A three-point long-stroke multi-stage trapezoidal screw heavy-duty lifting device

Abstract

The present invention discloses a three-point long-stroke multi-stage trapezoidal screw heavy-duty hoist, comprising three heavy-duty long-stroke lifting multi-stage trapezoidal screws, a hoisting device base platform, a lifting work platform, three groups of motor drive components, three groups of spherical hinges and three cross joint hinges. Each heavy-duty long-stroke lifting multi-stage trapezoidal screw is installed on the hoisting device base platform through a motor drive component and a spherical hinge respectively. The lifting work platform is connected to the lower ends of the three heavy-duty long-stroke lifting multi-stage trapezoidal screws through three joint hinges. The heavy-duty long-stroke multi-stage trapezoidal screw is driven by the motor drive component to realize long-stroke telescopic lifting and lowering movement. The spherical hinge is connected to the heavy-duty long-stroke lifting multi-stage trapezoidal screw through the motor drive component, so as to bear the axial load of lifting and lowering the heavy-duty long-stroke lifting multi-stage trapezoidal screw. The present invention effectively solves the problems of heavy load, load distribution and movement accuracy in vertical narrow space.

Description

Technical Field

[0001] The present invention relates to the technical field of automation of engineering machinery lifting equipment, in particular to the application of high-precision heavy-load slings in narrow spaces. Background Art

[0002] In the field of long-stroke lifting, hoisting and transportation of special components in a narrow space, a hoist with a load capacity of 3-200 tons is needed. The hoist is required to support lifting, pitching and rollover movements during the lifting process, and also requires the hoist to have horizontal lateral and longitudinal movement expansion capabilities, that is, to ensure the lifting and transportation accuracy and large load, as well as the movement flexibility and high reliability. At present, there is no very mature solution for this type of equipment. The existing multi-point winch lifting equipment has low lifting accuracy, and the lifting stability is also affected by the elasticity of the wire rope and the side slip of the multi-loop and multi-layer winding wire rope. The winch assembly also has the disadvantages of large installation area, low space utilization and heavy equipment. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a long-stroke lifting and transfer sling equipment solution for 3-200 tons of special components in a narrow space. The working platform supports long-stroke lifting, pitching and rolling movements during the lifting process, that is, a three-point long-stroke multi-stage trapezoidal screw heavy-load sling equipment that simultaneously meets the requirements of narrow space, heavy load, high precision, flexible motion control, compact structure, easy use and maintenance, and high reliability.

[0004] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows.

[0005] A three-point long-stroke multi-stage trapezoidal screw heavy-duty sling, comprising three heavy-duty long-stroke lifting multi-stage trapezoidal screws, a first heavy-duty long-stroke lifting multi-stage trapezoidal screw, a second heavy-duty long-stroke lifting multi-stage trapezoidal screw and a third heavy-duty long-stroke lifting multi-stage trapezoidal screw, a sling base platform, a lifting operation platform, three sets of motor drive assemblies, three sets of spherical hinges and three cross-joint hinges, each heavy-duty long-stroke lifting multi-stage trapezoidal screw is respectively installed on the sling base platform through a motor drive assembly and a spherical hinge, and the lifting operation platform is connected to the lower ends of the three heavy-duty long-stroke lifting multi-stage trapezoidal screws through three joint hinges, the heavy-duty long-stroke lifting multi-stage trapezoidal screws are driven by the motor drive assembly to realize long-stroke telescopic lifting and lowering movement, the spherical hinge is connected to the heavy-duty long-stroke lifting multi-stage trapezoidal screw through the motor drive assembly, and thus bears the axial load of lifting and lowering the heavy-duty long-stroke lifting multi-stage trapezoidal screw, and the spherical hinge is connected to the sling base platform through a spherical base.

[0006] The spherical hinge includes a spherical platform, a spherical base and a spherical yaw constraint mechanism. One end of the spherical yaw constraint mechanism is connected to the spherical base. The spherical base and the spherical platform are connected by spherical matching, and their contact surface is an annular spherical structure.

[0007] The spherical yaw constraint mechanism of the spherical hinge includes at least three transverse rotating shafts, a first transverse rotating shaft, a second transverse rotating shaft and a third transverse rotating shaft. The transverse rotating shafts are connected through a three-axis folding plate. The three-axis folding plate is also respectively provided with an upper rotating hinge and a lower rotating hinge. The upper rotating hinge is provided with a first longitudinal rotating shaft, and the lower rotating hinge is provided with a second longitudinal rotating shaft. The transverse rotating shafts and the longitudinal rotating shafts are perpendicular to each other.

