660results about "Travelling cranes" patented technology

The invention discloses a bridge crane anti-swing control method based on a neural network algorithm, and relates to the technical field of crane control, and the method comprises the following steps: collecting suspended load swing state variables of a bridge crane and establishing a dynamic model; the dynamic model is used for predicting the suspended load swing trend of the bridge crane, and a swing trend prediction result is obtained; feed-forward compensation control is carried out according to the swing trend prediction result, and a feed-forward control signal is obtained; performing real-time feedback correction on the movement of the bridge crane trolley according to the feedforward control signal to obtain a real-time correction control signal; and performing nonlinear compensation calculation according to the real-time correction control signal to obtain a final anti-swing control result. According to the invention, the method achieves the precise estimation of the future swing state, improves the prediction accuracy of the future swing state, achieves the advanced compensation, improves the response speed of a control system, enables a compensation strategy to adapt to different operation environments, and improves the control precision and robustness.

The present disclosure is directed to a load positioning system, a partially-assembled bridge, and a process of assembling a bridge. The load positioning system includes a gantry extending over a structure of a partially-assembled bridge, the partially-assembled bridge at least partially extending over a physical feature, a load descent mechanism arranged and disposed to lower a load having a mass of at least 10 kg onto the structure, and a load location mechanism arranged and disposed to move the load from being laterally-proximal to a first location of the structure and laterally-distal to a second location of the structure to being laterally-distal from the first location of the structure and laterally-proximal to the second location of the structure. The load descent mechanism and the load location mechanism are physically supported by the gantry. The process of assembling a bridge includes using the load descent mechanism.

An elevator cage is used in an energy storage and delivery system to move blocks between a lower elevation of a tower and a higher elevation of a tower to store energy and to move blocks between a higher elevation of the tower and a lower elevation of the tower under force of gravity to generate electricity. The elevator cage removably receives a block thereon and supports the block on at least three sides.

A service vehicle moves on a rail system of an automated storage and retrieval system. The service vehicle includes a container handling vehicle part for storing a container handling vehicle operating on the rail system, and wheels for allowing movement of the service vehicle along the rail system during operation. The service vehicle further includes a displacement mechanism, and a hoist arrangement connected to the displacement mechanism. The displacement mechanism and the hoist arrangement are configured for moving the container handling vehicle between an operational position on the rail system and a loaded position within the container handling vehicle part.

A fixed time anti-interference sliding mode tracking control method for an under-actuated bridge crane comprises the following steps: firstly, designing a disturbance observer which can converge in fixed time and is used for accurately estimating disturbance in a system so as to provide effective disturbance compensation information for a subsequent control strategy; secondly, in combination with the fixed time disturbance observer, a sliding mode controller is provided to ensure that the crane can accurately track a given trajectory and enable a tracking error to converge to a sliding mode surface within a fixed time. According to the invention, accurate positioning of the trolley can be realized, and load swing can be effectively inhibited in a complex environment. According to the method, the control precision and robustness of the under-actuated bridge crane in a disturbed environment can be remarkably improved, and an effective solution is provided for crane control under complex working conditions.

The invention belongs to the technical field of cranes, and discloses an energy-saving bridge crane and a using method thereof.The energy-saving bridge crane comprises two longitudinal bridge guide rails, a transverse bridge guide rail is movably installed at the position between the top ends of the two longitudinal bridge guide rails, and a lifting frame is movably installed at the bottom end of the transverse bridge guide rail; hoisting cables are installed at the positions, close to the four corners, of the bottom end of the hoisting frame, the hoisting cables are connected with an external cable crane, and a telescopic rod is fixedly installed in the middle of the bottom end of the hoisting frame. Through rotation of the lead screw and the cooperation effect between the movable base and the adjusting assemblies and between the movable base and the stabilizing assemblies, after the device completes hoisting of goods, the multiple stabilizing assemblies can be automatically close to one another by operating the lead screw, so that after the goods are hoisted again, the side edges of the goods can make contact with the multiple stabilizing assemblies, and the stability of the goods is improved. And through the limiting effect of the stabilizing assembly, shaking of goods during hoisting is reduced, potential safety hazards are reduced, and safety accidents are avoided.

