Method of using a clamp, spreader, crane

Abstract

The present application relates to a kind of methods for using clamp, clamp is mainly by base and at least two clamping arms connected with base, base slidingly connected with pull rod;It includes: the clamping arm clamps target object, keeps the transmission connection of pull rod and clamping arm, pulls pull rod, pull rod drives clamping arm to adjust its angle with base, to further improve the clamping force of clamping arm to target object.The present application also relates to a kind of lifting tool, crane, including base, clamping arm, pull rod, transmission and clamp loose driving device;At least two clamping arms are connected with base to form clamp;Pull rod is slidingly connected with base;Base, clamping arm, transmission and pull rod form deformable structure;Clamp loose driving device is used to roughly set the angle of clamping arm and base, and there is elastic adjustment space after the angle is roughly set.A kind of crane, including lifting rope and the aforementioned lifting tool, lifting rope is fixedly connected with pull rod in B-axis direction.Using them can reduce the requirement of initial clamping force providing device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamps, in particular to a clamp using method.

[0002] The present application also relates to the technical field of lifting devices, in particular to a lifting device and a crane. BACKGROUND

[0003] A lifting sling is a device used for lifting heavy objects in hoisting machinery. The most commonly used lifting slings are hooks, lifting belts, and other lifting rings, lifting suction cups, tongs, and forks.

[0004] Industrial paper rolls are generally cylindrical in shape. Paper rolls wound on hollow tubes are hollow paper rolls, and paper rolls wound on solid cylinders are solid paper rolls. For example, a solid paper roll has an outer diameter of 750mm-1250mm, a maximum height of 3.6m, and a maximum weight of 4.2 tons. Currently, when storing this type of solid paper roll in a warehouse, a single solid paper roll is generally placed vertically, and a multi-layer stacking method is used to improve space utilization. When transporting this type of solid paper roll over a short distance, a forklift is generally used for transportation, and a lifting sling is used for lifting and pulling transportation. Due to the particularity of the paper roll, when transporting the solid paper roll, the side surface of the paper roll, as well as the upper and lower end surfaces of the paper roll, should be avoided.

[0005] In the prior art, there are three ways to use a lifting sling to lift a hollow paper roll: first, the lifting sling includes a hook and a lifting rod, the lifting rod passes through the tube hole of the horizontally placed hollow paper roll, and two hooks hook and pull the two ends of the lifting rod. For details, see patent documents CN216863384U, CN208054707U, and CN105129604A. Second, the outer diameter of the lifting sling can be expanded or reduced. After the lifting sling is inserted into the tube hole of the vertically placed hollow paper roll, the outer diameter of the lifting sling is expanded, and the hollow paper roll can be lifted when the friction between the lifting sling and the hollow tube is equal to the weight of the hollow paper roll. For details, see patent documents CN102815602A and CN200949009Y. Third, the paper roll is clamped by tongs. For details, see patent document CN201024042Y. Since the solid paper roll does not have a tube hole, the last lifting method must be used to lift the solid paper roll. SUMMARY

[0006] The purpose of the present application is to provide a method for using a clamp to reduce the requirement for initial clamping force, which is especially suitable for the clamping operation of a lifting device. Therefore, the second purpose of the present application is to provide a lifting device and a crane to reduce the requirement for a device for providing initial clamping force. When the clamp is adjusted to adapt to the clamping of a columnar object, the lifting device and the crane of the present application also facilitate the lifting of a vertically placed paper roll, especially a solid paper roll.

[0007] The technical solution of the present application is:

[0008] A method for using a clamp, which is mainly composed of a base and at least two clamping arms connected with the base, and a lifting rod slidingly connected with the base, comprising the following steps:

[0009] S11, clamping the target object with the clamping arms, maintaining the transmission connection between the lifting rod and the clamping arms, lifting the lifting rod, and driving the clamping arms to adjust the clamping angle ∠ α of the clamping arms with the base to further improve the clamping force of the clamping arms on the target object; wherein α ∠ is the angle between the lower end of the clamping arm and the radial centripetal side of the counterweight base.

[0010] Preferably, the sliding axis of the base and the lifting rod is the B axis, the lifting rod is connected with a lifting rope, and before the step S11, there is a step S10 of transmission connecting the lifting rod and the clamping arms, so that when the lifting rope is lifted and the clamp naturally falls, the B axis is parallel to the gravity center line of the clamp, and in the step S11, the lifting rod can drive the clamping arms to adjust α ∠ in the step S11, the lifting rod is lifted by the lifting rope.

[0011] A lifting device, comprising a base, clamping arms, a lifting rod, a transmission device, and a clamp loosening driving device; at least two clamping arms are connected with the base to form a clamp; the lifting rod is slidingly connected with the base, and the sliding axis of the lifting rod and the base is the B axis; the transmission device is used for transmission connecting the lifting rod and the clamping arms, so that the base, the clamping arms, the transmission device, and the lifting rod form a deformable structure; the clamp loosening driving device is used for roughly setting the clamping angle ∠ α of the clamping arms with the base and making α ∠ have an elastic adjustment space after being roughly set; wherein α ∠ is the angle between the lower end of the clamping arm and the radial centripetal side of the counterweight base.

[0012] Preferably, in use, the lifting device is lifted by lifting the lifting rod with a lifting rope.

[0013] Preferably, a lifting and pulling part is fixedly connected with the pulling rod in the B-axis direction, and the B-axis is parallel to the gravity center line of the lifting device when the lifting and pulling part is pulled.

[0014] Further preferably, the geometric center line of the clamp is collinear with the gravity center line.

[0015] Further preferably, the transmission device comprises a connecting rod, the connecting point of the connecting rod and the pulling rod is arranged below the base, the lifting and pulling part is arranged above the base, and the included angle between the connecting rod and the upper end of the pulling rod is θ ≥90°.

[0016] Preferably, the pulling rod is connected with the base sliding pair, the transmission device comprises a connecting rod, one end of the connecting rod is hingedly connected with the clamping arm, and the other end of the connecting rod is hingedly connected with the pulling rod.

[0017] Preferably, the pulling rod is connected with the base sliding pair, the transmission device comprises a connecting rod and a sliding block, one end of the connecting rod is fixedly connected with the pulling rod, the other end of the connecting rod is hingedly connected with the sliding block, the sliding block is slidingly connected with the clamping arm, the clamp is a expansion clamp, and the included angle between the connecting rod and the upper end of the pulling rod is α >90° and α <180°.

