portal frame 4
The section of jurisdiction being horizontally arranged on trolley 2, the prypole 7 that stretches are moved with 8 raising of turnover fixture for accompanying section of jurisdiction, and with portal frame 4
The top of pond 1 is supported to water, the turnover fixture 8 for accompanying section of jurisdiction downwardly turns over 90 ° in vertical plane turnover fixture 8 is made to hang down with horizontal plane
Directly, even if section of jurisdiction becomes vertical from level, flexible prypole 7 is put into water with the 8 times general who has surrendered sections of jurisdiction of turnover fixture for accompanying section of jurisdiction
It is resetted after supporting in pond 1；
Step is taken in section of jurisdiction, and the portal frame 4 for picking and placeing switching mechanism runs to water to support in pond 1 maintenance and finish on cart track 3 and waits for
Above the section of jurisdiction taken, picks and places the lifting turning trolley 6 of switching mechanism and moved on the trolley track 5 on portal frame 4 under alignment
Side section of jurisdiction to be taken, and the flexible drive of prypole 7 turnover fixture 8 in 6 bottom of lifting turning trolley is supported in pond 1 from water and is gripped out
Section of jurisdiction to be taken, it is in water that turnover fixture 8, which is flipped up 90 ° to make the section of jurisdiction of turnover fixture 8 and its gripping all in vertical plane,
Then level state operates section of jurisdiction to above transportation trolley 2 under the movement of portal frame 4 and lifting turning trolley 6, lifting of stretching
Bar 7 declines, and section of jurisdiction is placed in transportation trolley 2, and turnover fixture 8 unclamps, and picks and places switching mechanism reset.
In the section of jurisdiction commissioning steps to be maintained, transportation trolley 2 is the identification block edge operated by automatic identification on track
It pre-determined route and operates section of jurisdiction to be maintained to water and support 1 side of pond, the lower section that picks and places switching mechanism.
The segment overturning maintenance step and section of jurisdiction are taken in step, the movement alignment of portal frame 4, lifting turning trolley 6
And the flexible landing of flexible prypole 7 and the clamping release of turnover fixture 8 are to automatically control to be by sensing device cooperation
What system was realized.
Section of jurisdiction water provided by the present invention supports method for carrying, and section of jurisdiction is transported by transportation trolley 2 to the areas Shui Yang from steam-cured area；
The portal frame 4 for picking and placeing switching mechanism is run to lifting turning trolley 6 above section of jurisdiction, and level slings section of jurisdiction, rigid lifting arm
The turning height of setting is promoted, turnover fixture 8 overturns section of jurisdiction to edge-on state；Section of jurisdiction handling to water is supported specified in pond 1
Above rest position, the rigid lifting arm of elevating mechanism driving declines, and by the edge-on placement in section of jurisdiction, unclamps fixture；Section of jurisdiction water, which is supported, to be carried
System repeats above-mentioned flow, and lower section of jurisdiction of handling to water is supported pond 1 and conserved, equally, after the completion of the section of jurisdiction water curing period, according to upper
Method is stated reversely to can be taken off taking.
It is above-mentioned after the automatic control systems such as visual identity positioning system, information management system and automatic control system are added
Fully automated action can be achieved in each step, after the completion of the section of jurisdiction water curing period, information management system receive reach default water support
The section of jurisdiction signal output of time, is automatically controlled by visual identity positioning system, information management system and automatic control system etc.
System interlink, the portal frame 4 for picking and placeing switching mechanism are run to lifting turning trolley 6 on the section of jurisdiction position that water is supported in pond 1
Side；Flexible prypole 7 drives turnover fixture 8 to decline, and section of jurisdiction is gripped vertically；Flexible prypole 7 drives turnover fixture 8 to rise；
Turnover fixture 8 promotes the turning height to setting；It picks and places switching mechanism and slings section of jurisdiction and run to above transfer trolley, turnover fixture
8 overturning sections of jurisdiction are as to the upward horizontality of arc core, section of jurisdiction is put on trolley；It is automatic by section of jurisdiction that section of jurisdiction water supports handling system
The functions such as overturning, accurate positionin, few people's automatic running, effectively reduce operating personnel, reduce manual work intensity, improve water and support
1 operating efficiency of pond promotes the automatization level of section of jurisdiction production.
