High-stability stainless steel low-magnetism crane

Abstract

The invention provides a high-stability stainless steel low-magnetism crane which comprises a main support, two main bearing seats are arranged on the main support in a sliding mode, two transverse columns and two supporting rails are fixed between the two main bearing seats at intervals, and two supporting wheels are arranged on the supporting rails in a rolling mode. A supporting table is arranged between the two supporting wheels, the supporting wheels are fixed to the supporting table through connecting rods, the two transverse columns penetrate through the supporting table and are in sliding connection with the supporting table, a hoisting mechanism is installed at the bottom of the supporting table, and two transverse lead screws are movably arranged between the two main bearing seats; one ends of the two transverse lead screws extend out of the main bearing seat and are provided with first bevel gears, a limiting seat is fixed to one side of the main bearing seat, a rotating shaft is movably arranged on the limiting seat, and the problem that an existing stainless steel low-magnetism crane is poor in stability in the workpiece transporting process is solved.

Description

Technical Field

[0001] This invention relates to the field of cranes, and more particularly to a highly stable stainless steel low-magnetic crane. Background Technology

[0002] In scenarios with stringent requirements for workpiece stability and magnetic field environment, such as the transfer of precision components in nuclear power plants, the handling of semiconductor wafers, and the assembly of high-precision parts in aerospace, stainless steel low-magnetic cranes must simultaneously achieve the core objectives of "low magnetic interference-free operation" and "zero workpiece scratches and low sway." However, the anti-sway structure design of existing stainless steel low-magnetic cranes has significant defects, making it difficult to meet the anti-sway requirements for transporting workpieces.

[0003] Existing cranes mostly employ non-direct contact anti-sway methods such as "rope limiting" and "frame enclosure," relying on rope tension or frame obstruction to indirectly constrain the workpiece. When the crane accelerates or decelerates during lateral or longitudinal movement, the workpiece is prone to gaps between itself and the constraint structure due to inertia, resulting in sway amplitudes exceeding ±80mm and poor stability. This is especially problematic during the transport of fragile workpieces such as wafers and thin-walled nuclear power components, where swaying can easily cause the workpiece to collide with the frame or deform, leading to a defect rate as high as 10%-15%. Therefore, it is necessary to provide a new, highly stable stainless steel low-magnetic crane to solve the above-mentioned technical problems. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a highly stable stainless steel low-magnetic crane, which solves the problem of poor stability of existing stainless steel low-magnetic cranes during the transportation of workpieces.

[0005] The high-stability stainless steel low-magnetic crane provided by the present invention includes a main support frame, on which two main bearing seats are slidably arranged. Two horizontal columns and two support rails are fixedly spaced between the two main bearing seats. Two support wheels are rolled on the support rails. A support platform is arranged between the two support wheels. The support wheels are fixed on the support platform by connecting rods. The two horizontal columns pass through the support platform and are slidably connected to it; a hoisting mechanism is installed at the bottom of the support platform. Two transverse lead screws are movably arranged between the two main bearing seats, and the transverse lead screws pass through the support platform and are threadedly connected to it.

[0006] In a preferred embodiment, one end of each of the two transverse lead screws extends out of the main bearing seat and is equipped with a first bevel gear. A limit seat is fixed on one side of the main bearing seat, and a rotating shaft is movably arranged on the limit seat. Two second bevel gears are installed at intervals on the rotating shaft. The two second bevel gears mesh with the two first bevel gears respectively. A first motor is installed on one side of the main bearing seat, and the output end of the first motor is connected to the rotating shaft through a coupling.

[0007] In a preferred embodiment, two longitudinal columns are fixed at intervals on the main support, and a longitudinal threaded rod is provided on one side of each longitudinal column. Each of the two main bearing seats has a side seat fixed on one side. The longitudinal column and the longitudinal lead screw both pass through the side seat. The longitudinal column is slidably connected to the side seat, and the longitudinal lead screw is threadedly connected to the side seat. The longitudinal lead screw is driven by a second motor mounted on the main support.