[0008] The motor drive assembly includes a reducer bracket, a reducer on the reducer bracket, a servo motor connected to the reducer, a driving gear connected to the reducer, a driven gear meshing with the driving gear, a support bearing connected to the bottom of the driven gear, the support bearing is arranged on the support bearing seat, and a trapezoidal nut is also provided on the driven gear.

[0009] When the spherical hinge is connected to the motor drive assembly, the other end of the spherical yaw constraint mechanism is connected to the support bearing seat of the motor drive assembly through the first longitudinal rotating shaft, and the spherical platform is connected to the support bearing seat of the motor drive assembly.

[0010] The heavy-load long-stroke lifting multi-stage trapezoidal screw comprises at least two stages of mutually nested trapezoidal screws, the end of each stage of the trapezoidal screw is provided with an internal thread connected to the external thread of the next stage of the trapezoidal screw, the external thread of the first stage of the trapezoidal screw is connected to a driven gear (705) provided with an internal thread, and the end of the last stage of the trapezoidal screw is connected to a joint hinge.

[0011] The spreader base platform and the lifting operation platform are equipped with inclination sensors for posture monitoring.

[0012] Multiple groups of force sensors uniformly distributed in an annular manner are arranged in series at the connection between the spherical hinge and the heavy-load long-stroke lifting multi-stage trapezoidal screw for load monitoring and control.

[0013] The joint hinge comprises a hinge upper seat, a hinge lower seat, and a hinge transverse axis and a hinge longitudinal axis arranged between the hinge upper seat and the hinge lower seat. The hinge transverse axis and the hinge longitudinal axis are perpendicular to each other.

[0014] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is as follows.

[0015] The present invention adopts three groups of triangularly distributed multi-stage trapezoidal screws, which are installed on the base platform through spherical hinges. The lower ends of the three multi-stage trapezoidal screws are connected to the hoisting work platform through joint bearings. The spherical hinges are equipped with force sensors, and the hoisting work platform and the base platform are equipped with inclination sensors. The present invention realizes vertical lifting of 3-20 meters in a narrow space. Taking the length of a single-stage trapezoidal screw of 2.5 meters as an example, the total stroke of a two-stage screw can reach 5 meters, the total stroke of a six-stage screw can reach 15 meters, and the total stroke of an eight-stage screw can reach 20 meters. The load can reach 3-200 tons of transportation and hoisting operation functions. For example, the trapezoidal screw is made of alloy structural steel material. When the effective area of ​​the load-bearing section is 110cm 2 When the rated load of a single multi-stage screw is greater than 30 tons, the rated load of a multi-stage trapezoidal screw sling containing three sets of triangular distribution is greater than 90 tons. Similarly, when the effective area of ​​the load-bearing section is 11cm 2 The rated load of a single multi-stage screw is greater than 3 tons, and the rated load of a sling containing three sets of triangularly distributed multi-stage trapezoidal screws is greater than 9 tons. The working platform also has the ability to adjust pitch and roll.

[0016] The multi-stage trapezoidal screw of the present invention is driven by a servo motor through a reducer and a gear set. When the multi-stage trapezoidal screw is retracted, the basic length is shorter, and when it is extended, it has a series multiple relationship with the basic length. At the same time, the trapezoidal screw is designed with self-locking ability to ensure safe lifting when there is no power.

[0017] This invention meets the multiple demands of confined spaces, heavy loads, long travel, high precision, precise speed regulation without impact, flexible movement, adaptable and adjustable center of gravity, compact structure, automation, energy conservation and environmental protection, and high reliability. It effectively solves the problems of heavy loads, load distribution, and motion precision in narrow vertical spaces, and is particularly suitable for applications such as lifting and transporting heavy components in confined spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the assembled structure of the present invention in an extended state;

[0019] Figure 2 This is a schematic diagram of the final assembly structure of the present invention in a contracted state;

[0020] Figure 3 This is a schematic diagram of the motor drive assembly structure of the present invention

[0021] Figure 4 It is a schematic diagram of the connection structure of the spherical hinge, motor drive assembly and force sensor of the present invention;

[0022] Figure 5 is a schematic diagram of the spherical hinge structure of the present invention;

[0023] Figure 6Schematic diagram of the connection structure of the multi-stage trapezoidal screw, spherical hinge, motor drive assembly, force sensor, and joint hinge of the present invention;

[0024] Figure 7 yes Figure 1 、 Figure 2 Schematic diagram of the structure of the cruciate hinge;

[0025] Figure 8 yes Figure 5 、 Figure 6 Schematic diagram of the structure of the mid-spherical yaw constraint mechanism.

