CN213445862U - Unmanned crane with automatic picking and hanging device - Google Patents
Unmanned crane with automatic picking and hanging device Download PDFInfo
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- CN213445862U CN213445862U CN202022557278.2U CN202022557278U CN213445862U CN 213445862 U CN213445862 U CN 213445862U CN 202022557278 U CN202022557278 U CN 202022557278U CN 213445862 U CN213445862 U CN 213445862U
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Abstract
The utility model provides an unmanned crane with automatic device of hanging is plucked. Including rigidity saddle dolly, ground auxiliary frame and ground load conveyor, rigidity saddle dolly can be along crane span structure lateral displacement, rigidity saddle dolly is connected with the hoisting mechanism who makes load do not have horizontal displacement at the lift in-process, the hoisting mechanism bottom is equipped with automatic device of hanging of plucking, ground auxiliary frame rigid connection is on ground, automatic device of hanging of plucking includes the guide pulley, the bottom rigid connection of saddle dolly has the first guide rail that matches the guide pulley, ground auxiliary frame is equipped with the second guide rail that matches the guide pulley. The utility model discloses a hoisting mechanism's automation is taken off and is hung device, dolly rigid frame and ground frame three combined action can realize the automatic function of carry and uninstallation load of unmanned crane, and entire system does not have horizontal displacement at hoist lift in-process, has higher reliability and security. The equipment has simple structure, light self weight and large operation range.
Description
Technical Field
The utility model relates to a hoist technical field especially relates to an unmanned crane with automatic device of hanging of plucking.
Background
With the further implementation of 2025, unmanned workshop and intelligent crane equipment are gradually applied to various large iron and steel enterprises. With the development of various intelligent crane technologies, the basic technology of the intelligent crane has been developed to a 'deep water region', and in the development of an unmanned casting crane, the functions of intelligent control, automatic cruise, electronic anti-swing and the like have been realized, but in some key technologies, especially the key technologies of intelligent unmanned hook, hook detection and the like have technical bottlenecks. The safety and reliability of the cast crane which is controlled without the operator based on the traditional cast crane, especially the safety and reliability of the unmanned hook hanging and unhooking technology, are greatly risky due to the limited severe working environment (high temperature and high dust) and the technical level of the electronic sensor.
The main defects of the existing unmanned hook technology are as follows:
1. the hoisting mechanism of the existing similar crane is mostly a flexible system, factors such as shaking of the lifting appliance in the lifting and braking process of the crane, unbalance of the gravity center of the lifting appliance and the like greatly disturb the hook action between the crane and a load, so that accurate hook is difficult to realize, and the effect is not ideal particularly in an unmanned state;
2. due to severe field environment (high temperature, dust and the like), the scanning precision of the existing three-dimensional scanning system (such as laser) is greatly influenced, the scanning precision can only reach about +/-30 m, the requirement of an unmanned hook is difficult to meet for small and medium-sized casting cranes, and the cost is high and the service life is short;
3. part of similar cranes can realize unmanned hooking by adopting a full-stroke rigid frame, but the crane has larger overall dimension and dead weight and is difficult to manufacture and install.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned technical problems, an unmanned crane with an automatic pick-and-place device is provided. The utility model discloses mainly through the rigidity frame in trolley self-carrying with possess the device and the ground frame three combined action of automatic function of hanging of plucking, can realize the function of the automatic carry of unmanned crane and uninstallation load, guarantee simultaneously to have higher reliability and security. The utility model discloses a technical means as follows:
the utility model provides an unmanned crane with automatic device of picking up and hanging, includes rigidity saddle dolly, ground auxiliary frame and ground load conveyor, rigidity saddle dolly can be along crane span structure lateral displacement, rigidity saddle dolly is connected with the hoisting mechanism who makes load do not have horizontal displacement at the lift in-process, the hoisting mechanism bottom is equipped with automatic device of picking up and hanging, ground auxiliary frame rigid connection is on ground, automatic device of picking up and hanging includes the guide pulley, the bottom rigid connection of saddle dolly has the first guide rail that matches the guide pulley, ground auxiliary frame is equipped with the second guide rail that matches the guide pulley.