[0018] Preferably, the pulling rod is connected with the base sliding pair, the transmission device comprises a connecting rod and a sliding block, one end of the connecting rod is fixedly connected with the pulling rod, the other end of the connecting rod is hingedly connected with the sliding block, the sliding block is slidingly connected with the clamping arm, the clamp is a expansion clamp, and the included angle between the connecting rod and the upper end of the pulling rod is α <90°.

[0019] Preferably, the transmission device comprises a first pulling rope, one end of the first pulling rope is fixedly connected with the clamping arm, and the other end of the first pulling rope is fixedly connected with the pulling rod.

[0020] Preferably, the pulling rod is connected with the base cylindrical pair, the transmission device comprises a connecting rod and a linkage core, one end of the connecting rod is hingedly connected with the clamping arm, the other end of the connecting rod is hingedly connected with the linkage core, the linkage core is rotatably connected with the pulling rod in the pulling direction, and the linkage core is provided with an upper limiting part and a lower limiting part.

[0021] Further preferably, the clamp loosening driving device comprises an angular stroke executor and a clamping angle control module, the angular stroke executor has a clamping angle elastic adjustment space on the basis of coarse adjustment of the clamping angle, and the clamping angle control module is used for coarsely setting the clamping angle of the angular stroke executor.

[0022] Furthermore, the angular stroke actuator is preferably an angular stroke hydraulic cylinder.

[0023] Furthermore, the angular stroke actuator is preferably an angular stroke pneumatic cylinder.

[0024] In a further preferred embodiment, the angular stroke actuator includes a fixed end, a movable end, a return spring, a second pull rope, and a pulling mechanism. The fixed end and the movable end are connected by a rotating joint. One end of the return spring is fixedly connected to the fixed end, and the other end of the return spring is fixedly connected to the movable end. One end of the second pull rope is connected to the movable end. The second pull rope is led out from a hole in the movable end and fixedly connected to the tension output component of the pulling mechanism. The pulling mechanism is stationary relative to the fixed end. The telescopic control module is used to set the pulling length of the pulling mechanism.

[0025] More preferably, the clamping release drive device includes a telescopic rod and a telescopic control module. The telescopic rod has a length elastic adjustment space in addition to being coarsely adjustable in length. The telescopic control module is used to roughly set the length of the telescopic rod.

[0026] Furthermore, preferably, the telescopic rod is a linear stroke hydraulic cylinder.

[0027] Furthermore, the telescopic rod is preferably a linear-stroke pneumatic cylinder.

[0028] In a further preferred embodiment, the telescopic rod includes a return spring, a second pull rope, and a pulling mechanism. One end of the return spring is fixedly connected to one end of the second pull rope. The second pull rope extends from the other end of the return spring and is fixedly connected to the tension output component of the pulling mechanism. The pulling mechanism and the second pull rope extension end of the return spring are stationary relative to each other. The telescopic control module is used to set the pulling length of the pulling mechanism.

[0029] More preferably, the clamping release driving device includes an auxiliary seat, a B-guide rod, an elastic element, a lower limit part, and a rotary driving part. The lifting rod is threadedly connected to the auxiliary seat. The rotary driving part is used to drive the lifting rod to rotate relative to the auxiliary seat. The upper and lower ends of the B-guide rod are fixedly connected to the auxiliary seat and the lower limit part, respectively. The base is disposed between the auxiliary seat and the lower limit part and is slidably connected to the B-guide rod. The two ends of the elastic element are connected to the base and the lower limit part, respectively.

[0030] Preferably, the clamping arm is connected to the base via a rotating joint. Let the rotation axis between the clamping arm and the base be axis A, and the normal plane of axis A passing through the geometric center line of the clamp be vertical plane A. There are two clamping arms, and the included angle ∠ between the two vertical planes A corresponding to the two clamping arms is... β It is 180°.

[0031] Preferably, the clamping arms are connected with the base rotary pair, and the rotation axis of the clamping arms and the base is A axis, and the normal plane of A axis through the geometric center line of the clamp is vertical plane A; the clamping arms have at least three, and the included angle of two vertical planes A corresponding to any two adjacent clamping arms is β ≤180°.

[0032] Further preferably, the clamp further comprises a friction support, the friction support is connected with the clamping arms in a rotary pair, and the rotation axis of the friction support and the clamping arms is I axis, and I axis is parallel to the A axis corresponding to the clamping arms.

[0033] Still further preferably, the clamp further comprises a friction support reset member, the friction support reset member is arranged on the side of the rotation axis of the friction support and the clamping arms, and the two ends of the friction support reset member are connected with the friction support and the clamping arms respectively.

[0034] Further preferably, the clamp further comprises a friction support, the friction support is connected with the clamping arms, and the friction surface of the friction support is formed by an elastic layer.

[0035] A crane comprises a hoisting rope and the aforementioned lifting device, and the hoisting rope is fixedly connected with the pulling rod in the direction of B axis.

[0036] The present application has the following advantages:

[0037] 1. In the use method of the clamp of the present application, in step S11, the clamping arms clamp the target object, and at the moment of pulling the pulling rod, the initial clamping force forms the initial friction force of the target object on the clamp, and the direction is vertically downward; then, under the combined action of the initial friction force and the pulling force of the pulling rod, the relative positions of the base, the clamping arms and the pulling rod are adjusted, that is, the pulling rod drives the clamping arms to adjust the included angle α of the clamping arms and the base, so as to further improve the clamping force of the clamping arms on the target object, which will increase the instantaneous friction force at that moment; ……, and the positive cycle promotes the lifting of the target object. Therefore, the use method of the clamp of the present application can meet the requirement of the initial clamping force.

[0038] 2. In the use method of the present application, the sliding axis of the base and the pulling rod is B axis, the pulling rod is connected with the hoisting rope, and before step S11, step S10 is further included, that is, the transmission connection between the pulling rod and the clamping arms is connected, so that when the hoisting rope is pulled and the clamp naturally falls, the B axis is parallel to the gravity center line of the clamp, which is convenient for controlling the posture of the clamp, so as to facilitate the setting of the lifting device in the lifting position. At the same time, the transmission connection between the pulling rod and the clamping arms also facilitates the adjustment of the included angle α in step S11 by the pulling rod, so that the clamp is applied to the lifting device field.

