阅读说明：本技术 一种全自动顶升加节的塔式起重机 (Full-automatic jacking and joint adding tower crane ) 是由 王海兵 申继军 耿贵军 孙金桥 胡立新 石立国 李鑫 杨丹 刘喜利 徐兴冉 张伟 于 2021-06-28 设计创作，主要内容包括：本发明提供了一种全自动顶升加节的塔式起重机,包括控制系统、顶升加节系统和监控系统；控制系统和顶升加节系统连接,顶升加节系统和监控系统连接,监控系统和控制系统连接；其中,所述控制系统用于控制顶升加节系统,所述顶升加节系统在控制系统的控制下实现塔机顶升加节的操作,所述监控系统用于监控所述顶升加节系统的操作并将信号反馈给控制系统。本发明通过控制系统控制顶升加节系统的各个子系统的协调配合,利用监控系统监测反馈,最终可显现塔机的全自动加节顶升；本发明所述设备的应用,可减少人工投入,实现塔机顶升加节的安全、高效、自动化和可视化。(The invention provides a full-automatic jacking and joint adding tower crane, which comprises a control system, a jacking and joint adding system and a monitoring system, wherein the control system comprises a control system, a jacking and joint adding system and a monitoring system; the control system is connected with the jacking node adding system, the jacking node adding system is connected with the monitoring system, and the monitoring system is connected with the control system; the control system is used for controlling the jacking node adding system, the jacking node adding system realizes the operation of jacking node adding of the tower crane under the control of the control system, and the monitoring system is used for monitoring the operation of the jacking node adding system and feeding back signals to the control system. The system controls the coordination of all subsystems of the jacking node adding system through the control system, monitors feedback by using the monitoring system, and finally can display the full-automatic node adding jacking of the tower crane; the application of the equipment can reduce the labor input and realize the safety, high efficiency, automation and visualization of the jacking joint of the tower crane.)

1. A full-automatic jacking and joint adding tower crane is characterized by comprising a control system, a jacking and joint adding system and a monitoring system; the control system is connected with the jacking node adding system, the jacking node adding system is connected with the monitoring system, and the monitoring system is connected with the control system; wherein the content of the first and second substances,

the control system is used for controlling the jacking node adding system, the jacking node adding system realizes the operation of jacking node adding of the tower crane under the control of the control system, and the monitoring system is used for monitoring the operation of the jacking node adding system and feeding back signals to the control system.

2. The tower crane with full-automatic jacking and joint adding functions as claimed in claim 1, wherein the jacking and joint adding system comprises a standard joint automatic hoisting subsystem, a suspension arm automatic balancing subsystem, a standard joint automatic introduction subsystem, a pin shaft automatic dismounting subsystem and a sleeve frame automatic jacking subsystem, a control system is connected with the subsystems, and the subsystems are connected with a monitoring system; wherein the content of the first and second substances,

the automatic hoisting subsystem of the standard knot is used for controlling the hoisting piece and the standard knot to be connected to realize the automatic hoisting of the standard knot, the automatic balancing subsystem of the suspension arm is used for controlling the amplitude variation trolley to move so as to realize the automatic balancing of the suspension arm, the automatic introduction subsystem of the standard knot is used for controlling the introduction trolley to be connected with the hoisting piece, the introduction distance of the introduction trolley is controlled so as to realize the automatic introduction of the standard knot into the sleeve frame, the automatic dismounting pin shaft subsystem is used for automatically dismounting the pin shaft so as to realize the dismounting of the tower body and the standard knot, the dismounting of the tower body and the rotation, the dismounting of the sleeve frame and the rotation, and the automatic jacking subsystem of the sleeve frame is used for realizing the automatic jacking of the sleeve frame, thereby realizing the full-automatic jacking and joint adding of the tower crane.

3. The full-automatic jacking and joint adding tower crane according to claim 2, wherein the standard joint automatic hoisting subsystem further comprises a hoisting driving mechanism, a lifting hook, a hoisting piece, a clamping piece and a clamping piece driving mechanism; wherein the content of the first and second substances,

the hoisting driving mechanism is positioned on the tower crane and is connected with the lifting hook through a steel wire rope and drives the lifting hook to move;

the lifting hook is connected with the hoisting piece, and the lifting hook is detached from the hoisting piece under the action of the hoisting driving assembly;

the hoisting piece is provided with a clamping piece, the clamping piece is connected with a clamping piece driving mechanism, and the clamping piece is driven by the clamping piece driving mechanism to be disassembled and assembled with the standard knot.

4. The tower crane with the automatic jacking and joint adding functions as claimed in claim 3, wherein the clamping piece comprises a mechanical arm and a clamping jaw, one end of the clamping jaw is connected with the standard joint, the other end of the clamping jaw is connected with the mechanical arm, and the other end of the mechanical arm is connected with a clamping piece driving mechanism; the standard knot is provided with a clamping block matched and connected with the clamping jaw; a connecting plate is arranged below the hoisting piece, and the connecting plate is connected with the middle part of the mechanical arm through a rotating shaft;

the joint driving mechanism moves downwards to drive the mechanical arm to move and further drive the clamping jaw to extend into the clamping block, and the joint driving mechanism moves upwards to drive the mechanical arm to move and further drive the clamping jaw to retract, so that the hoisting piece and the standard knot are disassembled and assembled.

5. The fully automatic jacking and knuckle adding tower crane according to claim 2, wherein the boom automatic trim subsystem comprises a level, a luffing carriage and a luffing carriage drive mechanism; the control system controls the amplitude variation trolley driving mechanism to drive the amplitude variation trolley to horizontally move along the suspension arm according to information fed back by the level gauge, and automatic balancing of the suspension arm is achieved.