It is transported to the areas Shui Yang, as shown in Figure 2 by transport trolley from steam-cured area section of jurisdiction；
Section of jurisdiction water is supported carrying implement and is run to above section of jurisdiction, and level slings section of jurisdiction, and the overturning of the stretch promotion of prypole 7 to setting is high
Degree, turnover fixture 8 overturn section of jurisdiction to edge-on state；
It is linked by visual identity positioning system, information management system and automatic control system, section of jurisdiction handling to water is supported in pond 1
Specified rest position above, the driving of prypole 7 of the stretching prypole 7 that stretches declines, and by the edge-on placement in section of jurisdiction, unclamps fixture；
Section of jurisdiction water supports carrying implement and repeats above-mentioned flow, and lower section of jurisdiction of handling to water is supported pond 1 and conserved；
The section of jurisdiction water curing period（General no less than 7 days）After the completion, information management system, which receives, reaches the pipe that default water supports the time
Piece signal exports, and is linked by visual identity positioning system, information management system and automatic control system, and section of jurisdiction water supports carrying implement
It runs to above the section of jurisdiction position that water is supported in pond 1；
The flexible flexible prypole 7 of the driving of prypole 7 declines, and section of jurisdiction is gripped vertically；Flexible prypole 7 drives the prypole 7 that stretches
Rise；Flexible prypole 7 promotes the turning height to setting；
Water foster carrying implement in section of jurisdiction is sling section of jurisdiction and is run to above transfer trolley, and turnover fixture 8 overturns section of jurisdiction to the upward water of arc core
Section of jurisdiction is put on trolley by level state, as shown in Figure 3；
Section of jurisdiction conserves automatic carrying machine working by functions such as section of jurisdiction automatic turning, accurate positionin, few people's automatic runnings, effectively reduces
Operating personnel reduces manual work intensity, improves water and supports 1 operating efficiency of pond, promotes the automatization level of section of jurisdiction production.
Claims (10)
1. a kind of section of jurisdiction water supports handling system, it is characterised in that：Pond is supported including water（1）, it is arranged and supports pond in water（1）On pick and place and turn over
Rotation mechanism, and the transportation trolley for transporting section of jurisdiction（2）；
The water supports pond（1）Side is provided with the cart track for picking and placeing switching mechanism operation（3）；
The switching mechanism that picks and places includes being erected at water to support pond（1）Side cart track（3）On portal frame（4）, portal frame（4）
Including driving mechanism for driving portal frame（4）In cart track（3）Upper operation, portal frame（4）On be provided with and cart track
（3）The vertical trolley track in direction（5）, the trolley track（5）On be provided with lifting turning trolley（6）, the lifting overturning
Trolley（6）Bottom is provided with rigid flexible prypole towards ground（7）, stretch prypole（7）Bottom is provided with turnover fixture
（8）, the turnover fixture（8）90 ° can be overturn in vertical plane；
The transportation trolley（2）Top is used to place section of jurisdiction vertically or horizontally.
2. a kind of section of jurisdiction water as described in claim 1 supports handling system, it is characterised in that：Further include being provided with information management clothes
The control centre of business device and action management server.
3. a kind of section of jurisdiction water as claimed in claim 2 supports handling system, it is characterised in that：The water supports pond（1）In be provided with
Level monitor, and water supports pond（1）It is middle to have divided several regions for being used to place section of jurisdiction, it is both provided with use in each region
In the sensor for monitoring whether placement section of jurisdiction, the Level monitor and sensor communicate with control centre and are connected.
4. a kind of section of jurisdiction water as claimed in claim 1,2 or 3 supports handling system, it is characterised in that：The flexible prypole（7）
For fluid pressure type telescopic rod, stretch prypole（7）Top is rotatably attached to lifting turning trolley（6）Bottom so that stretch
Weight bar（7）It can be rotated with 180o.
5. a kind of section of jurisdiction water as claimed in claim 1,2 or 3 supports handling system, it is characterised in that：The turnover fixture（8）Packet
Include the collet on top, turnover fixture（8）90 ° of bottom end is turnover to be hinged on flexible prypole（7）Bottom, and turnover fixture
（8）With flexible prypole（7）It is provided between the body of rod for driving turnover fixture（8）The telescopic rod of overturning.
6. a kind of section of jurisdiction water as claimed in claim 1,2 or 3 supports handling system, it is characterised in that：The turnover fixture（8）Packet
Clamping piece, mechanical arm, cylinder, flip body and connector are included, clamping piece is arranged in mechanical arm front end, and cylinder is installed on mechanical arm
Inside, flip body are articulated with the front end of mechanical arm, and one end of flip body is hingedly connected to connector with the front end of Telescopic-cylinder bar
Both ends；It is characterized in that：Flip body and the shaft outer surface of mechanical arm hinged place are cased with oil-free bushing；Flip body is cut with scissors with connector
The shaft outer surface at the place of connecing is cased with oil-free bushing；Thrust washer is equipped at the fit clearance of flip body and connector.
7. a kind of section of jurisdiction water supports handling system as claimed in claim 2 or claim 3, it is characterised in that：The transportation trolley（2）For
AGV intelligence transiting vehicles, transportation trolley（2）It communicates and is connected with control centre, corresponding, transportation trolley（2）Operating track on set
It is equipped with identification of lines block.
