CN114434413A - A nuclear island bracket installation vehicle - Google Patents

Abstract

The invention belongs to an installation vehicle, and particularly relates to a nuclear island support installation vehicle. The utility model provides a nuclear island support installation car, includes the revolving stage assembly, this revolving stage assembly sets up on rubber track chassis, and rubber track chassis can bear the weight of the revolving stage assembly and remove, sets up fixture device on the revolving stage assembly, and fixture device's end sets up anchor clamps. The invention has the remarkable effects that: the nuclear island support mounting vehicle can obviously improve the working efficiency, ensure the construction safety, reduce the labor intensity and reduce the labor input.

Description

A nuclear island bracket installation vehicle

technical field

The invention belongs to an installation vehicle, in particular to a nuclear island bracket installation vehicle.

Background technique

During the construction of the nuclear island of the nuclear power plant, a large number of pipes and electrical supports (50-300KG) need to be transported from the indoor floor to the top of the wall or the position of the embedded board specified on the wall for welding and installation. For light-weight brackets (less than 50Kg), it is mainly to use the working method of scaffolding to install brackets. For brackets over 50Kg, the traditional working method of scaffolding is also used at present, so a lot of time is spent on scaffolding and manual handling of the brackets, which is labor-intensive and low-efficiency. And when the bracket is positioned and installed, the operator needs to lift the bracket to align the scribed positioning position on the embedded board. When the weight of the bracket is small, the alignment accuracy is easy to ensure, but when the weight of the bracket is large, it is difficult to guarantee the alignment accuracy. Especially when the bracket is positioned and welded to the roof embedded plate, the welding slag and sparks will fall directly on the operator who lifts the bracket below, causing a safety accident.

The bracket installation vehicle is a novel power-assisted equipment used for material handling and labor-saving operation during installation. It mainly uses the principle of moment balance to enable the operator to move and change the attitude of the bracket accordingly, and can realize the accurate installation of the bracket in different positions.

The existing power-assisted manipulators generally include floor-mounted fixed type, suspended fixed type, and suspended mobile type. Entering a small space for operation; (3) The execution end has less freedom and is inconvenient to adjust. Therefore, the common fixed power-assisted manipulator can no longer meet the requirements of many work sites.

SUMMARY OF THE INVENTION

The content of the present invention is to provide a nuclear island bracket installation vehicle in view of the defects of the prior art.

The present invention is realized as follows: a nuclear island support installation vehicle includes a turntable assembly, the turntable assembly is arranged on a rubber crawler chassis, the rubber crawler chassis can carry the turntable assembly to move, and a clamp device is arranged on the turntable assembly, A clamp is provided at the end of the clamp device.

A nuclear island bracket installation vehicle as described above, wherein the clamp device includes two connecting arms, an upper and lower adjustment mechanism and a clamp cylinder, wherein an upper and lower adjustment mechanism is provided on the first-level arm, and the upper and lower adjustment mechanism is fixed with the upper and lower oil cylinders The connecting arm of the secondary arm can move up and down through the pushing or pulling of the upper and lower oil cylinders and the rotation of the upper and lower adjusting mechanisms.

In the above-mentioned nuclear island bracket installation vehicle, the fixture device further comprises a three-dimensional force-sensitive sensor, and the detection head of the three-dimensional force-sensitive sensor is arranged at the clamping part of the fixture.

A nuclear island support installation vehicle as described above, wherein the turntable assembly is provided with a slewing mechanism and an electrical system, the electrical system can control the rotation of the slewing mechanism, and a lift arm is also provided on the turntable assembly, and the end of the lift arm is provided with In the clamp device, a lift arm oil cylinder is arranged on the lift arm, the lift arm oil cylinder is used to control the lifting and lowering of the clamp device, and the hydraulic pressure of the lift arm oil cylinder is controlled by the hydraulic system.

In the above-mentioned nuclear island support installation vehicle, each arm of the lifting arm is a parallelogram structure, and adjacent parallelogram structures pass through connecting rods.