Furthermore, the hoisting mechanism comprises a transmission mechanism, a winding drum, a steel wire rope and a pulley lifting mechanism, the transmission mechanism is connected with the winding drum, the steel wire rope is wound on the winding drum, two ends of the steel wire rope are fixed after respectively winding around different pulley lifting mechanisms, and two hoisting points are formed by winding.
Furthermore, the hoisting mechanism is wound by a steel wire rope to form a 4-n-multiplying-power multi-hoisting-point hoisting system.
Furthermore, the pulley lifting mechanism comprises at least two fixed pulleys and movable pulleys matched with the fixed pulleys in number, the two fixed pulleys are fixed on the upper surface of the trolley, and the tail end of a steel wire rope bypassing the pulley lifting mechanism is fixedly connected to a balance arm of the lifting mechanism.
Further, drive mechanism is including consecutive motor, stopper, reduction gear and reel, the motor pass through transmission shaft and high-speed shaft coupling with the stopper links to each other, the stopper passes through the stopper coupling and links to each other with the reduction gear, the reduction gear passes through low-speed shaft coupling and links to each other with the reel.
Furthermore, the picking and hanging device comprises a supporting structure hinged with the movable pulley, the supporting structure is provided with a plate hook and a plate hook opening and closing device connected with the plate hook and used for controlling the plate hook to open and close, and the guide wheel is arranged on the supporting structure.
Further, the first guide rail at the bottom of the guide carriage is supported by its outer frame and the second guide rail is supported by its outer ground auxiliary frame.
The utility model discloses a hoisting mechanism's automation is taken off and is hung device, dolly rigid frame and ground frame three combined action can realize the automatic function of carry and uninstallation load of unmanned crane, and entire system does not have horizontal displacement at hoist lift in-process, has higher reliability and security. Especially, unmanned and automatic hoisting of liquid metal or other high-risk load cranes is realized. Meanwhile, the device has simple structure, light self weight and large operation range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic view of the whole unmanned crane
Fig. 2 is a schematic view of a hoisting mechanism of a crane according to the present invention, in which (a) is a front view, (b) is a side view, and (c) is a top view.
Fig. 3 is the utility model discloses a hoist hoisting mechanism wire rope winding schematic diagram.
Fig. 4 is a schematic view of the rigid guide frame of the present invention.
Fig. 5 is a schematic view of the automatic hanging and releasing device of the present invention.
Fig. 6 is a schematic view of a plate hook opening and closing device in the automatic hanging and picking device of the present invention.
Fig. 7 is a schematic view of the operation method of the unmanned crane of the present invention, wherein (a) is the crane in-place state; (b) the state of the lifting appliance in place; (c) the load is in-place; (d) a load lifting state is set; (e) in a load shifting state.
In the figure: 1. a rigid guide frame trolley; 2. a bridge frame; 3. a crane running mechanism; 4. a picking and hanging mechanism; 5. a ground auxiliary frame; 6. a ground load conveying device; 7. an electric motor; 8. a high-speed shaft coupling; 9. a drive shaft; 10. a brake; 11. a brake wheel coupling; 12. a speed reducer; 13. a low speed shaft coupling; 14. a reel; 15. a fixed pulley; 16. a balance arm; 17. a wire rope; 18. an automatic picking and hanging device; 19. a frame; 20. a first guide rail; 21. a movable pulley; 22. a shaft I; 23. a plate hook opening and closing device; 24. a guide wheel; 25. a cross beam; 26. a plate hook; 27. a power source; 28. a shaft II; 29. and a shaft III.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, the present embodiment discloses an unmanned crane with an automatic picking and hanging device, which includes a rigid guide frame trolley 1, a ground auxiliary frame 5 and a ground load conveying device 6, wherein the main beam of the bridge frame 2 is an offset rail box beam; the crane running mechanism 3 is provided with a horizontal guide wheel; the rigid guide frame trolley can transversely move along the bridge frame 2, the rigid guide frame trolley is connected with a lifting mechanism with no horizontal displacement of load in the lifting process, the bottom end of the lifting mechanism is provided with a picking and hanging mechanism 4, the ground auxiliary frame is rigidly connected to the ground, the picking and hanging mechanism comprises a guide wheel 24, the bottom of the guide frame trolley is rigidly connected with a first guide rail 20 matched with the guide wheel, and the ground auxiliary frame is provided with a second guide rail matched with the guide wheel. The ground auxiliary frame 5 is used for auxiliary positioning when the crane lifts ground load; the ground load conveying device 6 can convey the load to a designated position at ground level.
