Multi-degree-of-freedom flexible sling

Abstract

The present invention discloses a multi-degree-of-freedom flexible sling, which includes a turntable, a slewing reducer, a slewing body, a cross beam, a first electric push rod, a telescopic arm, a second electric push rod, a DC servo integrated machine, and a suspension rod. The slewing reducer is arranged between the turntable and the slewing body and is integrated with a hydraulic motor. The hydraulic motor and the slewing reducer drive the slewing body to perform a 360° full rotation relative to the turntable; the slewing body is hinged to the cross beam, and two folding first electric push rods are connected between the slewing body and the cross beam. The first electric push rod drives the cross beam to swing longitudinally by ±10° relative to the slewing body; the telescopic arms are installed at both ends of the cross beam, and two second electric push rods are connected between the cross beam and the telescopic arms. The second electric push rod drives the telescopic arms to move up and down along the guide rails on the cross beam; the DC servo integrated machine is installed on the telescopic arm to control the rotation of the suspension rod so as to lock the suspension rod to the lifted object or unlock the suspension rod from the lifted object. This sling has multiple degrees of freedom, flexible actions, a compact structure, and high hoisting accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of hoisting and transportation, and particularly relates to a multi-degree-of-freedom flexible spreader. Background Art

[0002] A box lifting spreader such as a container spreader can achieve telescoping, rotation, pitching, and sling point locking. Cooperating with the movement of the boom, it can achieve flexible lifting of various specifications of containers. However, the existing spreader only targets the lifting of large container bodies and cannot meet the requirements for small boxes, especially when the spreader structure needs to be compact, the lifting accuracy needs to be high, and the movement needs to be more flexible. Summary of the Invention

[0003] To solve some or all of the technical problems existing in the above-mentioned prior art, the present invention provides a multi-degree-of-freedom flexible spreader, including a turntable, a slewing reducer, a slewing body, a cross beam, a first electric push rod, a telescopic arm, a second electric push rod, a DC servo integrated machine, and a suspension rod, wherein:

[0004] The slewing reducer is arranged between the turntable and the slewing body and is integrated with a hydraulic motor. The hydraulic motor and the slewing reducer drive the slewing body to make a 360° full rotation relative to the turntable;

[0005] The slewing body is hinged to the cross beam, and two folding first electric push rods are connected between the slewing body and the cross beam. The first electric push rod drives the cross beam to swing longitudinally by ±10° relative to the slewing body;

[0006] The telescopic arms are installed at both ends of the cross beam, and two second electric push rods are connected between the cross beam and the telescopic arms. The second electric push rod drives the telescopic arms to move up and down along the guide rails on the cross beam;

[0007] The DC servo integrated machine is installed on the telescopic arm to control the rotation of the suspension rod at the end of the telescopic arm to lock the suspension rod to the lifted object or unlock the suspension rod from the lifted object.

[0008] Further, in the above multi-degree-of-freedom flexible spreader, the slewing reducer is a worm gear and worm slewing reducer.

[0009] Further, in the above multi-degree-of-freedom flexible spreader, the first electric push rod is controlled by a servo motor, and the second electric push rod is controlled by a servo motor.

[0010] Further, in the above multi-degree-of-freedom flexible spreader, the DC servo integrated machine is equipped with a single-turn absolute encoder.

[0011] Furthermore, in the above-mentioned multi-degree-of-freedom flexible sling, the connection forms at both ends of the second electric push rod are vertically crossed, and the connection holes are oblong holes. The guide rails on the cross beam are designed as variable cross-section tracks, and the width and thickness at the end of the guide rail become larger, forming a flared shape, thereby changing the hoisting point position from rigid to flexible.

[0012] The multi-degree-of-freedom flexible sling of the present invention has multiple degrees of freedom, flexible movement, a compact structure, high hoisting accuracy, and when the sling contacts or places an object, the hoisting point position changes from rigid to flexible, which can avoid rigid collisions and is applicable to the hoisting of hoisting objects of various specifications including large container bodies and small boxes, effectively solving the technical problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In the drawings:

[0014] Figure 1 is a schematic structural diagram of the multi-degree-of-freedom flexible sling of the present invention;

[0015] Figure 2 is Figure 1 a side view of the multi-degree-of-freedom flexible sling shown;

[0016] Figure 3 is a schematic diagram for explaining the variable cross-section guide rail in the multi-degree-of-freedom flexible sling of the present invention, where (b) is a sectional view taken along line A-A of (a). DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0018] As Figure 1 , Figure 2 and Figure 3 shown, the multi-degree-of-freedom flexible sling of the present invention includes a turntable 1, a slewing speed reducer 2, a slewing body 3, a cross beam 4, a first electric push rod 5, a telescopic arm 6, a second electric push rod 7, a DC servo integrated machine 8, and a suspension rod 9.

[0019] The slewing speed reducer 2 is arranged between the turntable 1 and the slewing body 3 and integrated with a hydraulic motor. The 360° full slewing of the slewing body 3 relative to the turntable 1 is realized through the hydraulic motor and the slewing speed reducer 2, whereby the slewing of the spreader can be achieved.

[0020] Preferably, the slewing speed reducer 2 adopts a worm and worm gear slewing speed reducer with high slewing accuracy.