[0026] Among them: 1 - first heavy-load long-stroke lifting multi-stage trapezoidal screw, 2 - second heavy-load long-stroke lifting multi-stage trapezoidal screw, 3 - third heavy-load long-stroke lifting multi-stage trapezoidal screw, 4 - sling base platform 4, 5 - lifting operation platform, 6 - spherical hinge, 9 - cross joint hinge, 12 - motor drive assembly, 601 - spherical platform, 602 - spherical base, 603 - spherical yaw constraint mechanism, 611 - upper rotary hinge, 612 - lower rotary hinge 612, 613 - three-axis folding plate, 701 - servo motor, 702 - reducer, 703 - reducer bracket , 704—driving gear, 705—driven gear, 706—trapezoidal nut, 707—support bearing, 708—support bearing seat, 801—force sensor, 803—laser calibration sensor, 111—first-stage trapezoidal lead screw, 112—second-stage trapezoidal lead screw, 113—third-stage trapezoidal lead screw, 622—first horizontal rotating shaft, 623—second horizontal rotating shaft, 624—third horizontal rotating shaft, 621—first longitudinal rotating shaft, 625—second longitudinal rotating shaft, 901—hinge upper seat, 902—hinge longitudinal axis, 903—hinge horizontal axis, 903—hinge lower seat. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to specific embodiments.

[0028] A three-point long-stroke multi-stage trapezoidal screw heavy-duty sling includes three heavy-duty long-stroke lifting multi-stage trapezoidal screws, a first heavy-duty long-stroke lifting multi-stage trapezoidal screw 1, a second heavy-duty long-stroke lifting multi-stage trapezoidal screw 2, and a third heavy-duty long-stroke lifting multi-stage trapezoidal screw 3, a sling base platform 4, a lifting operation platform 5, three sets of motor drive assemblies 12, three sets of spherical hinges 6, and three cross joint hinges 9. Each heavy-duty long-stroke lifting multi-stage trapezoidal screw is installed through the motor drive assembly 12 and the spherical hinge 6. On the sling base platform 4, the lifting work platform 5 is connected to the lower ends of three heavy-loaded long-stroke lifting multi-stage trapezoidal screws 1 through three joint hinges 9. The heavy-loaded long-stroke lifting multi-stage trapezoidal screws are driven by the motor drive assembly 12 to realize long-stroke telescopic lifting movement. The spherical hinge 6 is connected to the heavy-loaded long-stroke lifting multi-stage trapezoidal screw 1 through the motor drive assembly 12, and then bears the axial load of lifting the heavy-loaded long-stroke lifting multi-stage trapezoidal screw. The spherical hinge 6 is connected to the sling base platform 4 through the spherical base 602.

[0029] The spherical hinge 6 includes a spherical platform 601, a spherical base 602 and a spherical yaw constraint mechanism 603. One end of the spherical yaw constraint mechanism 603 is connected to the spherical base 602. The spherical base 602 and the spherical platform 601 are connected by spherical matching, and their contact surface is an annular spherical structure.

[0030] The spherical yaw constraint mechanism 603 of the spherical hinge 6 includes at least three transverse rotating shafts, a first transverse rotating shaft 622, a second transverse rotating shaft 623 and a third transverse rotating shaft 624. The transverse rotating shafts are connected by a three-axis folding plate 613. It also includes a first longitudinal rotating shaft 621 arranged on the upper rotating hinge 611 and a second longitudinal rotating shaft 625 arranged on the lower rotating hinge 612. The transverse rotating shafts and the longitudinal rotating shafts are perpendicular to each other.

[0031] The motor drive assembly 12 includes a reducer bracket 703, a reducer 702 on the reducer bracket 703, a servo motor 701 connected to the reducer 702, the reducer 702 is connected to a driving gear 704, a driven gear 705 meshing with the driving gear 704, a support bearing 707 is connected below the driven gear 705, the support bearing 707 is set on a support bearing seat 708, and a trapezoidal nut 706 is also set on the driven gear 705.

[0032] When the spherical hinge 6 is connected to the motor drive assembly 12, the other end of the spherical yaw constraint mechanism 603 is connected to the support bearing seat 708 of the motor drive assembly 12 through the first longitudinal rotation axis 621, and the spherical platform 601 is connected to the support bearing seat 708 of the motor drive assembly 12.