6. The full-automatic jacking and joint adding tower crane according to claim 2, wherein the standard joint automatic introduction subsystem comprises an introduction trolley, a twist lock driving mechanism, an introduction driving mechanism and a guide rail; wherein, the twistlock is located the below of introduction dolly, realizes and hoist and mount the dismouting of piece under twistlock actuating mechanism's drive, is equipped with introduction actuating mechanism on the introduction dolly, and introduction dolly top is equipped with the guide rail, and the introduction dolly is along guide rail horizontal migration under introduction actuating mechanism's drive, and then drives hoist and mount piece and standard festival removal, introduces the stock setting mounted position.

7. The full-automatic jacking and joint adding tower crane according to claim 6, wherein the twist lock driving mechanism comprises a rocker connected with the twist lock, a hydraulic rod of a hydraulic cylinder connected with the other end of the rocker, and a positioning pile connected with the other end of the hydraulic cylinder and fixing the positioning pile at the bottom of the lead-in trolley; when the hydraulic rod stretches out and draws back, the rotary lock is driven to rotate, and the rotary lock is rotated to be detached from the lock hole.

8. The fully automatic jacking articulated tower crane of claim 6, wherein the pull-in trolley drive mechanism comprises a motor on the pull-in trolley, a gear coupled to the motor, and a rack coupled to the gear; the rack is fixed below the guide rail, and the introduction trolley is connected with the guide rail through a hanging plate; when the motor is started, the gear is driven to rotate on the rack, and the driving of the lead-in trolley to slide along the guide rail is realized.

9. The full-automatic jacking and joint adding tower crane according to claim 6, wherein the standard joint automatic introduction subsystem further comprises a grating ruler, and the grating ruler is positioned on the guide rail; the information measured by the grating ruler is fed back to the monitoring system, the monitoring system feeds back the information to the control system, and the lead-in trolley driving module of the control system controls the lead-in trolley driving mechanism to accurately control the running distance of the lead-in trolley.

10. The automatic introduction device for the standard knot of the tower crane according to claim 6, wherein a plurality of guide inserting plates are connected below the introduction trolley, and a plurality of guide grooves matched with the guide inserting plates are formed in the top of the hoisting piece.

Technical Field

The invention belongs to the technical field of tower cranes, and particularly relates to a full-automatic jacking and joint adding tower crane.

Background

With the rapid development of construction technology, the technical performance requirements of tower cranes (tower cranes) for building construction are higher and higher, and especially the safety performance requirements of tower cranes are higher. Because the tower crane safety accident of job site constantly takes place, tower crane security performance is more and more paid attention to.

At present, the tower crane is operated on the tower crane manually to realize the jacking and section addition of the tower crane, and the movement of a dismounting pin shaft, a hanging shoe and a supporting foot is manually operated. The jacking and section adding mode is high in dependence on manual work, low in jacking efficiency, high in danger to people and high in accident rate. In order to solve the problems, a series of modes are adopted in the industry of tower cranes to control the occurrence of accidents in the jacking process. The method mainly comprises the following two modes: firstly, a safety monitoring system and an installing and dismantling protection system are added, and the running state of each moving part jacked by the tower crane is monitored in real time. Secondly, strengthen the management of job site, promote the whole quality of operation personnel. Namely, the monitoring system is applied to monitor the working conditions of tower crane operators and the tower crane.

The two modes can prevent and control the occurrence of jacking accidents in real time through the field management and monitoring system, reduce the incidence of accidents to a certain extent, but fail to fundamentally solve the potential safety hazard when the tower crane jacks and saves time. Therefore, it is necessary to research and design a scheme for an automatic control system for jacking and section adding of a tower crane.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, the present invention is directed to a fully automatic jacking tower crane.

In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:

a full-automatic jacking and joint-adding tower crane comprises a control system, a jacking and joint-adding system and a monitoring system; the control system is connected with the jacking node adding system, the jacking node adding system is connected with the monitoring system, and the monitoring system is connected with the control system; the control system is used for controlling the jacking node adding system, the jacking node adding system realizes the operation of jacking node adding of the tower crane under the control of the control system, and the monitoring system is used for monitoring the operation of the jacking node adding system and feeding back signals to the control system.

According to the technical scheme provided by the embodiment of the application, the jacking joint adding system comprises a standard joint automatic hoisting subsystem, a suspension arm automatic balancing subsystem, a standard joint automatic introduction subsystem, a pin shaft automatic dismounting subsystem and a sleeve frame automatic jacking subsystem, a control system is connected with the subsystems, and the subsystems are connected with a monitoring system; the automatic lifting subsystem of the standard knot is used for controlling a lifting piece and the standard knot to be connected to realize automatic lifting of the standard knot, the automatic balancing subsystem of the lifting arm is used for controlling the amplitude-variable trolley to move so as to realize automatic balancing of the lifting arm, the automatic introduction subsystem of the standard knot is used for controlling the introduction trolley to be connected with the lifting piece, controlling the introduction distance of the introduction trolley and further realizing automatic introduction of the standard knot into the sleeve frame, the automatic dismounting pin subsystem of the automatic dismounting pin is used for automatically dismounting the pin shaft so as to realize dismounting of the tower body and the standard knot, dismounting the tower body and rotation, dismounting the sleeve frame and rotation, and the automatic jacking subsystem of the sleeve frame is used for realizing automatic jacking of the sleeve frame, so that full-automatic jacking and jointing of the tower crane are realized.

According to the technical scheme provided by the embodiment of the application, the standard knot automatic hoisting subsystem further comprises a hoisting driving mechanism, a lifting hook, a hoisting piece, a clamping piece driving mechanism and a clamping piece; the hoisting driving mechanism is connected with the lifting hook through a steel wire rope and drives the lifting hook to vertically move; the lifting hook is connected with the hoisting part, and the hoisting driving mechanism drives the lifting hook to open and close automatically to realize the dismounting of the lifting hook and the hoisting part; the hoisting piece is provided with a clamping piece, and the clamping piece is driven by a clamping piece driving mechanism to be disassembled and assembled with the standard knot.