[0039] 3. The lifting appliance of the present application, wherein the base, the clamping arm, the lifting rod and the transmission device are deformable, so that the deformation of the deformable structure can be achieved by lifting the lifting rod, thereby realizing the clamping process of the clamp. The clamping angle of the clamping arm and the base is coarsely set by the clamp loosening driving device α , realizing the start of the clamping process of the clamp and the loosening process of the clamp. The lifting part is fixedly connected with the lifting rod in the B-axis direction, and after the clamping angle is coarsely set by the clamp loosening driving device α , the α elastic adjustment space is also provided, so that after the clamp realizes the clamping of the target object, the deformable structure continues to deform under the action of the downward friction force of the target object on the lifting appliance superimposed by the gravity of the lifting appliance. Thus, the lifting force can be converted into clamping force after being conducted through the lifting rod, the transmission device, the clamping arm and the base, thereby reducing the clamping force requirement of the clamp loosening driving device.

[0040] 4. The lifting appliance of the present application, wherein the lifting part is fixedly connected with the lifting rod in the B-axis direction, and the B-axis is parallel to the gravity center line of the lifting appliance when the lifting part is lifted, so that the posture of the lifting appliance is more stable when the lifting rod is lifted.

[0041] 5. The lifting appliance of the present application, wherein the geometric center line of the clamp is collinear with the gravity center line. Thus, the transmission ratio of the transmission device to each clamping arm is 1:1, and the structure of the transmission device is simple.

[0042] 6. The lifting appliance of the present application, wherein the transmission device comprises a connecting rod, the connecting point of the connecting rod and the lifting rod is arranged below the base, the lifting part is arranged above the base, and the angle θ between the connecting rod and the upper end of the lifting rod is ≥90° during use. Since the length of the connecting rod is fixed, the angle θ between the connecting rod and the upper end of the lifting rod is in the transition of 0°—90°—180° during use, the clamp will exhibit the transition of the expansion clamp and the embracing clamp, and danger is easy to occur. Limiting the angle θ between the connecting rod and the upper end of the lifting rod to ≥90° during use makes it safer.

[0043] 7. The lifting appliance of the present application, wherein the lifting rod is connected with the base sliding pair, the transmission device comprises a connecting rod, one end of the connecting rod is hingedly connected with the clamping arm, and the other end of the connecting rod is hingedly connected with the lifting rod. The transmission device is rigid transmission, and has high transmission efficiency and high safety.

[0044] 8. The lifting appliance of the present application, wherein the lifting rod is connected with the base sliding pair, the transmission device comprises a connecting rod and a sliding block, one end of the connecting rod is fixedly connected with the lifting rod, the other end of the connecting rod is hingedly connected with the sliding block, the sliding block is slidingly connected with the clamping arm, and if the clamp is an embracing clamp, the angle α between the connecting rod and the sliding block is <90°, and if the clamp is an expansion clamp, the angleα >90° and ∠ α <180°. The transmission device is rigid transmission, high transmission efficiency and high safety.

[0045] 9. In the lifting device of the present application, the transmission device comprises a first pulling rope, one end of which is fixedly connected with the clamping arm, and the other end of which is fixedly connected with the lifting rod. When the rope is transmitted, the connection between the lifting rod and the base can be cylindrical pair connection or sliding pair connection.

[0046] 10. In the lifting device of the present application, the lifting rod is connected with the base in cylindrical pair connection, and the transmission device comprises a connecting rod and a linkage core, one end of the connecting rod is hingedly connected with the clamping arm, the other end of the connecting rod is hingedly connected with the linkage core, the linkage core is rotatably connected with the lifting rod in the lifting direction, and the lifting rod is provided with an upper limiting part and a lower limiting part of the linkage core. Since the connecting rod is rigid, the linkage core rotatably connected with the lifting rod is added, and the movement form of the lifting rod relative to the base can be set as cylindrical pair connection or sliding pair connection.

[0047] 11. In the lifting device of the present application, the clamp loosening driving device comprises an angular stroke executor and a clamping angle control module, the angular stroke executor has a clamping angle elastic adjustment space on the basis of coarse adjustment of the clamping angle, and the clamping angle control module is used for coarsely setting the clamping angle of the angular stroke executor. In this way, the function of the clamp loosening driving device can be realized.

[0048] 12. In the lifting device of the present application, the clamp loosening driving device comprises a telescopic rod and a telescopic control module, the telescopic rod has a length elastic adjustment space on the basis of coarse adjustment of the length, and the telescopic control module is used for coarsely setting the length of the telescopic rod. In this way, the function of the clamp loosening driving device can be realized.

[0049] 13. In the lifting device of the present application, the clamp loosening driving device comprises an auxiliary seat, a B-direction guide rod, an elastic member, a lower limiting part and a rotary driving part, the lifting rod is threadedly connected with the auxiliary seat, the rotary driving part is used for driving the lifting rod to rotate relative to the auxiliary seat, the upper and lower ends of the B-direction guide rod are fixedly connected with the auxiliary seat and the lower limiting part respectively, the base is arranged between the auxiliary seat and the lower limiting part and is slidably connected with the B-direction guide rod, the two ends of the elastic member are connected with the base and the lower limiting part respectively, and the lifting part is fixedly connected with the auxiliary seat. In this way, the rigid threaded pair transmission can be converted into a transmission mode with elastic fine adjustment space.

[0050] 14. In the lifting device of the present invention, the clamping arm is connected to the base via a rotating joint. Let the rotation axis between the clamping arm and the base be axis A, and the sliding axis between the lifting rod and the base be axis B. The normal plane of axis A passing through the geometric center line of the clamp is vertical plane A. There are two clamping arms, and the included angle ∠ between the two vertical planes A corresponding to the two clamping arms is... β The angle is 180°, or the clamping arms are at least three, and the included angle ∠ between the two vertical planes A corresponding to any two adjacent clamping arms is 180°. β All angles are ≤180°. This facilitates control over the deformation of the clamping arm and the base, and makes it easier to design the transmission device.

[0051] 15. In the lifting device of the present invention, the clamp further includes a friction support, which is connected to the rotating joint of the clamping arm. The rotation axis of the friction support and the clamping arm is defined as axis I, which is parallel to axis A corresponding to the clamping arm. In this way, each friction support can achieve a line connection or a surface connection with the target object.