As shown in fig. 3, the hoisting mechanism includes a transmission mechanism, a winding drum, a steel wire rope and a pulley lifting mechanism, the transmission mechanism is connected with the winding drum, the steel wire rope 17 is wound on the winding drum, two ends of the steel wire rope are fixed after respectively passing around different pulley lifting mechanisms, and two hoisting points are formed by winding. As can be seen from fig. 3, the two wire ropes 17 go down from the winding drum 14 and pass around the corresponding movable pulleys 21 of the automatic hanging and unhooking device 18, return to the fixed pulley 15, go down and pass around the movable pulleys 21, and finally meet at the balance arm 16. The two steel wire rope winding systems forming the hoisting point are designed to be symmetrical, so that the automatic picking and hanging device 4 does not generate horizontal displacement in the lifting process.
The hoisting mechanism is wound by a steel wire rope to form a multi-hoisting-point hoisting system with 4 n multiplying powers.
The pulley lifting mechanism comprises at least two fixed pulleys 15 and movable pulleys 21 matched with the fixed pulleys in number, the two fixed pulleys are fixed on the upper surface of the trolley, and the tail end of a steel wire rope bypassing the pulley lifting mechanism is fixedly connected to a balance arm 16 of the lifting mechanism.
As shown in fig. 2(a), (b) and (c), the transmission mechanism comprises a motor 7, a brake 10, a speed reducer 12 and a winding drum 14 which are connected in sequence, the motor is connected with the brake through a transmission shaft 9 and a high-speed shaft coupler 8, the brake is connected with the speed reducer through a brake coupler 11, and the speed reducer is connected with the winding drum through a low-speed shaft coupler 13.
As shown in fig. 5, the pick-and-place device includes a supporting structure hinged with the movable pulley, the supporting structure is provided with a plate hook 26 and a plate hook opening and closing device 23 connected with the plate hook for controlling the plate hook to open and close, and the guide wheel is arranged on the supporting structure. The picking and hanging device is an automatic picking and hanging device 18 which can automatically pick up hooks or hook; as shown in fig. 6, every two movable pulleys form a movable pulley block and are hinged with a cross beam 25 through a shaft I22, a power source 27 is installed on the cross beam 25 and is connected with a plate hook 26 through a shaft II 28, and the plate hook 26 is connected with the cross beam 25 through a shaft III 29.
The ground auxiliary frame is rigidly connected to the plant ground and is rigidly connected with the lifting appliance through the guide wheels and the guide rails, so that the lifting appliance can be ensured not to shake and have no horizontal displacement in the process of loading or releasing the load; the load conveying device is arranged to realize horizontal transportation of the load and accurately convey the load to the designated position of the ground frame. And a positioning device is arranged between the load conveying device and the load conveying device, so that the load conveying device can stop the carried load at a specified position. In this embodiment, the first and second rails are identical in structure, and differ only in the manner and location of installation. The positioning device adopts the prior art, adopts an encoder or a photoelectric sensor, and when the encoder or the photoelectric sensor detects a signal, the load conveying device is controlled by the electric control system to stop.
As shown in fig. 4, the first rail at the bottom of the trolley is supported by its outer frame 19 and the second rail is supported by its outer ground auxiliary frame.