According to the technical scheme provided by the embodiment of the application, the clamping piece comprises a mechanical arm and a clamping jaw, one end of the mechanical arm is connected with the clamping jaw, the other end of the mechanical arm is connected with a clamping piece driving mechanism, the clamping jaw is connected with the standard joint, and the standard joint is provided with a clamping block matched and connected with the clamping jaw; a connecting plate is arranged below the hoisting piece, and the connecting plate is connected with the middle part of the mechanical arm through a rotating shaft; joint spare actuating mechanism downstream drives the arm motion and then drives the jack catch and to extend all around and standard festival joint, joint spare actuating mechanism upward movement drives the arm motion and then drives the jack catch and withdraws and the standard festival loosens the joint.

According to the technical scheme provided by the embodiment of the application, the automatic balance subsystem of the suspension arm comprises a level meter, an amplitude variation trolley and an amplitude variation trolley driving mechanism; the control system controls the amplitude variation trolley driving mechanism to drive the amplitude variation trolley to horizontally move along the suspension arm according to information fed back by the level gauge, and automatic balancing of the suspension arm is achieved.

According to the technical scheme provided by the embodiment of the application, the standard knot automatic introduction subsystem comprises an introduction trolley, a twist lock driving mechanism, an introduction driving mechanism and a guide rail; wherein, the twistlock is located the below of introduction dolly, realizes and hoist and mount the dismouting of piece under twistlock actuating mechanism's drive, is equipped with introduction actuating mechanism on the introduction dolly, and introduction dolly top is equipped with the guide rail, and the introduction dolly is along guide rail horizontal migration under introduction actuating mechanism's drive, and then drives hoist and mount piece and standard festival removal, introduces the stock setting mounted position.

According to the technical scheme provided by the embodiment of the application, the twist lock driving mechanism comprises a rocker connected with the twist lock, a hydraulic rod of a hydraulic cylinder connected with the other end of the rocker, and a positioning pile connected with the other end of the hydraulic cylinder and fixing the positioning pile at the bottom of the lead-in trolley; when the hydraulic rod stretches out and draws back, the rotary lock is driven to rotate, and the rotary lock is rotated to be detached from the lock hole.

According to the technical scheme provided by the embodiment of the application, the introduction trolley driving mechanism comprises a motor, a gear and a rack, wherein the motor is positioned on the introduction trolley; the rack is fixed below the guide rail, and the introduction trolley is connected with the guide rail through a hanging plate; when the motor is started, the gear is driven to rotate on the rack, and the driving of the lead-in trolley to slide along the guide rail is realized.

According to the technical scheme provided by the embodiment of the application, the automatic standard knot introduction subsystem further comprises a grating ruler, and the grating ruler is positioned on the guide rail; the information measured by the grating ruler is fed back to the monitoring system, the monitoring system feeds back the information to the control system, and the lead-in trolley driving module of the control system controls the lead-in trolley driving mechanism to accurately control the running distance of the lead-in trolley.

According to the technical scheme provided by the embodiment of the application, the lower part of the introduction trolley is connected with a plurality of guide inserting plates, and the top of the hoisting part is provided with a plurality of guide inserting plates and guide inserting plates matched and connected with guide grooves.

The invention has the following beneficial effects:

the invention provides a full-automatic jacking tower crane, which comprises a tower crane structure, an automatic driving system, an automatic standard knot hoisting system, an automatic introduction system, an automatic balancing system, an automatic pin shaft dismounting system, an automatic sleeve frame jacking system, a monitoring system and an electrical control system, wherein the monitoring system and the electrical control system are coordinated and matched, and are used for detecting feedback, so that the safe, efficient, automatic and visual jacking of the tower crane is realized, and the full-automatic jacking of the tower crane can be finally realized through the control of the control system. The system is originated internationally, and because the full-automatic jacking of the tower crane is realized, the manual utilization is reduced, the safety performance of the tower crane is greatly improved, and the jacking working efficiency of the tower crane is improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

fig. 1-2 are structural connection block diagrams of a tower crane according to an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of a tower crane according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a standard knot automatic hoisting subsystem and a standard knot automatic introduction subsystem according to an embodiment of the present invention;

fig. 5 is a partial structural schematic view of a hoisting driving mechanism according to an embodiment of the invention;

fig. 6-7 are schematic structural views of a hoisting member, a clamping member and a clamping member driving mechanism according to an embodiment of the invention;

FIG. 8 is a schematic structural view of a twist-lock drive mechanism according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a drawing carriage and a drawing drive mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of the structure of the components of the automatic pin removal subsystem according to the embodiment of the present invention;

fig. 11 is a schematic structural diagram of components of the automatic jacking subsystem of the jacket frame according to the embodiment of the invention.

Reference numerals:

1. a standard section; 2. sleeving a frame; 3. a tower body; 4. jacking blocks; 5. jacking the cross beam;

110. hoisting a driving mechanism; 120. a hook; 130. hoisting a piece; 140. a clamping piece; 150. a fastener driving mechanism;

111. hoisting a driving motor; 112. a traction device; 113. a wire rope;

131. a lock hole; 1311. an opening; 1312. grooving; 132. a guide groove;

141. a mechanical arm; 142. a claw; 143. a connecting plate; 144. installing a clamping block;

151. an oil cylinder; 152. a sucker rod; 153. a sucker rod top; 154. a hydraulic station; 155. an oil outlet;

21. a suspension arm; 22. a balance arm; 23. a variable amplitude trolley;

310. introducing a trolley; 320. screwing; 330. a twist lock drive mechanism; 340. introducing a driving mechanism; 350. a guide rail; 360. hanging the plate;

331. a rocker; 332. a hydraulic cylinder; 333. a hydraulic lever; 334. positioning the pile;

341. a motor; 342. a gear; 343. a rack;

410. the pin shaft mechanism is automatically grabbed; 420. a pin shaft; 430. a pin roll library; 440. a hydraulic drive mechanism;

510. a boot hanging mechanism; 520. a shoe hanging drive mechanism; 530. a kickstand mechanism; 540. a temple drive mechanism; 550. a guide rail; 560. and (4) a jacking hydraulic cylinder.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

A full-automatic jacking and joint-adding tower crane comprises a control system, a jacking and joint-adding system and a monitoring system; the control system is connected with the jacking node adding system, the jacking node adding system is connected with the monitoring system, and the monitoring system is connected with the control system; the control system is used for controlling the jacking node adding system, the jacking node adding system realizes the operation of jacking node adding of the tower crane under the control of the control system, and the monitoring system is used for monitoring the operation of the jacking node adding system and feeding back signals to the control system.