The above-mentioned nuclear island support installation vehicle, wherein the slewing mechanism is composed of a slewing drive and a motor. When the slewing motor drives the slewing drive, it drives the upper platform to rotate left and right to adjust the installation position of the support on the slewing plane.

The above-mentioned nuclear island bracket installation vehicle, wherein the telescopic arm and the oil cylinder form a luffing mechanism, when the variable oil cylinder is stretched, the telescopic arm is driven to move in the amplitude plane, and the installation position of the bracket luffing plane is adjusted.

The above-mentioned nuclear island bracket installation vehicle, wherein the up and down adjustment mechanism is composed of a connecting rod and an oil cylinder. When the oil cylinder moves, it drives the four-link structure and can adjust the installation position of the bracket luffing plane.

The above-mentioned nuclear island bracket installation vehicle, wherein the left and right swing mechanism is composed of a structural member and an oil cylinder. When the oil cylinder moves, it can drive the rotating structure to adjust the installation position of the bracket rotation plane.

The significant effects of the present invention are: the nuclear island support installation vehicle in the present invention is a self-propelled equipment: the rubber track chassis is adopted, the track grounding area is large, the stability is good, the adaptability is strong, the ground is not damaged, and the bearing capacity is strong. It is suitable for complex ground environment; it adopts electro-proportional hydraulic control system, with controllable speed and stable action; with lifting arm and telescopic arm function, it has better obstacle-crossing performance; Realize precise positioning of the bracket; can install a variety of fixtures, wide range of use; use wireless remote control, simple and fast control; use motor as power source, battery power supply system, not limited by the site, strong endurance.

The nuclear island bracket installation vehicle described in the present invention can significantly improve work efficiency, ensure construction safety, reduce labor intensity, and reduce labor input.

Description of drawings

Figure 1. The composition diagram of the telescopic arm;

Figure 2. The composition diagram of the lifting arm;

Figure 3. The composition diagram of the luffing mechanism;

Figure 4 is a composition diagram of the up and down swing mechanism;

Figure 5 is a diagram of the composition of the left and right swing mechanism;

Figure 6. Components of the whole machine;

Figure 7 initial state diagram;

Figure 8 working state diagram.

1. Rubber track chassis, 2. Turntable assembly, 3. Clamp, 4. Three-dimensional force sensor, 5. Upper and lower cylinder, 6. Up and down adjustment mechanism, 7. Clamp cylinder, 8. Bracket, 9. Rotating mechanism, 10 .Left and right adjustment mechanism, 11. Left and right cylinder, 12. Telescopic arm, 13. Telescopic cylinder 1, 14. Telescopic cylinder 2, 15. Lifting arm cylinder, 16. Hydraulic system, 17. Lifting arm, 18. Electrical system, 19. Rotary mechanism, 20. Primary arm, 21. Oil cylinder, 23. Secondary arm, 24. Parallelogram structure, 25. Connecting rod, 26. Oil cylinder, 27. Four connecting rod, 28. Rotating structure

Detailed ways

A nuclear island support installation vehicle in the present invention is a self-propelled equipment, including a crawler chassis assembly, a slewing mechanism, a turntable assembly, a hydraulic system, an electrical system, a lifting arm assembly, a mounting frame, a telescopic arm, a luffing arm Oil cylinder, up and down swing mechanism, left and right swing mechanism, rotating mechanism, three-dimensional force sensor, length sensor, angle sensor, accumulator, pressure sensor, fixture mechanism.

The telescopic arm mechanism is composed of a primary arm, a secondary arm, a telescopic cylinder and other components. The secondary arm is driven by the cylinder to expand and contract, and the length of the arm can be adjusted to achieve large height and large operation; see Figure 1

The lifting arm mechanism is composed of two quadrilateral structures, connecting rods and oil cylinders. When the lifting cylinder drives one quadrilateral linkage mechanism to move, the other quadrilateral linkage mechanism moves synchronously to realize the vertical lifting of the bracket and improve the working height; see Figure 2

The slewing mechanism is composed of a slewing drive and a motor. When the slewing motor drives the slewing drive, it drives the upper platform to rotate left and right, and adjusts the installation position of the bracket on the slewing plane;