An expandable multifunctional integrated-construction skyscraper building platform and a construction method using the same are provided. The expandable multifunctional integrated- construction skyscraper building platform includes: a building foundation part, including an underground level, a basement level and a ground level which form a main body; an external frame part, a bottom of the external frame part being fixed deep into the underground level, and a top of the external frame part running through the basement level and the ground level to reach upper air such that lifting platform parts arranged on the external frame part are capable of going up from the underground level for construction; a transportation elevator part and a three-layer enclosure part, mounted on the building foundation part; a top transfer part, mounted on a Chinese character “Ri” frame at a top of the external frame part; and a carrying tower.

The invention provides an integrated mounting system and method for a high-temperature gas cooled reactor core supporting structure, and relates to the technical field of nuclear power construction, the integrated mounting system for the high-temperature gas cooled reactor core supporting structure comprises a pre-assembly plant, and a bridge crane is arranged in the pre-assembly plant; the first operation platform is provided with pre-assembly cabins arranged in multiple rows and multiple columns, each pre-assembly cabin is correspondingly provided with two cantilever cranes, and the cantilever cranes are used for reshipment, namely installation, of equipment in the pre-assembly cabins. The integrated mounting system for the high-temperature gas cooled reactor core supporting structure solves the problem that the reactor core supporting structure is lack of an integrated pre-assembly environment outside a nuclear island plant, and provides guarantee for smoothly realizing integrated pre-assembly of the reactor core supporting structure outside the nuclear island plant; the construction difficulty is correspondingly reduced, the construction operation environment is improved, and the construction level of nuclear power engineering in China and the economical efficiency of high-temperature gas cooled reactor nuclear power are improved.

Overhead crane (1) with a guide rail arrangement (3) with a guide rail (5) on which a crane trolley (7) can be moved by means of a running gear device (9), and with at least two parallel track support rails (13), wherein the guide rail (5) is fastened to running gears (19) guided in the track support rails (13) and can be moved on the track support rails (13) by means of the running gears (19), wherein each of the track support rails (13) is fixedly fastened to an environment by means of at least two spaced-apart suspension devices (15), and wherein a measuring device (17) for directly or indirectly detecting a force directed in the direction of gravity is arranged on at least two of the suspension devices (15) of each of the track support rails (13).

An automation device for packaging bag transport and input, includes: a rail disposed above a certain height in a horizontal direction; a hanger mounted on the rail to be capable of reciprocating in the horizontal direction, and enabling to reciprocate a packaging bag mounted at the lower end thereof in a vertical direction; a hopper disposed at the bottom of the rail and into which raw materials inside the packaging bag moved by the hanger are introduced; a hit post disposed near an inlet of the hopper and resolving an agglomeration phenomenon of the raw materials as the packaging bag is hit by the vertical direction reciprocation of the hanger; and grippers blocking the discharge of the raw materials by gripping the bottom of the packaging bag in which the input of the raw materials to the hopper is completed.

A device for load handling is disclosed that can be installed in a transportation unit. The device comprises a holding arm, a support frame and a first rotation structure. The holding arm comprises a horizontal arm part, a vertical arm part and a handling head. The support frame comprises a first support frame side and a second support frame side. The second support frame side comprises a first end of the second support frame side and a second end of the second support frame side. The first rotation structure comprises a disc-like rotation unit for rotating the horizontal arm part. The diameter of the rotation unit is less than half of the length of the second support frame side, and the rotation unit is positioned nearer to the first support frame side than to the first end of the second support frame side.

A multi-tower linkage type aerial hoisting platform includes: four tower crane body lifting / lowering parts respectively disposed in an outer periphery of a building to form a rectangle through enclosure, and including a tower crane body and a self-climbing lifting / lowering system that is capable of climbing or descending step by step along the tower crane body; four tower-crane-body-connected support beams, respectively disposed on two opposite self-climbing lifting / lowering systems, where a hoisting platform enclosed by the tower-crane-body-connected support beams is driven by the self-climbing lifting / lowering systems to move up and down synchronously; and four movable tower crane bases, respectively disposed at lower ends of the four tower crane body lifting / lowering parts, including movable chassis that are used as movable supports with a variable platform angle and support parts disposed on the movable chassis, where four corners of the support parts are respectively provided with rotary drilling fastening parts.