Referring to fig. 1, the control system sends an instruction to the jacking node adding system according to the internal program and information fed back by the monitoring system to control the automatic operation of the jacking node adding system, thereby realizing the full-automatic jacking node adding operation of the tower crane.

The jacking node adding system realizes jacking node adding operation of the tower crane.

Monitoring system and the distance sensor, position sensor, image sensor, the weight sensor who sets up corresponding position in the jacking adds festival system are connected to feed back the information that the sensor detected to control system, make things convenient for information such as each corresponding key part of control system monitoring tower machine, position distance, and then monitor tower machine operational aspect and jacking condition, help personnel know the tower machine condition through the long-range. If a fault is met, the normal operation is continued after the fault is eliminated.

Because the full-automatic jacking and section adding operation of the tower crane is realized, the tower crane does not need to be frequently lifted up and down manually, the personnel safety is improved, and the labor cost is also reduced.

In a preferred embodiment of the present invention, the jacking and joint adding system comprises a standard joint automatic hoisting subsystem, a boom automatic balancing subsystem, a standard joint automatic introduction subsystem, a pin shaft automatic dismounting subsystem and a sleeve frame automatic jacking subsystem, wherein a control system is connected with the subsystems, and the subsystems are connected with a monitoring system; the automatic lifting subsystem of the standard knot is used for controlling a lifting piece and the standard knot to be connected to realize automatic lifting of the standard knot, the automatic balancing subsystem of the lifting arm is used for controlling the amplitude-variable trolley to move so as to realize automatic balancing of the lifting arm, the automatic introduction subsystem of the standard knot is used for controlling the introduction trolley to be connected with the lifting piece, controlling the introduction distance of the introduction trolley and further realizing automatic introduction of the standard knot into the sleeve frame, the automatic dismounting pin subsystem of the automatic dismounting pin is used for automatically dismounting the pin shaft so as to realize dismounting of the tower body and the standard knot, dismounting the tower body and rotation, dismounting the sleeve frame and rotation, and the automatic jacking subsystem of the sleeve frame is used for realizing automatic jacking of the sleeve frame, so that full-automatic jacking and jointing of the tower crane are realized.

In the process, the monitoring system monitors the operation condition of each subsystem component in real time, and information transmitted by the distance sensor, the position sensor and the image sensor which are installed on each subsystem is fed back to the control system, so that the control system can monitor the operation condition of each subsystem conveniently, and the action of each subsystem is controlled. The monitoring system comprises video monitoring devices installed on each subsystem, the running real-time images of each system are transmitted to the control system, and workers know the running condition of the whole tower crane according to the images and perform manual intervention on the running and lifting of jacking according to actual conditions. If faults such as blockage of the tower body, tension and extrusion damage of the cable clamp, in-place driving of a driving mechanism and the like occur, the faults are eliminated at the first time, and then the normal operation is continued. Meanwhile, one or more running parts are monitored by one video monitoring device, pictures are collected and transmitted to a control system terminal for imaging, and workers can observe jacking node adding conditions more visually.

Referring to fig. 2, the control system includes a hoisting driving module, a clamping driving module, a variable-amplitude trolley driving module, a spin lock driving module, a lead-in driving module, a grabbing pin driving module, a hydraulic driving module, a hanging shoe driving module, a supporting leg driving module, and a jacking hydraulic cylinder driving module; the standard knot hoisting subsystem comprises a hoisting driving mechanism, a clamping driving mechanism, a distance sensor and a position sensor; the automatic balance subsystem of the suspension arm comprises a variable amplitude trolley driving mechanism and a level meter; the standard knot automatic introduction subsystem comprises a twist lock driving mechanism, an introduction driving mechanism and a grating ruler; the automatic pin shaft dismounting subsystem comprises an automatic pin shaft grabbing mechanism and a hydraulic driving mechanism; the sleeve frame automatic jacking subsystem comprises a hanging shoe driving mechanism, a supporting leg driving mechanism and a jacking hydraulic cylinder;

wherein the content of the first and second substances,

the hoisting driving module is connected with the hoisting driving mechanism and controls the action of the hoisting driving mechanism; the clamping driving module is connected with the clamping driving mechanism to control the action of the clamping driving mechanism; the amplitude variation trolley driving module is connected with the amplitude variation trolley driving mechanism and controls the action of the amplitude variation trolley driving mechanism; the spin lock driving module is connected with the spin lock driving mechanism and controls the action of the spin lock driving mechanism; the lead-in driving module is connected with the lead-in driving mechanism and controls the action of the lead-in driving mechanism; the grabbing pin shaft driving module is connected with the automatic grabbing pin shaft mechanism and controls the action of the automatic grabbing pin shaft mechanism; the hydraulic driving module is connected with the hydraulic driving mechanism and controls the action of the hydraulic driving mechanism; the hanging boot driving module is connected with the hanging boot driving mechanism and controls the action of the hanging boot driving mechanism; the arm brace driving module is connected with the arm brace driving mechanism and controls the action of the arm brace driving mechanism; the jacking hydraulic cylinder driving module is connected with the jacking hydraulic cylinder and controls the action of a hydraulic rod of the jacking hydraulic cylinder; the distance sensor, the position sensor, the level meter and the grating ruler are respectively connected with the monitoring system, detected information is transmitted to the monitoring system, the monitoring system feeds back collected information and information collected by the image sensor to the control system, and the control system further controls the operation of each subsystem according to the fed-back information.