[0052] 16. In the lifting device of the present invention, the clamp further includes a friction support reset component, which is disposed on the side of the pivot of the friction support and the clamping arm, and its two ends are respectively connected to the friction support and the clamping arm. This can reduce the adverse effects of the movable connection between the friction support and the clamping arm on the object clamping process and improve work efficiency.

[0053] 17. In the lifting device of the present invention, the clamp further includes a friction support, which is connected to the clamping arm, and the friction surface of the friction support is formed by an elastic layer. Utilizing the deformability of the elastic layer, each friction support can achieve surface contact with the target object.

[0054] 18. The crane of the present invention can realize automatic clamping and automatic release of objects, with high lifting efficiency, and can reduce the driving requirements of the clamping and releasing drive device on the target object. Attached Figure Description

[0055] Figure 1 This is a simplified structural diagram of a lifting device. To clearly show the markings, the left clamping arm and the left connecting rod are not shown in section.

[0056] Figure 2 This is a three-dimensional diagram of a lifting device.

[0057] Figure 3 for Figure 2 The top view of the lifting device shown.

[0058] Figure 4 for Figure 3 Sectional view A-A.

[0059] Figure 5 for Figure 4 Enlarged view of part B.

[0060] Reference numerals: 1, clamp, 10, base, 11, clamping arm, 12, friction block, 13, friction block return member, 14, guide rod, 2, pull rod, 3, transmission device, 30, connecting rod, 4, clamp loosening driving device, 40, telescopic rod, 5, lifting and pulling part, 6, swing linkage rod, 7, cable storage cylinder, 8, hydraulic system.

[0061] Figure 6 It is a plan view of another lifting device.

[0062] Figure 7 It is a C-C sectional view of Figure 6

[0063] Reference numerals: 10, base, 11, clamping arm, 12, friction block, 2, pull rod, 21, upper limit part of linkage core, 22, lower limit part of linkage core, 30, connecting rod, 31, linkage core, 41, auxiliary seat, 42, B-direction guide rod, 43, elastic member, 44, lower limit part, 5, lifting and pulling part, 6, swing linkage rod, 7, cable storage cylinder, 8, rotary driving part. Embodiment

[0064] The present application will be described in the form of examples in conjunction with the accompanying drawings to assist those skilled in the art to understand and implement the present application. Unless otherwise stated, the following examples and technical terms therein should not be interpreted beyond the background of technical knowledge in the art.

[0065] A method for using a clamp, the clamp mainly comprising a base and at least two clamping arms connected to the base, the base being slidingly connected with a pull rod; the clamping process of the clamp on a target object comprises the following steps:

[0066] S11, clamping arms clamp the target object, maintaining the transmission connection between the pull rod and the clamping arms, pulling the pull rod, the pull rod driving the clamping arms to adjust the clamping angle ∠ α , to further improve the clamping force of the clamping arms on the target object.

[0067] Referring to Figure 1 , ∠ α refers to the angle between the lower end of the clamping arm and the radial centripetal side of the base.

[0068] A method for using a clamp, the clamp mainly comprising a base and at least two clamping arms connected to the base, the base being slidingly connected with a pull rod, the pull rod being connected with a lifting rope; the clamping process of the clamp on a target object comprises the following steps:

[0069] ​S10, set the base and the sliding shaft of the lifting rod as B axis, drive connection between the lifting rod and the clamping arm, so that the lifting sling and the clamp naturally droop, the B axis is parallel to the gravity center line of the clamp, and the lifting rod can drive the clamping arm to adjust the included angle ∠ α ; see Figure 1 , ∠ α The angle between the lower end of the clamping arm and the radial centripetal side of the base.

[0070] S11, the clamping arm clamps the target object, keeps the drive connection between the lifting rod and the clamping arm, pulls the lifting rod, and the lifting rod drives the clamping arm to adjust ∠ α , to further improve the clamping force of the clamping arm on the target object.

[0071] The lifting device of the application comprises a base, a clamping arm, a lifting rod, a transmission device and a clamp loosening driving device.

[0072] The clamping arm has at least two, which are connected with the base to form a clamp. It should be understood that the clamp can be a clamping clamp or a supporting clamp, which does not affect the realization of the application. The clamping arm and the base can be hinged connection or bendable connection, such as the clamping arm and the base are integrally formed by plastic, which is bendable at the connection and can form a clamp.

[0073] The lifting rod is slidably connected with the base, and the lifting rod and the base slide in the direction of B axis, but are relatively stationary in the direction perpendicular to the direction of B axis, and the rotation of the base around the B axis relative to the lifting rod does not affect the realization of the function. In the prior art, the sliding pair connection and the cylindrical pair connection are both sliding connections. In practice, the structures set up for process reasons or their movable structures which do not affect the realization of the function can be considered as sliding connections.

[0074] The transmission device is used to drive connection between the lifting rod and the clamping arm, so that the base, the clamping arm, the transmission device and the lifting rod constitute a deformable structure. The base, the clamping arm, the transmission device and the lifting rod are preferably arranged as a planar deformable structure, so that the movement form is simple and easy to control when the clamp loosening operation is carried out. Generally, n ( n ≥4) polygon is a deformable structure. In n ( n ≥4) polygon, ∠ α Can be adjusted, and the transmission device is used to form at least one side of the deformable polygon structure. It should be understood that the transmission device is a curved rod, or the transmission device is a rope, which can also form a deformable structure.

[0075] The clamp loosening driving device is used to roughly set the included angle ∠ α Between the clamping arm and the base, and make ∠ α Roughly set still has elastic adjustment space. Through the clamp loosening driving device, ∠ αThis allows the clamp to hold or release an object. During use, after lifting the lifting unit, the weight of the lifting device, combined with the downward friction of the target object on the lifting device, acts on it. Because the base, clamping arm, transmission device, and lifting rod are deformable structures, and the clamping and releasing drive device is roughly designed... α After, ∠ α It also has a flexible adjustment range, so the deformable structure formed by the base, clamping arm, transmission device, and lifting rod can also deform. In this way, the lifting force, after being transmitted through the lifting part, lifting rod, transmission device, clamping arm, and base, can be converted into clamping force, thereby reducing the clamping force requirement on the clamping release drive device. See also Figure 1 ,∠ α The angle between the lower end of the clamping arm and the radial centripetal side of the base.

[0076] In use, the lifting rope is fixedly connected to the lifting rod in the B-axis direction. When the lifting rope is pulled up, the lifting device hangs down naturally. The transmission device connection part is located below the lifting part. The vertical tension is applied to the lifting device through the lifting part, and the lifting and moving operation of the lifting device is achieved through the lifting rope.