8. a kind of section of jurisdiction water supports method for carrying, which is characterized in that include the following steps：
Section of jurisdiction commissioning steps to be maintained, section of jurisdiction horizontal stacking to be maintained is placed on transportation trolley after mark（2）On, transportation trolley
（2）These sections of jurisdiction to be maintained are operated to water and support pond（1）Side, the lower section for picking and placeing switching mechanism；
Segment overturning maintains step, picks and places the portal frame of switching mechanism（4）In cart track（3）It is upper operation to be loaded with wait for maintenance pipe
The transportation trolley of piece（2）Top picks and places the lifting turning trolley of switching mechanism（6）In portal frame（4）On trolley track（5）On
Movement alignment lower section transportation trolley（2）On section of jurisdiction to be maintained, and lifting turning trolley（6）Bottom is stretched prypole（7）On
Turnover fixture（8）90 ° are flipped up in vertical plane makes turnover fixture（8）It is parallel with horizontal plane, then pass through the prypole that stretches
（7）And portal frame（4）Adjustment pick up transportation trolley（2）Upper horizontal positioned section of jurisdiction, stretch prypole（7）With accompanying section of jurisdiction
Turnover fixture（8）Raising, and with portal frame（4）It moves to water and supports pond（1）Top accompanies the turnover fixture of section of jurisdiction（8）Perpendicular
Downwardly turning over 90 ° in facing directly makes turnover fixture（8）With horizontal plane, even if section of jurisdiction becomes vertical from level, stretch prypole
（7）With the turnover fixture for accompanying section of jurisdiction（8）Lower general who has surrendered section of jurisdiction is put into water and supports pond（1）In after reset；
Step is taken in section of jurisdiction, picks and places the portal frame of switching mechanism（4）In cart track（3）Upper operation to water supports pond（1）Middle maintenance
It finishes above section of jurisdiction to be taken, picks and places the lifting turning trolley of switching mechanism（6）In portal frame（4）On trolley track（5）
Upper movement alignment lower section section of jurisdiction to be taken, and lifting turning trolley（6）Bottom is stretched prypole（7）Drive turnover fixture
（8）Pond is supported from water（1）It is middle to grip out section of jurisdiction to be taken, turnover fixture（8）90 ° are flipped up in vertical plane makes turnover fixture
（8）And the section of jurisdiction of its gripping is all horizontal, then in portal frame（4）With lifting turning trolley（6）Movement under will pipe
Piece is operated to transportation trolley（2）Top, stretch prypole（7）Decline, section of jurisdiction is placed on transportation trolley（2）On, turnover fixture（8）
It unclamps, picks and places switching mechanism reset.
9. a kind of section of jurisdiction water as claimed in claim 8 supports method for carrying, it is characterised in that：The section of jurisdiction commissioning steps to be maintained
In, transportation trolley（2）It is that the identification block operated by automatic identification on track operates section of jurisdiction to be maintained along pre-determined route
Pond is supported to water（1）Side, the lower section for picking and placeing switching mechanism.
10. a kind of section of jurisdiction water supports method for carrying as claimed in claim 8 or 9, it is characterised in that：The segment overturning maintenance step
Rapid and section of jurisdiction is taken in step, portal frame（4）, lifting turning trolley（6）Movement alignment and flexible prypole（7）It is flexible
Landing and turnover fixture（8）Clamping release be by sensing device coordinate automatic control system realize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580638.5A CN108582445B (en) | 2018-06-07 | 2018-06-07 | Segment water culture conveying system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580638.5A CN108582445B (en) | 2018-06-07 | 2018-06-07 | Segment water culture conveying system and method |
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| CN108582445A true CN108582445A (en) | 2018-09-28 |
| CN108582445B CN108582445B (en) | 2024-02-13 |
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| CN201810580638.5A Active CN108582445B (en) | 2018-06-07 | 2018-06-07 | Segment water culture conveying system and method |
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| CN109016104A (en) * | 2018-09-30 | 2018-12-18 | 西安中铁工程装备有限公司 | A kind of section of jurisdiction stockyard automatic sprinkler fire-extinguishing system and its spraying method |
| CN111098398A (en) * | 2018-10-26 | 2020-05-05 | 江苏银旭隧道机械有限公司 | Tunnel segment water curing system |
| CN111301029A (en) * | 2019-12-13 | 2020-06-19 | 丽水市正翔笔业有限公司 | Intelligent assembling system for ink sac pen |
| CN111779513A (en) * | 2020-08-25 | 2020-10-16 | 中国铁建大桥工程局集团有限公司 | Duct piece conveying device for subway shield tunnel construction |
| CN117342256A (en) * | 2023-12-06 | 2024-01-05 | 上海强华实业股份有限公司 | Clamping device and clamping system for large-caliber quartz tube production |
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| CN108582445B (en) | 2024-02-13 |
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