The automatic dismounting pin shaft subsystem is used for automatically dismounting the pin shaft so as to realize dismounting of the tower body and the standard section, dismounting of the tower body and the rotation, and dismounting of the sleeve frame and the rotation. The disassembly and assembly of the tower body and the standard knot refers to the disassembly and assembly of the tower body and the standard knot to be installed, and the installed standard knot forms the tower body.

In a preferred embodiment of the present invention, the standard knot automatic hoisting subsystem further comprises a hoisting driving mechanism, a hook, a hoisting member, a clamping member, and a clamping member driving mechanism; the hoisting driving mechanism is positioned on the tower crane and is connected with the lifting hook through a steel wire rope and drives the lifting hook to move; the lifting hook is connected with the hoisting piece, and the lifting hook is detached from the hoisting piece under the action of the hoisting driving assembly; the hoisting piece is provided with a clamping piece, the clamping piece is connected with a clamping piece driving mechanism, and the clamping piece is driven by the clamping piece driving mechanism to be disassembled and assembled with the standard knot.

With further reference to fig. 4, the hoisting driving mechanism includes a hoisting driving motor and a traction device, the traction device is wound around a traction steel wire rope, and the other end of the steel wire rope is connected to a hook. The driving motor is positioned at the position of the suspension arm close to the arm root. The control system controls the clamping part driving mechanism to act through the clamping part driving module to realize clamping connection and loosening connection of the hoisting part and the standard knot; the control system controls the hoisting part driving mechanism to control the lifting hook to move to hook the hoisting part through the hoisting part driving module, so that the lifting hook and the hoisting part are disassembled and assembled; the control system controls the hoisting driving motor of the hoisting part driving mechanism to start and stop the control traction device to rotate through the hoisting part driving module so that the steel wire rope is extended or retracted to drive the hoisting frame to vertically move, and therefore the standard knot is grabbed and vertically lifted, and automatic hoisting of the standard knot is achieved.

It should be understood here that the hoisting driving module mainly controls the opening and closing of the hoisting driving motor and the lifting hook to realize the grabbing and lifting actions of the hoisting piece.

In a preferred embodiment of the present invention, the clamping member includes a mechanical arm and a clamping jaw, one end of the clamping jaw is connected to the standard knot, the other end of the clamping jaw is connected to the mechanical arm, and the other end of the mechanical arm is connected to the clamping member driving mechanism; the standard knot is provided with a clamping block matched and connected with the clamping jaw; a connecting plate is arranged below the hoisting piece, and the connecting plate is connected with the middle part of the mechanical arm through a rotating shaft; the joint driving mechanism moves downwards to drive the mechanical arm to move and further drive the clamping jaw to extend into the clamping block, and the joint driving mechanism moves upwards to drive the mechanical arm to move and further drive the clamping jaw to retract, so that the hoisting piece and the standard knot are disassembled and assembled.

Referring to fig. 5, when the mechanical arm is driven by the clamping member driving mechanism to move, the jaws move around, and the jaws extend into the interior of the clamping block of the standard knot, so as to realize the clamping connection between the hoisting member and the standard knot. The clamping piece driving mechanism is fast and convenient to drive and clamp the standard knot, and the working efficiency is improved.

Specifically, as shown in fig. 5, the number of the mechanical arms is four, the number of the clamping blocks on the standard knot is four, the number of the clamping claws clamped with the clamping blocks is four, and the clamping connection of the hoisting part and the standard knot is realized through the connection structure of the clamping claws of the four mechanical arms and the clamping blocks, so that the clamping connection is stable and safe.

Referring to fig. 6, the clamping member driving mechanism includes a driving cylinder located inside the hoisting member and an oil rod top located below the hoisting member; and an oil rod of the oil cylinder can extend out of the bottom of the hoisting piece and is connected with the top of the oil rod in a propping manner. The utility model discloses a hydraulic lifting device, including the pole of oil rod, hoist assembly, jack catch, oil rod, the pole of oil rod props when stretching out and is located the oil rod top of hoist and mount subassembly below, the lateral wall of oil rod top with the arm is connected, works as the oil rod stretches out the hydro-cylinder and withstands the oil rod top drives when moving downwards the arm removes, and then drives the jack catch and remove to standard festival direction, and the jack catch stretches into the clamping piece and festival the chucking with the standard. The lifting piece is internally provided with a hydraulic station, and two oil outlets of the hydraulic station are connected with the oil cylinder. When the hydraulic station injects oil to the oil outlet which is positioned on the opposite upper portion, the oil rod extends out of the oil cylinder under the action of oil pressure and props against the oil rod top to move downwards so as to drive the mechanical arm to move and clamp the standard joint tightly; when the oil outlet which is positioned relatively below is filled with oil by the hydraulic station, the oil rod retracts into the oil cylinder under the action of oil pressure and is loosened with the oil rod top head, and the mechanical arm is rotated, so that the standard joint is loosened and clamped.

Here, it should be understood that the clamping member driving module of the control system mainly controls the clamping action of the clamping member driving mechanism by driving the hydraulic station of the clamping member driving mechanism. After the clamping piece is clamped with the standard section, the hoisting piece is connected with the standard section, and then the hoisting driving mechanism controls the hoisting piece to grab and lift, so as to drive the grabbing and lifting of the standard section.

In a preferred embodiment of the invention, the automatic balance subsystem of the suspension arm comprises a level meter, a variable amplitude trolley and a variable amplitude trolley driving mechanism; the control system controls the amplitude variation trolley driving mechanism to drive the amplitude variation trolley to horizontally move along the suspension arm according to information fed back by the level gauge, and automatic balancing of the suspension arm is achieved.

Specifically, as shown in fig. 3, the information detected by the level meter is the difference between the front and rear moments of the tower crane, the information is fed back to the control system through the monitoring system, the variable-amplitude trolley driving module of the control system controls the variable-amplitude trolley driving mechanism to drive the variable-amplitude trolley to horizontally move along the suspension arm, the moment value in the direction of the suspension arm is adjusted until the front and rear moments are the same, and thus the automatic balancing of the suspension arm is realized.