[0008] In a preferred embodiment, both the transverse lead screw and the longitudinal lead screw are galvanized.

[0009] In a preferred embodiment, four support rods are fixedly mounted on the support platform in a square shape, and pulleys are movably mounted on the support rods; Each of the four support rods has a movably mounted support shaft on one side. A winch is mounted on the support shaft, and a lifting rope is mounted on the winch. One end of the lifting rope passes through the pulley and is equipped with a hook.

[0010] In a preferred embodiment, a stabilizing net is provided below the hoisting mechanism, and lifting rings are installed at the four corners of the stabilizing net. The lifting rings are used in conjunction with the hooks at the bottom of the hoisting rope.

[0011] In a preferred embodiment, a third bevel gear is mounted on each of the four support shafts, and two adjacent third bevel gears mesh with each other. A lifting motor is installed on the support platform, and the output end of the lifting motor is connected to the support shaft through a coupling.

[0012] In a preferred embodiment, the first bevel gear and the second bevel gear employ a closed transmission, and the meshing pair of third bevel gears employ a closed transmission.

[0013] In a preferred embodiment, the mesh size of the stabilizing net is 50×50mm-100×100mm, and the edge of the stabilizing net is fixed by a low-magnetic stainless steel edging strip. The connection between the edging strip and the stabilizing net is made by low-magnetic stainless steel rivets to enhance the tensile strength of the edge of the stabilizing net and prevent the edge from tearing during the anti-sway process.

[0014] In a preferred embodiment, the main support, main bearing seat, and cross column are all made of austenitic stainless steel with low magnetic permeability.

[0015] The beneficial effects of this invention are: 1. The stabilizing net makes direct and flexible contact with the workpiece, and combined with synchronous drive, the workpiece movement amplitude is reduced from more than ±80mm to within ±15mm, meeting the stringent stability requirements of wafers, nuclear power precision components, etc., and greatly reducing the collision damage rate of the workpiece.

[0016] 2. The stabilizing net, with its flexible weaving structure and pressure-adaptive design, can cover workpieces of various shapes and sizes ranging from 50mm to 2000mm. It eliminates the need for customized anti-sway structures for individual workpieces, expanding its application to multiple industries such as nuclear power, semiconductors, and aerospace.

[0017] 3. When this crane is in use, while the lifting mechanism is lifting and transferring the workpiece, the operator can simultaneously start two second motors to drive two longitudinal lead screws to rotate in the same direction, thereby driving the lifting mechanism on the support platform and the workpiece to move longitudinally in a stable manner. During the lateral transfer, the operator starts the first motor. Under the transmission action of the two first bevel gears and the two second bevel gears, the two lateral lead screws rotate simultaneously in the same direction, driving the moving table to move stably along the horizontal column and preventing the workpiece from swaying laterally. Attached Figure Description

[0018] Figure 1 A perspective view of the main structure of a high-stability stainless steel low-magnetic crane provided by the present invention. Figure 1 ; Figure 2 A perspective view of the main structure of a high-stability stainless steel low-magnetic crane provided by the present invention. Figure 2 ; Figure 3 for Figure 2 A magnified structural diagram of A is shown below; Figure 4 for Figure 2 A schematic diagram of the enlarged structure of B shown; Figure 5 This is a schematic diagram of the support platform provided by the present invention; Figure 6 The main structural plan view of the high-stability stainless steel low-magnetic crane provided by the present invention.

[0019] The following are the labeling elements in the diagram: 1. Main support frame; 2. Main bearing seat; 3. Horizontal column; 4. Support rail; 5. Support wheel; 6. Support platform; 7. Lifting mechanism; 8. Horizontal lead screw; 9. First bevel gear; 10. Limiting seat; 11. Rotating shaft; 12. Second bevel gear; 13. First motor; 14. Longitudinal column; 15. Longitudinal lead screw; 16. Side seat; 17. Second motor; 18. Support rod; 19. Pulley; 20. Support shaft; 21. Winch; 22. Lifting rope; 23. Stabilizing net; 24. Lifting ring; 25. Third bevel gear; 26. Lifting motor. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Please refer to the following: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 ,in Figure 1 A perspective view of the main structure of a high-stability stainless steel low-magnetic crane provided by the present invention. Figure 1 ; Figure 2 A perspective view of the main structure of a high-stability stainless steel low-magnetic crane provided by the present invention. Figure 2 ; Figure 3 for Figure 2 A schematic diagram of the enlarged structure of A shown; Figure 4 for Figure 2 A schematic diagram of the enlarged structure of B shown; Figure 5 This is a schematic diagram of the support platform provided by the present invention; Figure 6 The main structural plan view of the high-stability stainless steel low-magnetic crane provided by the present invention.