[0077] Before moving the lifting device to the clamping position, operate the clamping release drive to loosen the ∠ α Maintain the angle as designed.

[0078] When the lifting device moves to the clamping position and an object needs to be clamped, operate the clamping release drive device and adjust ∠. α This causes the clamp to hold the target object. Pulling the hoisting rope, after the hoisting section is subjected to a lifting force, ∠ α It also has a flexible adjustment range. Therefore, under the combined effect of the weight of the lifting device and the downward frictional force of the target object on the lifting device, the deformable structure formed by the base, clamping arm, transmission device, and lifting rod continues to deform. This further increases the downward frictional force of the target object on the lifting device, contributing to the deformation of the ∠... α Further adjustments... When the lifting force exerted on the target object increases to be equal to or greater than the object's weight, the target object can be hoisted. The hoisting force is transmitted through the hoisting part, lifting rod, transmission device, clamping arm, and base, and can be converted into clamping force, thereby reducing the clamping force requirement of the clamping release drive device.

[0079] When it is necessary to release the grip on the object, operate the clamp release drive device to release the ∠ α Reset to the designed angle. During this process, under the action of the clamp release drive device, the base, clamp arm, transmission device and lifting rod return to the initial shape, causing the clamp to release its grip on the object.

[0080] Example 1: A lifting device, see Figure 2 —5, including base 10, clamping arm 11, lifting rod 2, transmission device 3, clamping and loosening drive device 4, and lifting part 5.

[0081] The lifting rod 2 is connected to the base 10 via a sliding joint. Let the sliding axis between the lifting rod 2 and the base 10 be axis B.

[0082] There are at least two clamping arms 11 to connect with the base 10 to form a clamp. In this embodiment, the clamping arms 11 are connected to the base 10 via a revolute joint. Let the rotation axis between the clamping arms 11 and the base 10 be axis A, and the normal plane of axis A passing through the geometric center line of the clamp be vertical plane A (i.e., the geometric center line of the clamp lies within vertical plane A, and vertical plane A is the normal plane of axis A). When there are two clamping arms 11, the included angle ∠ between the two vertical planes A corresponding to the two clamping arms is... β It is 180°; when there are at least three clamping arms, the included angle ∠ between the two vertical planes A corresponding to any two adjacent clamping arms is 180°. β All ≤180°.

[0083] The transmission device 3 is used to drive the connecting clamp arm 11 and the lifting rod 2 so that the base 10, clamp arm 11, lifting rod 2 and transmission device 3 form a deformable structure.

[0084] The clamp release drive device 4 is used to roughly determine the included angle ∠ between the clamp arm 11 and the base 10. α and make ∠ α Even after a rough design, there is still room for flexible adjustments. See also... Figure 1 ,∠ α The angle between the lower end of the clamping arm and the radial centripetal side of the base.

[0085] The lifting part 5 is connected to the lifting rod 2 in the B-axis direction. The lifting part is a structure that facilitates the fixed connection of the lifting rope to the lifting rod in the B-axis direction; it can be a lifting ring, a limiting part, or a hook. When the lifting rod has a limiting part at the upper end of the B-axis, even if the lifting part is movably connected to the lifting rod and moves below the limiting part of the lifting rod, it should still be considered as the lifting part being fixedly connected to the lifting rod in the B-axis direction because the upper limiting part limits the uppermost position of the lifting part during use. In this embodiment, the lifting part 5 is fixedly connected to the lifting rod 2.

[0086] In this embodiment, to improve the stability of the lifting device, when lifting the lifting part, the gravity center line of the lifting device in its natural hanging state without clamping an object is made parallel to the B axis.

[0087] In this embodiment, in order to reduce the design quantity of the transmission device 3, the lifting rod 2 is set at the geometric center line of the clamp, and the gravity center line of the lifting device in its natural hanging state coincides with the geometric center line of the clamp.

[0088] In this embodiment, there are six clamping arms 11, and the included angle ∠ between the two vertical surfaces A corresponding to any two adjacent clamping arms is... β All are 60°.

[0089] In this embodiment, the transmission device 3 is composed of connecting rods 30, and the number of connecting rods 30 is the same as the number of clamping arms 11. One end of the connecting rod 30 is connected to the rotating joint of the clamping arm 11, and the other end of the connecting rod 30 is connected to the rotating joint of the lifting rod 2. Let the rotation axis of the connecting rod 30 and the clamping arm 11 be the C-axis, and the rotation axis of the connecting rod 30 and the lifting rod 2 be the D-axis. Then the A-axis, C-axis, and D-axis are parallel to each other, and any two axes among the A-axis, C-axis, and D-axis are not collinear, and the B-axis is set perpendicular to the A-axis.

[0090] See Figure 4 In this embodiment, the angle ∠ between the connecting rod 30 and the upper end of the lifting rod 2 is... θ The angle is ≥90°, and the connection point between the connecting rod 30 and the lifting rod 2 is located below the base 10, while the lifting part 5 is located above the base 10. Therefore, the clamp in this embodiment is a clamping clamp.

[0091] In this embodiment, the clamping and releasing drive device 4 includes a telescopic rod 40 and a telescopic control module. The telescopic rod 40 has a length that is coarsely adjustable and also has a flexible length adjustment range. The telescopic control module is used to roughly determine the length of the telescopic rod 40. The telescopic rod 40 can be a linear stroke hydraulic cylinder or a linear stroke pneumatic cylinder. One end of the telescopic rod 40 is connected to a rotating joint of the base 10, and the other end of the telescopic rod 40 is connected to the other end of the lifting rod 2. Let the rotation axis of the telescopic rod 40 and the base 10 be the E-axis, and the rotation axis of the telescopic rod 40 and the lifting rod 2 be the F-axis. Then, the A-axis, E-axis, and F-axis are parallel to each other, and the E-axis and F-axis are not collinear. The telescopic control module is used to roughly determine the length of the telescopic rod.