When the tower crane is lifted, because the upper half part and the lower half part of the tower crane are not firmly connected, the forward-tilting moment of a crane boom of the tower crane and the backward-lifting moment of the balance arm of the tower crane need to be balanced to ensure that the tower crane does not fall down, and the balancing method is to adjust the position of the amplitude-variable trolley on the crane boom of the tower crane to balance the moments.

In a preferred embodiment of the present invention, the standard knot automatic introduction subsystem comprises an introduction trolley, a twist lock driving mechanism, an introduction driving mechanism, and a guide rail; wherein, the twistlock is located the below of introduction dolly, realizes and hoist and mount the dismouting of piece under twistlock actuating mechanism's drive, is equipped with introduction actuating mechanism on the introduction dolly, and introduction dolly top is equipped with the guide rail, and the introduction dolly is along guide rail horizontal migration under introduction actuating mechanism's drive, and then drives hoist and mount piece and standard festival removal, introduces the stock setting mounted position.

With further reference to fig. 7, specifically, the lead-in trolley and the hoisting member are fixed by rotating the spin lock below the lead-in trolley after the spin lock extends into the lock hole above the hoisting member, and the lead-in trolley and the hoisting member are detached by rotating the spin lock in the opposite direction and separating the lock hole.

Specifically, as shown in fig. 1, the number of the twist locks and the number of the lock holes matched and connected with the twist locks are four, and the twist locks and the lock holes realize tight connection of the hoisting assembly and the lead-in trolley on one hand, and ensure the connection fastening and the positioning accuracy of the standard knot on the other hand. The rotary lock can rotate, an opening is formed in the top of the lock hole and used for enabling a lock head of the rotary lock to enter the lock hole, a groove is formed in the opposite side wall of the lock hole and used for enabling the lock head of the rotary lock to enter the end portion of the rotary lock after the lock head of the rotary lock rotates in the lock hole. Namely, the end part of the twist lock enters the corner fitting from the opening, and the end part of the twist lock rotates in the lock hole and is clamped in the groove to realize the connection of the hoisting assembly and the lead-in trolley; the end part of the twist lock rotates reversely in the lock hole to separate from the opening and the corner piece, so that the hoisting piece and the lead-in trolley are separated.

Specifically, the hoisting part and the standard part are provided with distance sensors for detecting the distance between the mechanical arm and each standard knot, and after a threshold value is reached, the hydraulic cylinder is locked for hoisting; a distance sensor for detecting the distance between the introduction trolley and the hoisting piece is arranged between the introduction trolley and the hoisting piece, when the distance is too short, an alarm is given, the lifting speed is reduced, and the rotary lock is matched and connected with the lock hole; the weight sensors are arranged on the four twist locks of the introduced trolley to monitor the weight born by each twist lock, and when the weight of each twist lock is the same and the total weight is the synthesis of one standard section and the mechanical arm, the connection between the hoisting piece and the lifting hook can be loosened.

In a preferred embodiment of the present invention, the twist lock driving mechanism includes a rocker connected to the twist lock, a hydraulic rod of a hydraulic cylinder connected to the other end of the rocker, and a spud connected to the other end of the hydraulic cylinder and fixing the spud to the bottom of the lead-in trolley; when the hydraulic rod stretches out and draws back, the rotary lock is driven to rotate, and the rotary lock is rotated to be detached from the lock hole.

With further reference to fig. 7 and 8, in the process of vertical movement of the hoisting member, after the end of the spin lock enters the lock hole, the hydraulic rod extends out of the hydraulic cylinder to push the rocker to drive the spin lock to rotate, the end of the spin lock is clamped with the slot, and the introduction trolley is connected with the hoisting member; the hydraulic rod retracts into the hydraulic cylinder to pull the rocker to drive the lock head to rotate, the lock head and the groove are loosened and clamped, then the rotary lock is separated from the opening and the lock hole, and the introduction trolley and the hoisting piece are loosened and connected.

The control system controls the spin lock driving mechanism to drive the spin lock to rotate through the spin lock driving module, so that the spin lock positioned below the introduction trolley and the lock hole positioned above the hoisting piece are disassembled and assembled, and the introduction trolley and the hoisting piece are automatically disassembled and assembled.

It should be understood here that the control system realizes the rotation of the twist lock through the action of the twist lock drive module control hydraulic cylinder, and then realizes the dismouting of hoist and mount piece and introduction dolly.

In a preferred embodiment of the present invention, the drawing trolley driving mechanism comprises a motor located on the drawing trolley, a gear coupled with the motor, and a rack coupled with the gear; the rack is fixed below the guide rail, and the introduction trolley is connected with the guide rail through a hanging plate; when the motor is started, the gear is driven to rotate on the rack, and the driving of the lead-in trolley to slide along the guide rail is realized.

As shown in figure 9, the standard knot is pulled by a mechanism of a gear rack sliding block to accurately control the displacement to enter a tower crane sleeve frame, manual push-pull is replaced, and time and labor are saved. The motor on the introduction trolley drives the gear to rotate on the rack meshed with the gear, so that the introduction trolley is driven to slide on the guide rail to further drive the standard knot to move, and the standard knot reaches a position to be installed.

The control system controls the introduction trolley driving mechanism to drive the introduction trolley to horizontally move along the guide rail through the introduction trolley driving module, and then the automatic introduction sleeve frame of the standard knot is controlled.

It should be understood here that the control system controls the starting of the motor by introducing the driving module, so as to realize the automatic introduction of the standard knot into the position where the stock is to be installed.

At this moment, the twist lock actuating mechanism controls the disassembly and assembly connection of the introduction trolley and the hoisting piece, and the introduction actuating mechanism controls the movement and the stop of the introduction trolley, so that the standard knot to be installed is introduced into a preset position, namely, the position to be installed above the tower body in the sleeve frame.