[0033] The heavy-load, long-stroke lifting multi-stage trapezoidal screw includes at least two stages of nested trapezoidal screws, a first-stage trapezoidal screw 111, a second-stage trapezoidal screw 112, a third-stage trapezoidal screw 113, a fourth-stage trapezoidal screw 114, a fifth-stage trapezoidal screw 115, and a sixth-stage trapezoidal screw 116. The end of each stage of the trapezoidal screw is provided with an internal thread connected to the external thread of the next stage of the trapezoidal screw. The external thread of the top-stage trapezoidal screw 111 is connected to the driven gear 705 with an internal thread, and specifically can be connected to the trapezoidal nut 706 provided on the driven gear 705. The end of the last-stage trapezoidal screw is connected to the joint hinge 9.

[0034] The three joint hinges 9 have axial yaw constraint rigidity and only support roll and pitch degrees of freedom. The joint hinges 9 are cross joint bearings that can transmit torque and tension while supporting left and right and front and back flipping.

[0035] The spreader base platform 4 and the hoisting work platform 5 are equipped with inclination sensors 802 for posture monitoring. These inclination sensors are commercially available, such as the Wuxi Beiwei Sensor BWH525 dual-axis inclination sensor with CAN bus output, offering a measurement range of ±10° and an accuracy of 0.005 degrees. The measuring axes are centered around the horizontal X-axis and Y-axis, with the X and Y axes perpendicular to each other and lying on the horizontal plane. The inclination sensors can read the angle between the spreader base platform 4 or the hoisting work platform 5 and the horizontal plane via communication, enabling posture control and adjustment.

[0036] Multiple groups of force sensors 801 evenly distributed in an annular pattern are arranged in series at the connection between the spherical hinge 6 and the heavy-load long-stroke lifting multi-stage trapezoidal screw for load monitoring and control.

[0037] The joint hinge 9 includes a hinge upper seat 901, a hinge lower seat 904, and a hinge transverse axis 903 and a hinge longitudinal axis 902 arranged between the hinge upper seat 901 and the hinge lower seat 904. The hinge transverse axis 903 and the hinge longitudinal axis 902 are perpendicular to each other.

[0038] Working process: During the lifting process, taking a single set of multi-stage screw rods as an example, the servo motor 701 drives the top trapezoidal nut 706 of the multi-stage nested trapezoidal screw rods to rotate clockwise through the reducer 702, the driving gear 704 and the driven gear 705 of the gear set, thereby driving the multi-stage nested trapezoidal screw rods to rotate. Since the sixth-stage trapezoidal screw rod 116 at the last stage of the multi-stage trapezoidal screw rods is connected to the hoisting work platform 5 through the joint hinge 9 and remains in a rotating stationary state, the other trapezoidal screw rods are The rod includes a first-level trapezoidal screw rod 111, a second-level trapezoidal screw rod 112, a third-level trapezoidal screw rod 113, a fourth-level trapezoidal screw rod 114, and a fifth-level trapezoidal screw rod 115, which rotate clockwise according to the natural size of the torque. At the same time, the last-level sixth-level trapezoidal screw rod 116 and the first-level trapezoidal screw rod 111, the second-level trapezoidal screw rod 112, the third-level trapezoidal screw rod 113, the fourth-level trapezoidal screw rod 114, and the fifth-level trapezoidal screw rod 115 are nested and contracted with each other until the contraction length of the minimum mechanical limit of the multi-level screw rod is reached.

[0039] During the descent process of the hoist, taking a single set of multi-stage screws as an example, the servo motor 701 drives the top trapezoidal nut 706 of the multi-stage nested trapezoidal screws to rotate counterclockwise through the reducer 702, the driving gear 704 and the driven gear 705 of the gear set. Since the sixth-stage trapezoidal screw 116 at the end of the multi-stage trapezoidal screw is connected to the hoisting work platform 5 through the joint hinge 9, it remains in a rotating static state. The other trapezoidal screws including the first-stage trapezoidal screw 111 are connected to the hoisting work platform 5 through the joint hinge 9. , the second-stage trapezoidal screw 112, the third-stage trapezoidal screw 113, the fourth-stage trapezoidal screw 114, and the fifth-stage trapezoidal screw 115 rotate counterclockwise according to the natural size of the torque. At the same time, the sixth-stage trapezoidal screw 116 at the last stage and the first-stage trapezoidal screw 111, the second-stage trapezoidal screw 112, the third-stage trapezoidal screw 113, the fourth-stage trapezoidal screw 114, and the fifth-stage trapezoidal screw 115 are nested and extended with each other until the maximum mechanical limit elongation length of the multi-stage screw is reached.