The invention relates to a crane trolley assembly (604′,604″,604″′) comprising: —a crane trolley (603a,603b,603c,603d,603e,603f) configured for guided movement along a beam (601,602) of a crane (600); —a lifting frame (504) configured for connection to a storage container (106) to lift the storage container (106) from above through a first vertical movement range (R1) and a second vertical movement range (R2) of the lifting frame (504); —a plurality of lifting members (505) suspending the lifting frame (504) below the crane trolley (603a,603b,603c,603d,603e,603f) for lifting and lowering the lifting frame (504) through at least the second vertical movement range (R2); and —a stabilizer (620′,620″,620″′) extending below the crane trolley (603a,603b,603c,603d,603e, 603f); wherein a lower end (620L′,620L″,620L″′) of the stabilizer (620′,620″,620″′) is configured to interact with the lifting frame (504) in order to stabilize the lifting frame (504) during the first vertical movement range (R1) of the lifting frame (504), and wherein the stabilizer (620′,620″,620″′) and the lifting frame (504) are configured to move vertically relative each other when in the second vertical movement range (R2) of the lifting frame (504). The invention further relates to an associated automated storage and retrieval system and methods of transferring a storage container.

The utility model discloses an adjustable electric single-beam crane which comprises an electric hoist, a steel wire rope and a main beam, the electric hoist is connected with a fixed seat through one end of the steel wire rope, and the adjustable electric single-beam crane further comprises a clamping mechanism, a lifting mechanism and a lifting mechanism, and the clamping mechanism comprises two second hoisting frames, two second electric telescopic rods and two connecting rods, the movable ends of the second electric telescopic rods are fixedly connected with limiting clamps, mounting plates are hinged to the inner walls of the opposite sides of the limiting clamps, and connecting blocks are arranged on the two sides of the second hoisting frames. The adjustable electric single-beam crane disclosed by the utility model has the effects that the adjustable electric single-beam crane can flexibly adapt to and clamp heavy objects with different shapes and sizes, the objects are prevented from slipping in the carrying process, the safety and the working efficiency during operation are improved, and the labor burden is reduced.

A system and method for construction of a framed structure which permits on-site storage and relocation of construction materials using trolleys and cranes supported by the framed structure. The system provides a runway surface for removable attachment of trolleys, crane bridges, and platforms by offsetting the first longitudinal beam and a second longitudinal beam from a cross beam and where the first longitudinal beam, second longitudinal beam, and cross beam of the system provide components for the framed structure.

The invention provides a load-carrying travelling crane positioning method and device based on a gauge pile, and the method comprises the steps: recording a real-time coding value and a calibration signal of an encoder of a travelling crane at the current moment when the travelling crane receives the calibration signal of the gauge pile, and determining the actual position of the travelling crane relative to a reference point at the current moment; based on the real-time coding value and the standard coding value, determining the coding deviation of the driving at the current moment; based on the actual position and the standard positioning value, determining the position deviation of the travelling crane at the current moment; the standard deviation of the encoder is determined based on the real-time encoding value of the encoder within the past preset number of times of driving; when the absolute value of the position deviation is greater than a preset position deviation threshold value and the standard deviation is within a preset standard deviation interval, performing equivalent updating on the current equivalent between the encoder and the crane rail based on the encoding deviation and the position deviation to obtain a new equivalent; according to the invention, accurate positioning of the load-carrying travelling crane can be realized.

A system for servicing a nuclear reactor module comprises a crane operable to attach to the nuclear reactor module, wherein the crane includes provisions for routing signals from one or more sensors of the nuclear reactor module to one or more sensor receivers.