[0021] The slewing body 3 is hinged to the cross beam 4, and two folding first electric push rods 5 controlled by a servo motor are connected between the slewing body 3 and the cross beam 4. The folding movement of the first electric push rod 5 drives the cross beam 4 to swing longitudinally by ±10° relative to the slewing body 3, whereby the longitudinal swing of the spreader can be achieved.

[0022] The telescopic arms 6 are installed at both ends of the cross beam 4, and two second electric push rods 7 controlled by a servo motor are connected between the cross beam 4 and the telescopic arms 6. The reciprocating movement of the second electric push rod 7 drives the telescopic arms 6 to move up and down along the guide rails on the cross beam 4, whereby the lifting of the spreader can be achieved.

[0023] The DC servo integrated machine 8 is installed on the telescopic arm 6 to control the rotation of the hanging rod 9 at the end of the telescopic arm 6. Specifically, after the hanging rod 9 is inserted into the lifted object, the DC servo integrated machine 8 controls the hanging rod 9 to rotate by 90°, thereby locking the hanging rod 9 to the lifted object and realizing the locking of the lifting point position. Then, the lifted object is lifted. After lifting in place, the DC servo integrated machine 8 controls the hanging rod 9 to rotate by 90° again, so as to unlock the hanging rod 9 from the lifted object.

[0024] The DC servo integrated machine 8 can be equipped with a single-turn absolute encoder to determine the angular position of the hanging rod 9 in real time.

[0025] Furthermore, in the multi-degree-of-freedom flexible spreader of the present invention, the connection forms at both ends of the second electric push rod 7 installed between the cross beam 4 and the telescopic arm 6 are vertically crossed, and the connection holes are oblong holes. The guide rails on the cross beam 4 are designed as variable cross-section tracks, and the ends of the guide rails are in the shape of a flared mouth, with the width and thickness increasing. So that the telescopic arm 6 is a rigid structure at the beginning of the descent. When the hanging rod 9 touches or places an object, the telescopic arm 6 enters the wide-section guide rail. Due to the increased mobility brought by the wide-section guide rail and the oblong hole structure of the connection holes of the second electric push rod 7, the entire telescopic arm 6 becomes flexible and movable. In this way, the hanging rod 9 can be smoothly inserted into the lifted object through its own guidance. Thus, through the purely mechanical method of the variable cross-section track, the lifting point position of the spreader can be changed from rigid to flexible.

[0026] The working process of the multi-degree-of-freedom flexible spreader of the present invention is as follows: When lifting a container, the rotation, longitudinal swing and up-and-down movement of the spreader are controlled by the slewing speed reducer 2, the first electric push rod 5 and the second electric push rod 7 until the boom 9 is inserted into the container. Then, the DC servo integrated machine 8 controls the boom 9 to rotate 90° to lock the hoisting point position, and lifts the container. After arriving at the position, the DC servo integrated machine 8 controls the boom 9 to rotate 90° again to unlock, and drives the telescopic arm 6 to rise through the second electric push rod 7 to disengage the boom 9 from the container, completing the lifting operation of the container.

[0027] In summary, compared with the prior art, the multi-degree-of-freedom flexible spreader of the present invention has the following advantages and beneficial effects: The spreader has multiple degrees of freedom, flexible movement, compact structure, high hoisting accuracy, and when the spreader contacts or places an object, the hoisting point position changes from rigid to flexible, which can avoid rigid collision, and is applicable to the hoisting of hoisting objects of various specifications including large containers and small boxes, effectively solving the technical problems existing in the prior art.

[0028] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. In addition, "front", "rear", "left", "right", "up" and "down" in this article are all referenced with respect to the placement state shown in the drawings.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-degree-of-freedom flexible sling, characterized in that, The multi-degree-of-freedom flexible sling includes a turntable, a slewing reducer, a slewing body, a cross beam, a first electric push rod, a telescopic arm, a second electric push rod, a DC servo integrated machine, and a suspension rod. Among them: The slewing reducer is arranged between the turntable and the slewing body and is integrated with a hydraulic motor. The hydraulic motor and the slewing reducer drive the slewing body to perform a 360° full rotation relative to the turntable; The slewing body is hinged to the cross beam, and two folding first electric push rods are connected between the slewing body and the cross beam. The first electric push rod drives the cross beam to swing longitudinally by ±10° relative to the slewing body; The telescopic arms are installed at both ends of the cross beam, and two second electric push rods are connected between the cross beam and the telescopic arms. The second electric push rod drives the telescopic arms to move up and down along the guide rails on the cross beam; The DC servo integrated machine is installed on the telescopic arm to control the rotation of the suspension rod at the end of the telescopic arm to lock the suspension rod to the lifted object or unlock the suspension rod from the lifted object; The two ends of the second electric push rod are connected in a vertical cross form, and the connection holes are oblong holes. The guide rails on the cross beam are designed as variable cross-section tracks, and the width and thickness at the end of the guide rails become larger, forming a flared shape, thereby changing the hoisting point position from rigid to flexible; The DC servo integrated machine is equipped with a single-turn absolute encoder for real-time determination of the angular position of the suspension rod.

2. The multi-degree-of-freedom flexible sling according to claim 1, wherein The slewing reducer is a worm and worm slewing reducer.

3. The multi-degree-of-freedom flexible sling according to claim 1, characterized in that The first electric push rod is controlled by a servo motor, and the second electric push rod is controlled by a servo motor.

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