[0092] In this embodiment, the telescopic boom 40 is a linear-stroke hydraulic cylinder, therefore the corresponding telescopic control module includes a directional valve. Thus, in this embodiment, the lifting device also includes a hydraulic system 8, which includes an oil tank, an oil pump, and a directional valve. The oil pump's suction port extends into the oil tank via a suction pipe, and the oil pump's delivery port is connected to the P port of the directional valve. The T port of the directional valve extends into the oil tank via an oil pipe, and the A and B ports of the directional valve are connected to the corresponding oil ports of the linear-stroke hydraulic cylinder via corresponding pipelines. See also... Figure 4 When a single-acting hydraulic cylinder is selected for the linear stroke hydraulic cylinder, the hydraulically driven cylinder shortens to provide the necessary clamping force. After the hydraulically driven cylinder shortens to the target length, if the weight of the lifting device and the target object acts on the lifting rod, the linear stroke hydraulic cylinder can continue to shorten. This shortening space corresponds to the elastic adjustment space.

[0093] When in use, connect the lifting part to the lifting rope. At this time, the lifting device hangs down naturally, and the vertical tension is applied to the lifting device through the lifting part.

[0094] Before moving the lifting device to the clamping position, operate the clamping release drive to loosen the ∠ α Maintain the angle as designed.

[0095] The lifting device moves to the clamping position, and when the object needs to be clamped, the reversing valve is controlled to drive the straight stroke hydraulic cylinder to be shortened by hydraulic pressure. The straight stroke hydraulic cylinder drives the clamping arm to rotate around the A shaft and the base through the lifting rod and the transmission device, and the clamp realizes clamping of the target object. In this process, the straight stroke hydraulic cylinder driven by hydraulic pressure provides the clamping force of the clamp on the target object. After the clamp clamps the target object, the lifting rope is pulled, and the gravity of the lifting device and the friction force of the target object on the lifting device act on the lifting rod. Since the base, the clamping arm, the transmission device and the lifting rod form a deformable structure, and the length of the straight stroke hydraulic cylinder can be shortened again after being compressed by external force, the lifting part is pulled, and the angle between the clamping arm and the base is reduced. α It can also be reduced again, so the pulling force of the lifting part can also be converted into the clamping force of the clamp on the target object, that is, in this process, not only the straight stroke hydraulic cylinder driven by hydraulic pressure provides the clamping force of the clamp on the target object, but also the pulling force of the lifting rod provides the clamping force of the clamp on the target object. In some cases, the clamping force of the clamp on the target object will finally be provided by the pulling force of the lifting rod.

[0096] When the clamping of the object needs to be released, the reversing valve is controlled to drive the straight stroke hydraulic cylinder to be elongated to the longest state, the angle between the clamping arm and the base is increased, and the clamping arm is separated from the target object. α The reset to the designed angle. In this process, under the action of the clamp clamping and releasing driving device, the base, the clamping arm, the transmission device and the lifting rod return to the initial state, so that the clamp releases the clamping of the object.

[0097] It can be predicted that based on the content of embodiment 1, the connecting rod 30 is replaced with a pulling rope, one end of the pulling rope is fixedly connected with the clamping arm 11, and the other end of the pulling rope is fixedly connected with the lifting rod 2. When the lifting rod 2 is pulled, the pulling rope is tightened to transmit force. The pulling rope is tightened during the process of controlling the straight stroke hydraulic cylinder to be elongated to the longest state, so as to prepare for the next lifting operation. The obtained lifting device also has the effect of the present application.

[0098] It can be predicted that based on the content of embodiment 1, in the case that the clamping arm 11 is connected with the base 10 through a rotary pair, and the lifting rod 2 is connected with the base 10 through a rotary pair or a cylindrical pair, one end of the connecting rod 30 is hingedly connected with the clamping arm 11, and the other end of the connecting rod 30 is hingedly connected with the lifting rod 2. The obtained lifting device also has the effect of the present application.

[0099] It can be predicted that based on the content of embodiment 1, in the case that the clamping arm 11 is connected with the base 10 through a rotary pair, and the lifting rod 2 is connected with the base 10 through a rotary pair, the transmission device 3 further includes a sliding block. At this time, one end of the connecting rod 30 is fixedly connected with the lifting rod 2, and the other end of the connecting rod 30 is hingedly connected or connected through a rotary pair with the sliding block. The sliding block is connected with the clamping arm through a sliding pair or a cylindrical pair. If the clamp is a clamping clamp, α <90°, if the clamp is a supporting clamp, α >90° and α<180°, the lifting tool also has the effect of the present application. It should be noted that when the other end of the connecting rod 30 is connected with the sliding block rotary pair, the rotary axis of the connecting rod 30 and the sliding block is G axis, and the G axis should be parallel to the A axis.

[0100] It can be foreseen that, based on the content in Embodiment 1, when one end of the connecting rod 30 is connected with the clamping arm 11 rotary pair, the other end of the connecting rod is connected with the lifting rod 2 rotary pair, and the lifting rod 2 is connected with the base 10 sliding pair, even if the clamping arm 11 is connected with the base 10 ball hinge, in actual use, the clamping arm 11 and the base 10 will only form a rotary pair connection.

[0101] It can be foreseen that, based on the content in Embodiment 1, one end of the telescopic rod 40 is hingedly connected with the base 10, and the other end of the telescopic rod is hingedly connected with the clamping arm 11, or one end of the telescopic rod 40 is hingedly connected with the clamping arm 11, and the other end of the telescopic rod 40 is hingedly connected with the connecting rod 30, or one end of the telescopic rod 40 is hingedly connected with the connecting rod 30, and the other end of the telescopic rod is hingedly connected with the lifting rod 2, these ways can make the telescopic rod 40 and the telescopic control module form the clamp loosening driving device 4.

[0102] It can be foreseen that, based on the content in Embodiment 1, the telescopic rod 40 can adopt the following structure: the telescopic rod includes a reset spring, a second pulling rope and a pulling mechanism, one end of the reset spring is fixedly connected with one end of the second pulling rope, the other end of the reset spring forms a movable end, the second pulling rope is led out from the movable end of the reset spring and is fixedly connected with the tension output of the pulling mechanism, and the pulling mechanism is arranged opposite to the movable end of the reset spring. In use, by tightening the second pulling rope, the angle between the clamping arm 11 and the base 10 can be adjusted to ∠ α Coarse setting. After loosening the second pulling rope, the reset spring makes the angle between the clamping arm 11 and the base 10 reset to the design angle. α

[0103] It can be foreseen that, based on the content in Embodiment 1, the clamp loosening driving device 4 can also be realized as follows: the clamp loosening driving device 4 includes an angular stroke actuator and a clamping angle control module, and the angular stroke actuator has a clamping angle elastic adjustment space on the basis of coarse adjustment of the clamping angle. The angular stroke actuator includes a fixed end and a movable end connected by a rotary pair, and the rotary axis of the fixed end and the movable end is H axis, the H axis is coaxially arranged with the A axis, the fixed end is fixedly connected with the base 10, and the movable end is fixedly connected with the clamping arm 11, thereby realizing the function of resetting the angle between the clamping arm 11 and the base 10 to ∠ α In addition, the H axis is coaxially arranged with the C axis, the fixed end is fixedly connected with the clamping arm 11, and the movable end is fixedly connected with the connecting rod 30; or the H axis is coaxially arranged with the D axis, the fixed end is fixedly connected with the connecting rod 30, and the movable end is fixedly connected with the lifting rod 2; these ways are also feasible.