Turntable assembly, a platform for arranging electrical systems, hydraulic systems, covers and other components;

The luffing mechanism is composed of a telescopic arm and an oil cylinder. When the luffing cylinder is telescopic, it drives the telescopic arm to move in the amplitude plane, and adjusts the installation position of the bracket luffing plane; see Figure 3

The up and down swing mechanism is composed of connecting rod and oil cylinder. When the oil cylinder moves, it drives the four-link structure and can adjust the installation position of the luffing plane of the bracket; see Figure 4

The left and right swing mechanism is composed of structural parts and an oil cylinder. When the oil cylinder moves, it can drive the rotation structure to adjust, and the installation position of the bracket rotation plane; see Figure 5

The rotating mechanism is composed of a structural part, a rotary drive and a motor. When the motor drives the rotary drive, it can make the clamp rotate and adjust the angle between the bracket and the ground;

Using electro-hydraulic proportional control, variable speed motor and quantitative pump, the flow rate of the hydraulic system can be controlled and fine-tuning can be achieved when it is installed in place.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort. Fig. 6 is the composition diagram of the nuclear island support installation vehicle, Fig. 7 is the initial state diagram of the nuclear island support installation vehicle, and Fig. 8 is the working state diagram of the nuclear island support installation vehicle.

In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described implementation The examples are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly or indirectly disposed on the other element; when an element is referred to as being "connected" "to" another element, it may be directly connected to another element or indirectly connected to another element.

It should be understood that the terms "length", "width", "height", "luffing", "telescopic", "elevation", "slewing", "rotation", "upper", "lower", "front," The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "luffing plane", "rotation plane", etc. are based on the orientation or positional relationship shown in the accompanying drawings, only It is for the convenience of describing the present application and to simplify the description, rather than indicating or implying that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

As shown in Figure 6-8, the rubber crawler chassis 1 can be used by the equipment to travel to a designated working position, and the clamp 3 can clamp brackets of different weights and specifications through the oil cylinder 7; the slewing mechanism 19 realizes the overall 360° rotation of the upper structure; the lifting arm 17. The height of the upper mechanism can be raised and lowered by the oil cylinder 15; the telescopic arm 12 can be lifted and lowered in the luffing plane by the oil cylinder 13, and the length of the boom can be adjusted by the oil cylinder 14 of the telescopic arm 12; The adjustment in the width plane; the left and right adjustment mechanism 10 can realize the adjustment in the rotation plane through the oil cylinder 11; the rotation mechanism 9 can make the bracket rotate and adjust different angles; the three-dimensional force sensitive sensor 4 can accurately reflect the weight of the bracket; the hydraulic system 16 and the The electrical system 18 provides the power and control portion of the overall plant. Through multi-dimensional action adjustment, the bracket can reach the designated position accurately and quickly.

The innovation of the present invention is embodied in:

(1) A nuclear island support installation vehicle described in the present invention includes clamp loosening/clamping action, rotation action, mechanism left and right swing action, mechanism up and down action, telescopic arm telescopic action, telescopic arm luffing action, lift arm extension 9 movements, such as lowering action, turning action, left and right walking action, can realize up to 7 degrees of freedom adjustment and installation.

(2) For a nuclear island support installation vehicle described in the present invention, the left and right swinging action of the mechanism is used in conjunction with the rotating action to realize the leveling function of the support in the left and right planes of the installation vehicle; the up and down swinging action and the luffing action of the mechanism When used together, it can realize the leveling function of the bracket in the upper and lower planes of the installation vehicle; the lifting arm action and luffing action can realize the adjustment of the bracket on the height of the installation vehicle; the rotary machine action composed of the slewing drive can realize the angle between the bracket and the ground. adjustment.

(3) A nuclear island bracket installation vehicle described in the present invention transmits signals to the control module of the electrical system through three-dimensional force-sensitive sensors, angle sensors 2, 3 and length sensors to form a unique torque limiter system , so as to protect the stability of the installation vehicle.

(4) A nuclear island bracket installation vehicle described in the present invention has a unique torque limiter system. According to clamping different weight brackets, different signals are given under different angles and amplitudes and displayed through three-color lights. Warning and protection.