In a preferred embodiment of the present invention, the automatic standard knot introduction subsystem further includes a grating ruler, and the grating ruler is located on the guide rail; the information measured by the grating ruler is fed back to the monitoring system, the monitoring system feeds back the information to the control system, and the lead-in trolley driving module of the control system controls the lead-in trolley driving mechanism to accurately control the running distance of the lead-in trolley.

Specifically, the grating ruler is a measurement feedback device which works by utilizing the optical principle of the grating, is used for detecting linear displacement or angular displacement, and the measured signal is a digital pulse.

Specifically, when the reading of the grating ruler on the guide rail reaches a set value, the monitoring system feeds back the reading to the control system, the lead-in driving module of the control system drives the lead-in driving mechanism, namely the motor stops working, the lead-in trolley stops running, and the lead-in trolley begins to fall down to the upper tower part. Specifically, the grating ruler is used for accurately measuring the running distance of the introduced trolley. The numerical value of setting for is according to the rising position of standard festival, the standard festival wait that the mounted position apart from calculating reachs, can reach the setting for numerical value through the grating ruler reading that is located on the guide rail this moment and judge and reach preset position, then control introduction motor opens and stops to the position of accurate control standard festival, introduce the jacket frame with the standard festival and wait that mounted position, body of the tower are directly over.

In a preferred embodiment of the invention, a plurality of guide inserting plates are connected below the introducing trolley, and a plurality of guide grooves matched with the guide inserting plates are formed in the top of the hoisting piece.

Specifically, in the vertical moving process of the hoisting part, the guide inserting plate is inserted into the guide groove to realize the quick alignment and installation of the hoisting assembly and the introduction trolley.

Specifically, the joint of the guide inserting plate and the introducing trolley is provided with a reinforcing rib plate, so that the structure is more stable. The number of the guide inserting plates is four, the guide inserting plates are uniformly distributed at the bottom of the introduction trolley, and guide grooves with corresponding numbers are arranged at corresponding positions of the top of the hoisting part, so that the hoisting assembly and the introduction trolley can be quickly aligned and positioned.

In the process that the hoisting part is close to the introduction trolley, the guide inserting plate is inserted into the guide groove, the first alignment and positioning of the hoisting component and the introduction trolley are realized, the spin lock is inserted into the lock hole, and the second alignment and positioning of the hoisting part and the introduction trolley are realized. The double positioning structure of the guide inserting plate and the rotary lock ensures the positioning speed and efficiency of the standard knot.

Referring to fig. 10, the automatic pin dismounting subsystem includes an automatic pin catching mechanism, a hydraulic driving mechanism, a pin and a pin magazine, which are disposed on the stock; the hydraulic driving mechanism is used for detaching a pin shaft connected with the tower body and the lower support, installing the grabbed pin shaft to a pin shaft installation hole of the standard joint to be installed, automatically grabbing the pin shaft mechanism to grab the detached pin shaft and put the pin shaft back to the pin shaft warehouse, and grabbing the pin shaft from the pin shaft warehouse for installation. The automatic disassembly and assembly of the pin shaft are realized, and further the disassembly of the standard knot and the sleeve frame which are installed on the tower body and the installation of the standard knot and the sleeve frame to be installed are realized.

The hydraulic driving mechanism is used for installing or detaching the pin shaft under the control of the hydraulic driving module of the control system, and the automatic grabbing pin shaft mechanism is used for grabbing the pin shaft under the control of the grabbing pin shaft driving module of the control system.

The automatic dismouting subsystem of round pin axle, the reliability is high, can convenient and fast ground realize the installation and the dismantlement of tower crane jacking joining in-process round pin axle, when using, install this system on tower crane stock, leave the round pin axle in the round pin garage according to certain direction and order, transport the round pin axle to hydraulic drive mechanism department through automatic mechanism that snatchs, hydraulic drive mechanism drives the round pin axle and inserts the installation that can accomplish the round pin axle in the standard festival round pin axle mounting hole, the installation effectiveness is high, manpower and material resources are saved, compare with artifical dismouting round pin axle, can effectively avoid the emergence of the major casualty accident that the human factor caused, effectively reduce the installation risk.

Referring to fig. 11, the automatic jacking subsystem of the jacket frame includes a shoe hanging mechanism, a shoe hanging driving mechanism, a foot supporting driving mechanism, a jacking hydraulic cylinder and a guide rail, which are mounted on the jacket frame; the supporting foot mechanism is fixed on the sleeve frame, the pair of guide rails is vertically fixed on two sides of the sleeve frame, and the pair of guide rails are connected with two ends of the jacking cross beam; the jacking cross beam is connected to one end of a jacking hydraulic cylinder, and the other end of the jacking hydraulic cylinder is connected to the cross beam of the sleeve frame; the shoe hanging mechanism is hinged with the jacking cross beam; the shoe hanging driving mechanism is used for driving the shoe hanging mechanism and the jacking cross beam to be locked; the supporting leg driving mechanism is used for locking with the jacking block; the automatic jacking of the sleeve frame is realized by controlling the action of the supporting leg mechanism through the supporting leg driving mechanism, controlling the action of the shoe hanging mechanism through the shoe hanging driving mechanism and controlling the action of the jacking hydraulic cylinder.

Specifically, the control module comprises a hanging shoe driving module, a supporting foot driving module and a jacking hydraulic cylinder driving module, the hanging shoe driving module of the control system drives a hanging shoe driving mechanism to drive a hanging shoe mechanism to act, the supporting foot driving module of the control system drives a supporting foot driving mechanism to drive a supporting foot mechanism to act, and the jacking hydraulic cylinder driving module drives a jacking hydraulic cylinder hydraulic rod to act.

The automatic jacking subsystem of the sleeve frame further comprises a distance sensor, the distance sensor feeds back distance information to the control system through the monitoring system, the distance between the supporting foot device and the standard knot, the distance between the outer side of the oil cylinder and the jacking cross beam, and the control system controls the action of the corresponding driving mechanism according to the preset prefabrication.