[0022] In the specific implementation process, such as Figures 1-6 As shown, the system includes a main support frame 1, on which two main support seats 2 are slidably mounted. The tops of the main support seats 2 are connected to the main support frame 1 via wheels. Two horizontal columns 3 and two support rails 4 are fixedly spaced between the two main support seats 2. Two support wheels 5 are rolled on the support rails 4, and a support platform 6 is positioned between the two support wheels 5. The cross-sectional dimensions of the main support frame 1 are 300mm × 200mm (height × width), and the length is adapted to the workshop span. The bottom of the main support frame 1 is equipped with a shock-absorbing pad (made of low-magnetic silicone rubber, 20mm thick, Shore hardness 50A), which can absorb more than 50% of ground vibrations, preventing vibrations from being transmitted to the upper structure and causing workpiece swaying. The top of the main support frame 1 is machined with two parallel guide rails (80mm wide, surface roughness Ra≤0.8μm) for supporting and sliding the main support seats 2. The clearance between the guide rails and the wheels on the top of the main support seats 2 is controlled at 0.05-0.1mm to ensure smooth sliding.

[0023] Each main support 2 weighs 800-1200kg (adapted to load-bearing capacity) and is made of the same material as the main support 1. The spacing between the two main support 2 is determined by the length of the support platform 6, and is usually 200-300mm longer than the support platform 6 to ensure that the support platform 6 has sufficient room to move.

[0024] The support wheel 5 is fixed to the support platform 6 by a connecting rod; two horizontal columns 3 pass through the support platform 6 and are slidably connected to it, and a hoisting mechanism 7 is installed at the bottom of the support platform 6; two horizontal threaded rods 8 are movably arranged between the two main bearing seats 2, and the horizontal threaded rods 8 pass through the support platform 6 and are threadedly connected to it. The main support 1, the main bearing seats 2 and the horizontal columns 3 are all made of austenitic stainless steel with low magnetic permeability.

[0025] Two transverse lead screws 8 extend out of the main bearing seat 2 and are equipped with first bevel gears 9. A limit seat 10 is fixed on one side of the main bearing seat 2. A rotating shaft 11 is movably arranged on the limit seat 10. Two second bevel gears 12 are installed on the rotating shaft 11 at intervals. The two second bevel gears 12 mesh with the two first bevel gears 9 respectively. Both the transverse lead screws 8 and the longitudinal lead screws 15 are galvanized.

[0026] The first bevel gear 9 and the second bevel gear 12 employ a closed-loop transmission, as do the meshing pair of third bevel gears 25. This improves their service life. The bevel gears are made of 20CrMnTi alloy steel, with surface carburizing and quenching, a tooth surface precision grade of 6, and a meshing clearance of 0.1-0.12mm. To prevent dust and oil from affecting meshing accuracy, a closed protective shell (made of the same material as the main support 1) is installed on the outside of the bevel gears. The protective shell is filled with low-magnetic grease, with the grease filling amount being 1 / 3 to 1 / 2 of the protective shell's volume, ensuring smooth bevel gear transmission.

[0027] A first motor 13 is installed on one side of the main support 2. The first motor 13 is a low-magnetic servo motor (Panasonic A6 series, magnetic radiation ≤5μT), with a power of 1.5-5kW (adapted to the lateral load), a rated speed of 1500rpm, and a speed control accuracy of ±1rpm. The first motor 13 is fixed to one side of the main support 2 via a flange. A low-magnetic insulating pad (made of polytetrafluoroethylene, 2mm thick) is placed between the flange and the main support 3 to prevent the motor housing from forming a magnetic path with the main support, which would lead to an increase in local magnetic permeability.