Referring to fig. 7(a) to (e), an operation method of an unmanned crane of an automatic pick-and-place apparatus includes the steps of:
receiving a command of hoisting the load, and enabling the unmanned crane to run to a specified position above the ground framework by the aid of a positioning system;
the automatic picking and hanging device 18 descends to the ground frame, the guide wheel descends to a designated height along the second guide rail and stops, and the opening and closing mechanism on the automatic picking and hanging device acts to enable the plate hook to be in an open state and then to be in a standby state;
the load conveying device conveys the load to the ground auxiliary frame, and the load is accurately stopped at a specified position and locked through the positioning device between the load conveying device and the ground auxiliary frame;
the opening and closing mechanism on the automatic picking and hanging device acts to close the plate hook to finish the hook closing action, and the load hanging work is finished;
the lifting appliance rises to a rigid guide frame of the unmanned crane, and the guide wheel rises to a specified height along the first guide rail and then stops;
the rigid trolley moves along the bridge frame to convey the load to a designated position.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (7)
1. The utility model provides an unmanned crane with automatic device of picking and hanging, its characterized in that includes rigidity saddle dolly, ground auxiliary frame and ground load conveyor, rigidity saddle dolly can be along crane span structure lateral displacement, rigidity saddle dolly is connected with the hoisting mechanism who makes load do not have horizontal displacement at the lift in-process, the hoisting mechanism bottom is equipped with automatic device of picking and hanging, ground auxiliary frame rigid connection is on ground, automatic device of picking and hanging includes the guide pulley, the bottom rigid connection of saddle dolly has the first guide rail that matches the guide pulley, ground auxiliary frame is equipped with the second guide rail that matches the guide pulley.
2. The unmanned crane with the automatic picking and hanging device as claimed in claim 1, wherein the hoisting mechanism comprises a transmission mechanism, a winding drum, a steel wire rope and a pulley hoisting mechanism, the transmission mechanism is connected with the winding drum, the steel wire rope is wound on the winding drum, two ends of the steel wire rope are respectively fixed after winding around different pulley hoisting mechanisms, and two hoisting points are formed by winding.
3. The unmanned crane with the automatic pick-and-place device as claimed in claim 2, wherein the hoisting mechanism is wound by a steel wire rope to form a 4 n-multiplying-power multi-hoisting-point hoisting system.
4. The unmanned crane with the automatic hanging and unhooking device is characterized in that the pulley lifting mechanism comprises at least two fixed pulleys and movable pulleys matched with the fixed pulleys in number, the two fixed pulleys are fixed on the upper surface of the trolley, and the tail end of a steel wire rope passing through the pulley lifting mechanism is fixedly connected to a balance arm of the lifting mechanism.
5. The unmanned crane with automatic on-off device according to claim 2, wherein the transmission mechanism comprises a motor, a brake, a reducer and a winding drum connected in sequence, the motor is connected with the brake through a transmission shaft and a high-speed shaft coupler, the brake is connected with the reducer through a brake coupler, and the reducer is connected with the winding drum through a low-speed shaft coupler.
6. The unmanned crane with automatic picking and hanging device as claimed in claim 4, wherein the automatic picking and hanging device comprises a supporting structure hinged with a movable pulley, the supporting structure is provided with a plate hook and a plate hook opening and closing device connected with the plate hook for controlling the plate hook to open and close, and the guide wheel is arranged on the supporting structure.
7. The unmanned crane with automatic picking and hanging device according to claim 1, wherein the first guide rail at the bottom of the guide carriage is supported by its outer frame, and the second guide rail is supported by its outer ground auxiliary frame.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022557278.2U CN213445862U (en) | 2020-11-06 | 2020-11-06 | Unmanned crane with automatic picking and hanging device |
| PCT/CN2020/136408 WO2022095228A1 (en) | 2020-11-06 | 2020-12-15 | Unmanned crane provided with automatic unhooking and hooking apparatus, and operating method therefor |
| EP20960685.4A EP4242161A4 (en) | 2020-11-06 | 2020-12-15 | Unmanned crane provided with automatic unhooking and hooking apparatus, and operating method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022557278.2U CN213445862U (en) | 2020-11-06 | 2020-11-06 | Unmanned crane with automatic picking and hanging device |
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| Publication Number | Publication Date |
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| CN213445862U true CN213445862U (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022557278.2U Active CN213445862U (en) | 2020-11-06 | 2020-11-06 | Unmanned crane with automatic picking and hanging device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112225082A (en) * | 2020-11-06 | 2021-01-15 | 大连华锐重工起重机有限公司 | Unmanned crane with automatic picking and hanging device and operation method thereof |
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- 2020-11-06 CN CN202022557278.2U patent/CN213445862U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112225082A (en) * | 2020-11-06 | 2021-01-15 | 大连华锐重工起重机有限公司 | Unmanned crane with automatic picking and hanging device and operation method thereof |
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