The operating states of the supporting foot mechanism, the hanging shoe mechanism, the jacking hydraulic cylinder and the sleeve frame are detected through the monitoring module, and detection signals are fed back to the control module, the control module sends control signals to the hanging shoe driving structure, the supporting foot driving structure and the jacking hydraulic cylinder respectively, so that the crane can automatically overlay standard knots on the inner side of the sleeve frame, the working efficiency of jacking the crane is improved, the labor cost is saved, and the operation safety is improved; in addition, in the process that the jacking hydraulic cylinder drives the shoe hanging mechanism to move, the two ends of the jacking cross beam connected to the jacking hydraulic cylinder are connected to the guide rails vertically arranged, so that the jacking cross beam vertically moves along the guide rails in the moving process, and the jacking cross beam vertically moves under the constraint of the guide rails, and the moving stability and safety of the whole jacking device are improved.

Application scenarios: the control system sends out part action instructions according to the written control program, and the monitoring system analyzes and feeds back information to the control system through information collected by the execution element to form a closed-loop control system, so that jacking and joint adding operation can be safely and reliably carried out.

1. And (3) hoisting the standard knot, wherein a hoisting piece falls down to enable the mechanical arm to fall to be matched with the standard knot, the hydraulic cylinder drives the mechanical arm to extend out of the clamping jaw and slowly insert into the standard knot clamping block, the distance sensor monitors the distance between the mechanical arm and each main limb of the standard knot, and after a threshold value is reached, the hydraulic cylinder is locked and hoisted. When the distance sensor below the introduction trolley detects and gives an alarm, the lifting speed is reduced, and after the lifting piece lock hole is matched with the introduction trolley through the rotary lock, the rotary lock rotates to be firmly locked with the lock hole. The steel wire rope is transferred to draw gear fine motion, and the weight sensor on four twistlocks of introduction dolly detects every twistlock and bears weight, if the weight of every twistlock is the same and the total weight is the weight and the summation of arm of a section of standard festival, then can loosen draw gear completely.

2. And (4) balancing the tower crane, and after the standard knot is placed on the introducing trolley, hoisting a standard knot by using a lifting hook of the tower crane to serve as a balance weight. The gradienter detects the levelness of the upper support, the balance information of the tower crane is fed back, the control system automatically changes the position of the amplitude variation trolley on the suspension arm, and when the gradienter detects that the levelness is in a horizontal state, the balancing is finished.

3. And disassembling the pin shaft, after the balancing is finished, pulling out the connecting pin shaft of the tower body and the lower support by the hydraulic driving device, automatically grabbing the pin shaft device to lock the pin shaft, rotating the end part of the hydraulic driving device, loosening the pin shaft, grabbing the pin shaft device to place the pin shaft into the pin shaft warehouse, and locking the pin shaft by a lock at the end part of the pin shaft warehouse.

4. Jacking, locking the hanging boot device and the standard joint jacking block, detecting the distance between the hanging boot and the standard joint by the distance sensor, and opening the supporting foot device when the distance is within a set threshold value. The distance sensor detects the distance between the supporting foot device and the standard knot, the jacking hydraulic oil cylinder extends out to jack the upper tower part within a set threshold value, at the moment, the jacking cross beam moves vertically along the guide rail, the distance sensor detects the distance between the outer side of the oil cylinder barrel and the jacking cross beam, the set threshold value is reached, and the jacking hydraulic oil cylinder stops running. The supporting foot device is locked with the jacking block, the distance sensor detects the distance between the supporting foot and the standard knot, and the shoe hanging device is opened when the distance is within a set threshold value. And (5) recovering the jacking hydraulic oil cylinder and recovering to the initial length. The step is a cycle of jacking, the cycle is repeated until the jacking height of the upper tower meets the introduction of a standard knot, the distance sensor below the lower support detects the distance between the lower support and the upper end surface of the tower body, and the distance reaches a set threshold value at the moment.

5. And introducing the standard knot, wherein the introducing driving mechanism drives the introducing trolley to run along the introducing guide rail, the standard knot is introduced right above the tower body, and when the reading of the grating ruler on the guide rail reaches a set value, the driving mechanism stops working, the trolley stops running, and the trolley begins to fall down to the upper tower part.

6. When the tower falls down and goes up, the shoe hanging device is locked with the jacking block, and when the distance detected by the distance sensor at the shoe hanging position reaches a threshold value, the foot supporting device is opened, the sensor at the foot supporting device is started, and the oil cylinder acts. And (4) the oil cylinder contracts, the upper tower slowly descends, and when the detection distance of the distance sensor at the oil cylinder reaches a threshold value, the oil cylinder stops contracting. The supporting foot device is locked with the jacking block, when the detection distance of the supporting foot from the sensor reaches a threshold value, the shoe hanging device is opened, when the detection distance of the shoe hanging sensor reaches the threshold value, the oil cylinder starts to extend out, and when the sensor of the oil cylinder reaches a set threshold value, the oil cylinder stops retracting. At this time, the jacket frame state is restored to the initial state of the step. And repeating the circulating step until the introduced standard knot falls to the upper position of the tower body, and withdrawing the introduced trolley when the detection distance of the distance sensor below the lower support reaches a set threshold value.

7. And installing a pin shaft, grabbing a pin shaft at the pin shaft warehouse by the automatic pin shaft grabbing device, rotating and unlocking a lock at the end part of the pin shaft warehouse, rotating the grabbing device, guiding the pin shaft to the pin shaft hole of the standard joint, rotating the end part of the hydraulic driving device, locking the pin shaft, hammering the pin shaft by the hydraulic device, and enabling the pin shaft to enter the mounting hole of the standard joint. The end part of the hydraulic driving device is rotatably recovered. And a pin shaft is arranged in the same way, so that the upper edge of the newly introduced standard knot is connected with the lower support, and the lower part of the newly introduced standard knot is connected with the tower body.

The seven steps are a process of adding one standard knot to the jacking of the tower crane, and the aim of lifting the tower crane is fulfilled by circulating the period.

The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.