[0104] ​It is foreseeable that the angular stroke actuator can adopt a structure that the angular stroke actuator comprises a fixed end, a movable end, a reset spring, a second pulling rope and a pulling mechanism, the fixed end and the movable end are connected in a rotary pair, one end of the reset spring is fixedly connected with the fixed end, the other end of the reset spring is fixedly connected with the movable end, one end of the second pulling rope is connected with the movable end, the second pulling rope is led out from a through hole of the movable end and is fixedly connected with a tension output of the pulling mechanism, and the pulling mechanism is arranged opposite to the fixed end. In use, the designed angle is realized by tightening the second pulling rope α .When the second pulling rope is loosened, the designed angle is reset by the reset spring. α .

[0105] It is foreseeable that, based on the content in Embodiment 1, the connecting point of the connecting rod 30 and the lifting rod 2 is arranged below the base 10, the lifting and pulling part 5 is arranged above the base 10, and in the use process, the angles between the connecting rod 30 and the upper end of the lifting rod 2 are all < 90°, so that the formed clamp is a supporting and expanding clamp. θ

[0106] It is foreseeable that, based on the content in Embodiment 1, the connecting point of the connecting rod 30 and the lifting rod 2 is arranged between the base 10 and the lifting and pulling part 5, and in the use process, the angles between the connecting rod 30 and the upper end of the lifting rod 2 are all < 90°, so that the formed clamp is a supporting and expanding clamp. θ

[0107] It is foreseeable that, based on the content in Embodiment 1, the connecting point of the connecting rod 30 and the lifting rod 2 is arranged between the base 10 and the lifting and pulling part 5, and in the use process, the angles between the connecting rod 30 and the upper end of the lifting rod 2 are all ≥ 90°, so that the formed clamp is a supporting and expanding clamp. θ

[0108] Embodiment 2: A lifting device, as shown in Figure 6 , 7 , comprising a base 10, a clamping arm 11, a lifting rod 2, a transmission device and a clamp loosening driving device 4.

[0109] The lifting rod 2 is connected with the base 10 in a cylindrical pair. It is assumed that the sliding axis of the lifting rod 2 and the base 10 is B axis.

[0110] The clamping arm 11 has at least two clamping arms to be connected with the base 10 to form a clamp. In this embodiment, the clamping arm 11 is connected with the base 10 in a rotary pair, and it is assumed that the rotary axis of the clamping arm 11 and the base 10 is A axis, and the normal surface of the A axis through the geometric center line of the clamp is vertical surface A (i.e. the geometric center line of the clamp is in the vertical surface A, and the vertical surface A is the normal surface of the A axis). When the clamping arm 11 has two clamping arms, the included angle between the two vertical surfaces A corresponding to the two clamping arms is 180°; when the clamping arm has at least three clamping arms, the included angle between the two vertical surfaces A corresponding to any two adjacent clamping arms is β .​​β All are ≤180°.

[0111] The transmission device is used to drive connect the clamping arms 11 and the pull rod 2, so that the base 10, the clamping arms 11, the pull rod 2 and the transmission device constitute a deformable structure.

[0112] The clamp clamping driving device 4 is used to roughly set the clamping angle ∠ α of the clamping arms 11 and the base 10. α After rough setting, there is still elastic adjustment space. See Figure 1 , the clamping angle ∠ α of the clamping arms 11 and the base 10.

[0113] The lifting and pulling part 5 is fixedly connected with the pull rod 2 in the B-axis direction. The lifting and pulling part is a structure for conveniently fixing the lifting rope with the pull rod in the B-axis direction, which can be a lifting ring, a limiting part or a hook. When the limiting part is arranged at the upper end of the pull rod in the B-axis direction, even if the lifting and pulling part is movably connected with the pull rod and moves below the limiting part of the pull rod, it should also be regarded as being fixedly connected with the pull rod in the B-axis direction of the pull rod because the upper limiting part limits the uppermost position of the lifting and pulling part on the pull rod in use. In the embodiment, the lifting and pulling part 5 is fixedly connected with the pull rod 2.

[0114] In the embodiment, in order to improve the stability of the lifting appliance, the gravity center line of the lifting appliance in a natural drooping state without clamping an object is parallel to the B-axis when the lifting and pulling part is pulled.

[0115] In the embodiment, in order to reduce the design amount of the transmission device 3, the pull rod 2 is arranged at the geometric center line of the clamp, and the gravity center line of the lifting appliance in a natural drooping state coincides with the geometric center line of the clamp.

[0116] In the embodiment, the clamping arms 11 are six, and the clamping angle ∠ β of the two vertical surfaces A corresponding to any two adjacent clamping arms is 60°.

[0117] In the embodiment, the transmission device includes connecting rods 30 and a linkage core 31, and the number of the connecting rods 30 is the same as that of the clamping arms 11. One end of the connecting rod 30 is connected with the clamping arm 11 in a rotary pair, and the other end of the connecting rod 30 is connected with the linkage core 31 in a rotary pair. Assuming that the rotation axes of the connecting rod 30 and the clamping arm 11 are C-axes, and the rotation axes of the connecting rod 30 and the linkage core 31 are D-axes, then the A-axes, the C-axes and the D-axes are parallel to each other, any two axes among the A-axes, the C-axes and the D-axes are not collinear, and the B-axis is perpendicular to the A-axis. The linkage core 31 is connected with the pull rod 2 in a cylindrical pair, and when it is specifically arranged, the linkage core can rotate relative to the pull rod 2 around the B-axis. The linkage core upper limiting part 21 and the linkage core lower limiting part 22 are further fixed on the pull rod 2, so that the linkage core 31 slides between the linkage core upper limiting part 21 and the linkage core lower limiting part 22 of the pull rod 2.