The invention discloses a counterweight battery installation auxiliary arm which comprises a moving mechanism, a main mechanical arm, a rotary joint, a mechanical arm, an operating handle, a lifting hook, a suction cup, an air source pipeline and a safety protection valve, the main mechanical arm is arranged on the moving mechanism in a multidirectional adjustment mode, and the mechanical arm is rotatably arranged on the main mechanical arm through the rotary joint; the operating handle is arranged on the manipulator, the lifting hook is arranged at the front end of the bottom of the manipulator and used for lifting a battery, the suction cup is arranged at the bottom of the manipulator and used for adsorbing a balancing weight, the air source pipeline is connected with the suction cup and used for providing suction force for the suction cup, and the safety protection valve is arranged on the air source pipeline and used for preventing the balancing weight adsorbed on the suction cup from falling off after air is cut off. The overall structure is simple, multidirectional movement can be achieved, it is effectively ensured that the balance weight and the battery can be accurately moved to the designated installation position, manpower is effectively reduced, the assembling efficiency is improved, the falling risk of the balance weight in the moving process is effectively avoided, and the transportation safety is improved.

The utility model discloses a novel bridge crane and relates to the technical field of cranes. The novel bridge crane comprises a first bridge side frame, a second bridge side frame and a hoisting assembly, the hoisting assembly comprises a base, hoisting moving wheels, a moving servo motor, two lifting rope winding drums, a transmission box, a hoisting motor, a hoisting frame, a rope winding drum and a hook, the two lifting rope winding drums are arranged side by side, and the hoisting motor is in transmission connection with the side ends of the lifting rope winding drums through the transmission box. The base moves along the guide rail through the lifting moving wheel, the moving servo motor is in transmission connection with the lifting moving wheel, the bottom end of the base is provided with the lifting frame, and the lifting frame adjusts and lifts the rope winding drum through a steel rope. The bridge crane disclosed by the utility model is large in lifting weight and simpler in structure; the lifting rope winding drums are independently controlled through the double lifting motors, so that lifting is effectively guaranteed; the relative position of the hoisting assembly is flexibly and finely adjusted by moving the servo motor, and the structure matching application effect is good.

The utility model relates to the technical field of transfer devices, in particular to a ton bag transfer device. Comprising a multi-shaft driving assembly, a hoisting tool arranged at the driving end of the multi-shaft driving assembly and a ton bag, iron rings are arranged on hanging lugs of the ton bag, the hoisting tool is provided with a plurality of grabbing assemblies used for grabbing the iron rings, and each grabbing assembly is provided with an electromagnetic adsorption part used for adsorbing the iron rings. When a ton bag needs to be transferred, the multi-shaft driving assembly drives the hoisting tool to move right above the ton bag, an iron ring is attracted and fixed through the electromagnetic attraction part, after the position of the iron ring is fixed, the iron ring is grabbed through the grabbing assembly, the electromagnetic attraction part loosens the iron ring, and then the multi-shaft driving assembly drives the hoisting tool to move; and then the hoisting tool drives the ton bags to move, the ton bags are automatically transferred, the ton bags do not need to be manually taken and placed on the lifting hooks, the transportation efficiency of the ton bags is improved, meanwhile, manpower is saved, and potential safety hazards are eliminated.

The utility model relates to the technical field of cranes, and provides a low-clearance double-beam crane which comprises two longitudinal rails, the inner side walls of the two longitudinal rails are slidably connected with a moving seat used for moving longitudinally, one side of the moving seat is fixedly provided with a dust collecting box used for collecting dust, and the other side of the moving seat is provided with a lifting device. Two transverse rails used for transverse movement are fixedly mounted on the outer side of the dust collection box, and the tops of the two transverse rails are slidably connected with a crane carriage body used for transverse movement; according to the low-clearance double-beam crane, the driving wheel is driven by the arranged driving assembly to rotate in the moving seat, so that the moving seat can longitudinally move on the longitudinal rail, and when the driving wheel rotates forwards or turns over, the driving wheel can be driven by linkage between the driving assembly and the dust collection assembly; and a dust collection assembly in the dust collection box can communicate with the interior of the moving seat through a communicating hole, and dust on the longitudinal rail is extracted through a dust collection hole in the moving seat, so that the dust removal effect of the whole crane during use is improved, and the service life of the whole crane is prolonged.