[0028] The output end of the first motor 13 is connected to the rotating shaft 11 via a coupling. The first motor 13 drives the rotating shaft 11 to rotate, and the two second bevel gears 12 on the rotating shaft 11 mesh synchronously, driving the first bevel gears 9 of the two transverse lead screws 8 to rotate, so that the two transverse lead screws 8 rotate in the same direction and at the same speed. Because the transverse lead screws 8 pass through the support table 6 and are threadedly connected to it, and the two horizontal columns 3 form a bidirectional guide for the support table 6, the rotational motion of the transverse lead screws 8 is converted into a smooth linear motion of the support table 6 along the horizontal columns 3, with a transverse positioning accuracy of ±0.1mm, avoiding transverse swaying of the workpiece.

[0029] Two longitudinal columns 14 are fixed at intervals on the main support 1, and a longitudinal screw 15 is provided on one side of the longitudinal column 14; a side seat 16 is fixed on one side of each of the two main bearing seats 2, and the longitudinal column 14 and the longitudinal screw 15 pass through the side seat 16. The longitudinal column 14 and the side seat 16 are slidably connected, and the longitudinal screw 15 is threadedly connected to the side seat 16. The longitudinal screw 15 is driven by a second motor 17 installed on the main support 1.

[0030] The two longitudinal columns 14 on the main support 1 provide rigid guidance for longitudinal movement. Two second motors 17 are started, and the speed is synchronized (synchronization error ≤0.5%) through a PLC control system, driving the two longitudinal lead screws 15 to rotate in the same direction and at the same speed. Because the longitudinal lead screws 15 are threadedly connected to the side seats 16 of the main bearing seat 2, and the longitudinal columns 14 and side seats 16 are in sliding fit, the rotational motion of the longitudinal lead screws is smoothly converted into the linear motion of the side seats along the longitudinal columns, driving the main bearing seat, support platform 6, and hoisting mechanism 7 to move synchronously longitudinally, preventing longitudinal displacement and swaying of the workpiece.

[0031] Four square support rods 18 are fixed on the support platform 6, and pulleys 19 are movably mounted on the support rods 18. Support shafts 20 are movably mounted on one side of each of the four support rods 18, and winches 21 are installed on the support shafts 20. A lifting rope 22 is mounted on the winch 21, and one end of the lifting rope 22 passes through the pulleys 19 and is fitted with a hook. A stabilizing net 23 is installed below the hoisting mechanism 7, and lifting rings 24 are installed at each of the four corners of the stabilizing net 23. The lifting rings 24 cooperate with the hooks at the bottom of the lifting ropes 22. Third bevel gears 25 are installed on each of the four support shafts 20, and adjacent third bevel gears 25 mesh with each other. A lifting motor 26 is installed on the support platform 6, and the output end of the lifting motor 26 is connected to the support shafts 20 via a coupling.

[0032] The mesh size of the stabilizing net 23 is 50×50mm-100×100mm. The edges of the stabilizing net 23 are fixed with low-magnetic stainless steel edging strips. The connection between the edging strips and the stabilizing net 23 is made of low-magnetic stainless steel rivets to enhance the tensile strength of the edges of the stabilizing net 23 and prevent tearing during anti-swaying. Before lifting, the lifting rings 24 at the four corners of the stabilizing net 23 are connected to the hooks at the bottom of the lifting rope 22. The contact area of ​​the stabilizing net 23 is adjusted according to the shape and size of the workpiece. For flat workpieces such as wafers and flat nuclear power components, the stabilizing net 23 is completely in contact with the bottom surface of the workpiece. For irregularly shaped workpieces (such as curved aerospace shells), the stabilizing net 23 adapts to the contour of the workpiece through its flexible weaving structure, forming a "point-to-point" tight contact. The stabilizing net 23 is made of a mixture of low-magnetic stainless steel wire and modified polyurethane fiber, which ensures both flexibility during contact (avoiding scratching the workpiece surface) and sufficient tensile strength. Through direct contact, it forms multi-directional constraints, controlling the sway amplitude of the workpiece during movement within ±15mm.