Claims

1. A three-point long-stroke multi-stage trapezoidal screw heavy-duty lifting device, comprising three heavy-duty long-stroke lifting multi-stage trapezoidal screws, a first heavy-duty long-stroke lifting multi-stage trapezoidal screw (1), a second heavy-duty long-stroke lifting multi-stage trapezoidal screw (2) and a third heavy-duty long-stroke lifting multi-stage trapezoidal screw (3), a lifting device base platform (4), a lifting operation platform (5), three sets of motor drive components (12), three sets of spherical hinges (6) and three cross joint hinges (9), characterized in that: Each heavy-loaded, long-stroke lifting multi-stage trapezoidal screw is installed on the sling base platform (4) through a motor drive assembly (12) and a spherical hinge (6), and the lifting operation platform (5) is connected to the lower ends of the three heavy-loaded, long-stroke lifting multi-stage trapezoidal screws through three joint hinges (9). The heavy-loaded, long-stroke lifting multi-stage trapezoidal screws are driven by the motor drive assembly (12) to achieve long-stroke telescopic lifting and lowering movement. The spherical hinge (6) is connected to the heavy-loaded, long-stroke lifting multi-stage trapezoidal screw (1) through the motor drive assembly (12), thereby bearing the axial load of lifting the heavy-loaded, long-stroke lifting multi-stage trapezoidal screw. The spherical hinge (6) is connected to the sling base platform (4) through a spherical base (602); The spherical hinge (6) comprises a spherical platform (601), a spherical base (602) and a spherical yaw constraint mechanism (603); one end of the spherical yaw constraint mechanism (603) is connected to the spherical base (602); the spherical base (602) and the spherical platform (601) are connected by spherical matching, and their contact surface is an annular spherical structure; The spherical yaw constraint mechanism (603) of the spherical hinge (6) comprises at least three transverse rotating shafts, namely a first transverse rotating shaft (622), a second transverse rotating shaft (623) and a third transverse rotating shaft (624). The transverse rotating shafts are connected via a three-axis folding plate (613). An upper rotating hinge (611) and a lower rotating hinge (612) are respectively arranged on the three-axis folding plate. A first longitudinal rotating shaft (621) is arranged on the upper rotating hinge (611), and a second longitudinal rotating shaft (625) is arranged on the lower rotating hinge (612). The transverse rotating shafts and the longitudinal rotating shafts are perpendicular to each other.

2. The three-point long-stroke multi-stage trapezoidal screw heavy-duty sling according to claim 1 is characterized in that: The motor drive assembly (12) comprises a reducer bracket (703), a reducer (702) on the reducer bracket (703), a servo motor (701) connected to the reducer (702), a driving gear (704) connected to the reducer (702), a driven gear (705) meshing with the driving gear (704), a support bearing (707) connected below the driven gear (705), the support bearing (707) being arranged on a support bearing seat (708), and a trapezoidal nut (706) being further arranged on the driven gear (705).

3. The three-point long-stroke multi-stage trapezoidal screw heavy-duty sling according to claim 2 is characterized in that: When the spherical hinge (6) is connected to the motor drive assembly (12), the other end of the spherical yaw constraint mechanism (603) is connected to the support bearing seat (708) of the motor drive assembly (12) via the first longitudinal rotating shaft (621), and the spherical platform (601) is connected to the support bearing seat (708) of the motor drive assembly (12).

4. The three-point long-stroke multi-stage trapezoidal screw heavy-duty sling according to claim 2, characterized in that: The heavy-load long-stroke lifting multi-stage trapezoidal screw comprises at least two stages of mutually nested trapezoidal screws, the end of each stage of the trapezoidal screw is provided with an internal thread connected to the external thread of the next stage of the trapezoidal screw, the external thread of the first stage of the trapezoidal screw (111) is connected to a driven gear (705) provided with an internal thread, and the end of the last stage of the trapezoidal screw is connected to a joint hinge (9).

5. The three-point long-stroke multi-stage trapezoidal screw heavy-duty sling according to claim 1, characterized in that: The sling base platform (4) and the hoisting operation platform (5) are provided with inclination sensors (802) for posture monitoring.

6. The three-point long-stroke multi-stage trapezoidal screw heavy-duty sling according to claim 1, characterized in that: A plurality of groups of force sensors (801) uniformly distributed in an annular pattern are arranged in series at the connection between the spherical hinge (6) and the heavy-load long-stroke lifting multi-stage trapezoidal screw rod for load monitoring and control.

7. The three-point long-stroke multi-stage trapezoidal screw heavy-duty sling according to claim 1, characterized in that: The joint hinge (9) comprises a hinge upper seat (901), a hinge lower seat (904), and a hinge transverse axis (903) and a hinge longitudinal axis (902) arranged between the hinge upper seat (901) and the hinge lower seat (904); the hinge transverse axis (903) and the hinge longitudinal axis (902) are perpendicular to each other.

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