(5) In the nuclear island bracket installation vehicle described in the present invention, the clamp system adopts triple protection to ensure that the clamp bracket does not fall off. The triple protection is equipped with a balance valve for the clamp cylinder to ensure that the cylinder can be locked and not recovered when the hydraulic pipeline loses pressure; the cylinder pressure detection sensor can detect that the leakage pressure of the cylinder reaches a certain value and give a warning; the accumulator can keep the cylinder pressure at all times.

(6) In the nuclear island support installation vehicle described in the present invention, the power source is provided by the battery, the power is provided by the motor, and the action is realized by the hydraulic system. The motor of the nuclear island bracket installation vehicle adopts an AC speed regulating motor, and the hydraulic system valve is a proportional valve, which has good fine-tuning action performance and can achieve precise positioning of the bracket.

Claims (9)

1. A nuclear island support installation vehicle is characterized in that: comprising a turntable assembly (2), the turntable assembly (2) is arranged on a rubber crawler chassis (1), and the rubber crawler chassis (1) can carry the turntable assembly (2) Moving, a clamp device is provided on the turntable assembly (2), and a clamp (3) is provided at the end of the clamp device. 2. A nuclear island support installation vehicle as claimed in claim 1, characterized in that: the clamp device comprises two connecting arms, an upper and lower adjusting mechanism (6) and a clamp oil cylinder (7), wherein in the first-level arm (20) An upper and lower adjusting mechanism (6) is arranged on the upper and lower adjusting mechanism (6), which is fixedly connected with the upper and lower oil cylinder (5), and is pushed out or pulled back by the upper and lower oil cylinder (5) and the rotation of the upper and lower adjusting mechanism (6), The connecting arm of the secondary arm (23) can be moved up and down, a clamp cylinder (7) is arranged on the secondary arm (23), and the clamp cylinder (7) can control the loosening or tightening of the clamp (3). 3. A nuclear island support mounting vehicle as claimed in claim 2, characterized in that: the fixture device further comprises a three-dimensional force-sensitive sensor (4), and the detection head of the three-dimensional force-sensitive sensor (4) is arranged on the fixture (3) clamping part. 4. A nuclear island support installation vehicle as claimed in claim 3, characterized in that: the turntable assembly (2) is provided with a turning mechanism (19) and an electrical system (18), and the electrical system (18) can control the turning For the rotation of the mechanism (19), the turntable assembly (2) is also provided with a lift arm (17), the end of the lift arm (17) is provided with a clamp device, and the lift arm (17) is provided with a lift arm oil cylinder (15), the lift arm (17). The arm oil cylinder (15) is used to control the lifting and lowering of the fixture device, and the hydraulic pressure of the lifting arm oil cylinder (15) is controlled by the hydraulic system (16). 5. A nuclear island support installation vehicle as claimed in claim 4, characterized in that: each arm of the lifting arm (17) is a parallelogram structure (24), and the adjacent parallelogram structures (24) pass through a connecting rod (25). 6. A kind of nuclear island support installation vehicle as claimed in claim 5, it is characterized in that: slewing mechanism (19), is made up of slewing drive, motor, when slewing motor drives slewing drive, drives upper platform to rotate left and right, adjust bracket Mounting position on the swivel plane. 7. A nuclear island support installation vehicle as claimed in claim 6, characterized in that: the telescopic arm (17) and the oil cylinder form an amplitude luffing mechanism, and when the variable oil cylinder is telescopic, the telescopic arm (17) is driven to move in the amplitude plane , adjust the installation position of the bracket luffing plane. 8. A kind of nuclear island support installation vehicle as claimed in claim 7, it is characterized in that: the upper and lower adjusting mechanism (6) is composed of connecting rod and oil cylinder, when the oil cylinder moves, it drives the four-link structure, which can adjust the change of the support. The installation position of the web plane. 9 . A nuclear island support installation vehicle as claimed in claim 8 , wherein the left and right swing mechanism is composed of a structural member and an oil cylinder. When the oil cylinder moves, it can drive the rotating structure to adjust the installation position of the support rotation plane. 10 .

Images