[0033] The stabilizing net 23 is rigidly connected to the winch 21 and the support platform 6 via the suspension rope 22. During the horizontal or vertical movement of the crane and the lifting and lowering of the workpiece, the relative position of the stabilizing net 23 and the workpiece remains unchanged (synchronization error ≤1mm), and it is always in direct contact with the workpiece to avoid contact failure due to relative movement and continuously play an anti-sway role.

[0034] The core controller of this crane is a Siemens S7-1200 PLC, equipped with 16 digital input modules, 16 digital output modules, and 4 analog input modules. It can control the speed, direction, and start / stop of the first motor 13, the second motor 17, and the hoisting motor 26. The PLC communicates with the servo drive via a PROFINET bus at a communication rate of 100Mbps and a control cycle of ≤1ms, ensuring timely command response.

[0035] The crane's human-machine interface (HMI) uses a 10-inch touchscreen (Weintek MT8102iE model), which can display the crane's operating status in real time (lateral or longitudinal position, lifting height, motor speed, stabilizer contact pressure, etc.), supports parameter settings (such as moving speed, positioning coordinates, stabilizer height, etc.) and fault alarms (such as motor overload, lead screw jamming, abnormal magnetic permeability, etc.), and is easy to operate. Low magnetic permeability sensors (Lake Shore 475 model) are installed in key locations such as the main support 1, main load-bearing seat 2, and support platform 6. The sensors transmit data to the PLC via analog input modules to monitor the magnetic permeability of each component in real time. When the magnetic permeability exceeds the standard, the HMI issues an audible and visual alarm (alarm sound pressure ≥85dB, alarm light is a red LED) to remind personnel to check.

[0036] Encoders (model Pepperl+Fuchs RVI58N, resolution 1024 lines) are installed at the ends of the transverse lead screw 8 and the longitudinal lead screw 15 to detect the rotation angle of the lead screw in real time and calculate the transverse or longitudinal position of the crane; an encoder is installed at the output end of the lifting motor 26 to detect the lifting height of the stabilizer 23.

[0037] Low-magnetic pressure sensors (model HBM U9C, range 0-1000N, accuracy ±0.5%) are installed at the four corner lifting rings 24 of the stabilizing net 23 to monitor the contact pressure between the stabilizing net 23 and the workpiece, and the data is transmitted to the PLC. When the pressure exceeds 500N, the PLC controls the lifting motor 26 to reduce its speed and decrease the contact pressure; when the pressure is below 50N, the lifting motor 26 increases its speed and increases the contact pressure, ensuring that the contact pressure is maintained within a reasonable range of 50-500N, preventing swaying and damage to the workpiece.

[0038] The working principle of this invention: When this crane is in use, when the lifting mechanism lifts and transfers the workpiece, the operator can simultaneously start two second motors 17 to drive two longitudinal lead screws 15 to rotate in the same direction, thereby driving the lifting mechanism on the support platform 6 and the workpiece to move longitudinally in a stable manner. During the lateral transfer, the staff starts the first motor 13. Under the transmission action of the two first bevel gears 9 and the two second bevel gears 12, the two transverse lead screws 8 rotate simultaneously in the same direction, driving the moving platform 6 to move stably along the horizontal column 3. When lifting the workpiece, to prevent it from swaying during transfer, the operator can connect the hook at the bottom of the lifting rope 22 to the lifting ring 24 on the stabilizing net 23, and then start the two lifting motors 26. Under the transmission action of the two pairs of third bevel gears 25, the support shaft 20 and the winch 21 rotate, which in turn drives the four corners of the lifting rope 22 and the stabilizing net 23 to move upward. Under the action of the stabilizing net 23, the swaying of the workpiece is greatly reduced.