The utility model relates to an intelligent crown block system. The intelligent crown block system comprises a terminal module, a network module and a platform module, the terminal module comprises a crown block, a camera and a PLC (Programmable Logic Controller), the camera is used for acquiring the running state and peripheral information of the crown block, and the PLC is used for controlling the intelligent crown block; the network module is connected with the terminal module and the platform module, so that the terminal module and the platform module are in data intercommunication; the platform module comprises a crown block control platform, and the crown block control platform is connected with the PLC through a network module and used for operating a crown block. According to the intelligent crown block system disclosed by the utility model, the crown block and the control platform are remotely and wirelessly connected by building the special 5G network, the running image of the crown block is acquired in real time by virtue of the characteristics of high bandwidth and low time delay of the 5G network, the crown block is remotely operated, and the production safety and efficiency are effectively improved.

The utility model discloses an electric double-beam bridge crane, which belongs to the technical field of cranes, and comprises a support table, the top surface of the support table is slidably connected with a crane support frame, two sides of the support table are provided with chutes, the middle part of the crane support frame is fixedly connected with a crane body, and the crane body is fixedly connected with the crane support frame. The crane comprises a crane body, a crane supporting frame is arranged on the crane body, double-shaft motors are fixedly connected to the two sides of the crane supporting frame correspondingly, a set of lifting ropes are arranged below the crane body, a movable shaft is arranged on one side of each double-shaft motor, and sweeping blocks are arranged at the two ends of each movable shaft correspondingly. The problem of dust accumulation is reduced, normal movement of the crane is guaranteed, and the quick positioning assembly is arranged, so that the cleaning assembly can be quickly mounted and dismounted, and the cleaning assembly is convenient to replace.

The invention relates to the field of slag crane travelling cranes, in particular to slag crane travelling crane equipment for a waste incineration power plant and a using method. The invention aims to solve the technical problems that when a bridge type slag crane is used for hoisting garbage through a mechanical grab bucket, the mechanical grab bucket shakes and swings, and the swinging mechanical grab bucket can increase the transfer time, reduce the operation efficiency, cause extra burden and abrasion to a mechanical structure of the bridge type slag crane and even cause safety accidents. Comprising a steel wire rope, a hoisting mechanism is fixedly connected to the end of the steel wire rope, a buffering mechanism is rotationally connected to the outer side of the steel wire rope, and a grab bucket mechanism is arranged on the lower side of the buffering mechanism. By arranging the buffering mechanism, two buffering balls slide in a transverse cylindrical sliding groove of a shell in a reciprocating mode to extrude and stretch buffering springs on the two sides, the two buffering balls slide in a reciprocating mode to drive two linkage bases to slide in an oval sliding groove of the shell in a reciprocating mode, and at the moment, four buffering wheels of the buffering mechanism are kept at the same height all the time.

The utility model discloses a single-beam bridge crane, which relates to the technical field of cranes, and comprises a bottom plate and two upright posts, the two upright posts are fixedly arranged on the two sides of the upper surface of the bottom plate, the upper ends of the two upright posts are movably sleeved with sliding sleeves, a sliding rail is fixedly arranged between the two sliding sleeves, the middle part of the sliding rail is movably sleeved with a sliding block, and the sliding block is fixedly arranged on the bottom plate. An electric hoist is fixedly arranged on the lower side of the sliding block, a lifting rope is arranged below the electric hoist, and a lifting hook is fixedly arranged at the lower end of the lifting rope; and a fixing block is fixedly arranged on the lower side of the sliding sleeve, supporting rods are rotationally connected to the rear side of the fixing block through shaft pins, strip-shaped openings are formed in the surfaces of the supporting rods, and a transmission mechanism for driving the two supporting rods to rotate is arranged on the upper surface of the bottom plate. The electric hoist can be replaced in a time-saving and labor-saving mode, high-altitude operation is not needed, and potential safety hazards can be greatly reduced.

The invention discloses a bridge crane automatic centering method with a self-compensation function. The method comprises the steps that whether a lifting rope is in a straightened state or not is judged through a tension sensor; if the lifting rope is in the unstraightened state, the winding drum is controlled to rotate until the lifting rope is in the straightened state; if the lifting rope is in the straightened state, the real-time rope length of the lifting rope is obtained through an encoder; the centering benchmark is calculated according to the real-time rope length, the centering benchmark at different heights is compensated, and the cable-stayed angle of the lifting rope is obtained; calculating the offset of the lifting rope according to the diagonal angle of the lifting rope; and the large and small vehicles are operated for centering according to the lifting rope offset. Thus, the accurate relative position offset of the trolley and the hoisting load is obtained through the sensor and a designed centering compensation algorithm, then accurate automatic centering operation is achieved through the motion control system based on the PLC, accurate automatic centering of the bridge crane can be rapidly achieved in a short time, and the safety problem caused by inclined pulling and inclined hoisting is effectively avoided.