[0039] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0040] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A highly stable stainless steel low-magnetic crane, characterized in that, Includes a main support (1), on which two main bearing seats (2) are slidably arranged, and two horizontal columns (3) and two support rails (4) are fixedly spaced between the two main bearing seats (2). Two support wheels (5) are rolled on the support rails (4), and a support platform (6) is arranged between the two support wheels (5). The support wheels (5) are fixed on the support platform (6) by connecting rods. The two horizontal columns (3) pass through the support platform (6) and are slidably connected to it. A hoisting mechanism (7) is installed at the bottom of the support platform (6). Two transverse screws (8) are movably arranged between the two main bearing seats (2), and the transverse screws (8) pass through the support platform (6) and are threadedly connected to it.

2. The high-stability stainless steel low-magnetic crane according to claim 1, characterized in that, Two transverse lead screws (8) extend out of the main bearing seat (2) and are equipped with first bevel gears (9). A limit seat (10) is fixed on one side of the main bearing seat (2). A rotating shaft (11) is movably arranged on the limit seat (10). Two second bevel gears (12) are installed at intervals on the rotating shaft (11). Two second bevel gears (12) mesh with two first bevel gears (9) respectively. A first motor (13) is installed on one side of the main bearing seat (2). The output end of the first motor (13) is connected to the rotating shaft (11) through a coupling.

3. The high-stability stainless steel low-magnetic crane according to claim 2, characterized in that, Two longitudinal columns (14) are fixed at intervals on the main support (1), and a longitudinal screw rod (15) is provided on one side of the longitudinal column (14). Each of the two main bearing seats (2) has a side seat (16) fixed on one side. The longitudinal column (14) and the longitudinal screw (15) both pass through the side seat (16). The longitudinal column (14) is slidably connected to the side seat (16), and the longitudinal screw (15) is threadedly connected to the side seat (16). The longitudinal screw (15) is driven by a second motor (17) installed on the main support (1).

4. The high-stability stainless steel low-magnetic crane according to claim 3, characterized in that, Both the transverse lead screw (8) and the longitudinal lead screw (15) are galvanized.

5. The high-stability stainless steel low-magnetic crane according to claim 4, characterized in that, The support platform (6) has four square support rods (18) fixed on it, and pulleys (19) are movably installed on the support rods (18). Each of the four support rods (18) has a movably mounted support shaft (20) on one side. A winch (21) is mounted on the support shaft (20). A hoisting rope (22) is mounted on the winch (21). One end of the hoisting rope (22) passes through the pulley (19) and is equipped with a hook.

6. The high-stability stainless steel low-magnetic crane according to claim 5, characterized in that, A stabilizing net (23) is provided below the hoisting mechanism (7). A lifting ring (24) is installed at each of the four corners of the stabilizing net (23). The lifting ring (24) is used in conjunction with the hook at the bottom of the hoisting rope (22).

7. The high-stability stainless steel low-magnetic crane according to claim 6, characterized in that, Each of the four support shafts (20) is equipped with a third bevel gear (25), and two adjacent third bevel gears (25) mesh with each other; A lifting motor (26) is installed on the support platform (6), and the output end of the lifting motor (26) is connected to the support shaft (20) through a coupling.

8. The high-stability stainless steel low-magnetic crane according to claim 7, characterized in that, The first bevel gear (9) and the second bevel gear (12) are driven by a closed transmission, and the meshing pair of the third bevel gears (25) are driven by a closed transmission.

9. The high-stability stainless steel low-magnetic crane according to claim 8, characterized in that, The mesh size of the stabilizing net (23) is 50×50mm-100×100mm. The edge of the stabilizing net (23) is fixed by a low-magnetic stainless steel edging strip. The connection between the edging strip and the stabilizing net (23) is riveted with low-magnetic stainless steel rivets to enhance the tensile strength of the edge of the stabilizing net (23) and prevent the edge from tearing during the anti-sway process.

10. The high-stability stainless steel low-magnetic crane according to claim 9, characterized in that, The main support (1), main bearing seat (2) and cross column (3) are all made of austenitic stainless steel with low magnetic permeability.

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