The present invention provides a system and method for feeding and discharging solid-state fermentation materials from a liquor production cylinder, which belongs to the field of liquor brewing technology and mainly solves the problem of low efficiency of manual operation. It includes a cylinder feeding device and a cylinder discharging device, and is characterized in that: the cylinder discharging device includes a target cylinder capture mechanism, a material picking mechanism, and a material transport mechanism, the target cylinder capture mechanism includes an X-direction walking mechanism running on a track on a beam, and a Y-direction walking mechanism running on a track on a bracket; the material picking mechanism includes a material picking barrel lifting cylinder fixed to the X-direction walking mechanism, a barrel rack, a barrel rack rotating mechanism, a material picking barrel fixed to the piston of the material picking barrel lifting cylinder, and a material picking barrel shovel head; the barrel rack is rotationally and slidingly connected to the X-direction walking mechanism, and the barrel rack can rotate around the cylinder of the material picking barrel lifting cylinder; the material picking barrel shovel head has a total of several pieces, which are divided into several groups and are hinged to the material picking barrel through a universal shaft, and each group is connected to the shovel head retracting mechanism through a pulling rod.

To provide a stored article conveyance system which automatically conveys and stacks a stored article such as a flexible container bag using a ceiling crane device, and can prevent erroneous shipping.SOLUTION: A stored article conveyance system for automatically entering and exiting a stored article includes: a ceiling crane device (2) which has a hand part (5) for gripping a storage rack (91) storing a stored article (90), and conveys and stacks the storage rack gripped by the hand part in a storage area; and a management device for managing a storage address in a storage area and item information for each of the stored articles.SELECTED DRAWING: Figure 2

The invention provides a transporting and assembling system of a tunnel box culvert and a tunneling machine comprising the transporting and assembling system, and belongs to the technical field of shield tunneling machines. Comprising a transport vehicle, a box culvert unloader, a box culvert crane, a rotation device and a box culvert fine adjustment mechanism. The transport vehicles are arranged on the spliced box culvert in the tunnel and move on the spliced box culvert in the tunneling direction of the tunnel. The box culvert fine adjustment mechanism is arranged in an assembled box culvert in the tunnel; the box culvert unloader is arranged on a rear matched trailer in the heading machine and moves on the spliced box culvert in the tunnel in the tunneling direction of the tunnel. The box culvert crane is arranged on a walking track assembly in the tunneling machine and moves on the walking track assembly in the tunneling direction. And the rotating device is arranged on the transport vehicle. Compared with the prior art, the hoisting height of the arc-shaped box culvert piece to be hoisted can be reduced, the duct piece transportation efficiency can be improved, the hoisting waiting time of a rubber-tyred vehicle in a tunnel can be shortened, and the transportation and assembly efficiency of the arc-shaped box culvert piece and the duct piece in the tunnel is improved.

The invention discloses a hoisting device and method relying on a bridge girder erection machine, and relates to the technical field of fabricated bridge construction. The hoisting device relying on the bridge girder erection machine comprises a bridge girder erection machine main beam arranged on a bridge span structure, the bridge girder erection machine main beam is provided with a cantilever section suspended outside the bridge span structure, a hoisting assembly is arranged on the cantilever section, and a lifting type supporting assembly is arranged at the end, away from the bridge span structure, of the cantilever section and used for being supported on a site foundation. The hoisting assembly is arranged on the overhanging section of the main beam of the bridge girder erection machine, and the lifting type supporting assembly is arranged, so that the problem that the requirement of a traditional hoisting method for a construction site is high can be effectively solved. The supporting height of the lifting type supporting assembly can be flexibly adjusted according to different topographic conditions, the stability and balance of the main beam of the bridge girder erection machine are ensured, the strict limitation of a traditional hoisting method on the flatness and hardness of the ground is broken through, and additional building of shortcuts or large-area foundation treatment is not needed.