[0118] With reference to Figure 6 , 7 In this embodiment, the clamp clamping driving device comprises an auxiliary seat 41, a B-direction guide rod 42, an elastic member 43, a lower limit portion 44 and a rotary driving portion 8, the lifting rod 2 is threadedly connected with the auxiliary seat 41, the rotary driving portion 8 is used for driving the lifting rod 2 to rotate relative to the auxiliary seat 41, the upper and lower ends of the B-direction guide rod 42 are fixedly connected with the auxiliary seat 41 and the lower limit portion 44 respectively, the base 10 is arranged between the auxiliary seat 41 and the lower limit portion 41, the B-direction guide rod 42 is slidably connected with the base 10, the two ends of the elastic member 43 are connected with the base 10 and the lower limit portion 44 respectively, and the lifting and pulling portion 5 is fixedly connected with the auxiliary seat 41.

[0119] In this embodiment, the rotary driving portion 8 is selected as an electric motor, the housing of the electric motor is fixedly connected with the auxiliary seat, a driving wheel is arranged on the output shaft of the electric motor, a driven wheel is rotatably connected with the auxiliary seat 41, the driving wheel is meshingly connected with the driven wheel, and the lifting rod 2 is threadedly connected with the driven wheel.

[0120] After the sliding limit range of the base 10 relative to the auxiliary seat 41 is set through the auxiliary seat 41 and the lower limit portion 44, the angle can be roughly set by driving the lifting rod 2 to rotate relative to the auxiliary seat 41. α Although the auxiliary seat 41 and the lifting rod 2 are rigidly connected, the B-direction guide rod 42 is slidably connected with the base 10, and the elastic member 43 is arranged between the base 10 and the lower limit portion 44, so that, under the gradually increasing falling and pulling force of the lifting appliance and the target object, the base 10 can further press the elastic member to shorten the distance between the base 10 and the lower limit portion, so that the angle can be further reduced, and the elastic adjustment space of the included angle is formed, in this process, the falling and pulling force of the lifting appliance and the target object forms a self-locking power, and the clamping force of the clamp on the target object is improved. α

[0121] In this embodiment, the B-direction guide rod 42 is a cylinder, and is cylindrically connected with the base 10. However, since the base 10 is also threadedly connected with the lifting rod 20, the guide rod 42 and the base 10 are actually connected in a sliding pair. In this embodiment, the elastic member 43 is selected as a column spring, the column spring is sleeved on the B-direction guide rod 42, one end of the column spring is connected with the lower limit portion 44, and the other end of the column spring is in abutment with the base 10.

[0122] In this embodiment, the lifting rod 2 is threadedly connected with the auxiliary seat 41, and the lifting and pulling portion 5 is fixedly connected with the auxiliary seat 41, so that the lifting and pulling portion 5 is fixedly connected with the lifting rod 2 in the B-axis direction. Although the lifting and pulling portion 5 can also be directly fixed on the lifting rod 2, since the lifting rod 2 rotates relative to the ground during use, the attitude of the target object can be adjusted during use.

[0123] With reference to Figure 7 ​In the embodiment, the angle between the connecting rod 30 and the upper end of the lifting rod 2 is ∠ θ ≥90°, and the connecting point of the connecting rod 30 and the lifting rod 2 is arranged below the base 10, and the lifting and pulling part 5 is arranged above the base 10, so that the clamp of the embodiment is a clamping clamp.

[0124] In use, the lifting and pulling part is connected with the lifting rope, at this time, the lifting tool naturally droops, and the vertical pulling force is applied to the lifting tool through the lifting and pulling part.

[0125] Before moving the lifting tool to the clamping position, the clamping loose driving device is controlled, so that the angle ∠ α is maintained at the designed angle.

[0126] When the lifting tool moves to the clamping position and the object needs to be clamped, the rotary driving part is controlled, the setting of the lower limit position part is linked, the distance between the lifting rod and the auxiliary seat driven by the linking core is shortened. The linking core drives the clamping arm to rotate around the A shaft and the base through the transmission device, and the clamp realizes clamping of the target object. During this process, the rotary driving part drives the lifting rod to rotate relative to the auxiliary seat, and the angle ∠ α is coarsely set to realize clamping of the clamp on the target object. Then, the lifting rope is pulled, the gravity of the lifting tool and the friction force of the target object on the lifting tool act on the base, the elastic element is deformed, the distance between the base and the lower limit part is shortened, the elastic fine adjustment of the angle ∠ α is realized, the self-locking power is formed, and the clamping force of the clamp on the target object is improved.

[0127] When the clamping of the object needs to be released, the rotary driving part is controlled, the setting of the upper limit position part of the linking core is linked, the distance between the lifting rod and the auxiliary seat driven by the linking core is lengthened. The linking core drives the clamping arm to rotate around the A shaft and the base through the transmission device, and the angle ∠ α is reset to the designed angle, so that the clamp releases the clamping of the object.

[0128] It can be predicted that based on the content of embodiment 2, the linking core 31 and the lifting rod 2 can also be connected as a rotary pair.

[0129] It can be predicted that based on the content of embodiment 2, the connecting rod 30 is replaced by a pulling rope, one end of the pulling rope is fixedly connected with the clamping arm 11, and the other end of the pulling rope is fixedly connected with the lifting rod 2. Since the pulling rope can be deformed, after rotating the lifting rod, the pulling rope can be wound on the lifting rod 2, and after reversely rotating the lifting rod, the pulling rope is in a relaxed state, so that the transmission effect can also be realized, and the obtained lifting tool also has the effect of the present application.

[0130] It can be foreseen that, based on the content in Embodiment 2, the transmission device 3 further comprises a slider, in the case that the clamping arm 11 is connected with the base 10 through a rotary pair and the pull rod 2 is connected with the base 10 through a rotary pair, at this time, one end of the connecting rod 30 is fixedly connected with the linkage core 31, the other end of the connecting rod 30 is hingedly connected with the slider, the slider is connected with the clamping arm through a sliding pair or a cylindrical pair, and if the clamp is a clamping clamp, ∠ α <90°, if the clamp is a supporting and expanding clamp, ∠ α >90° and ∠ α <180°, the resulting lifting tool also has the effect of the present application. It should be noted that when the other end of the connecting rod 30 is connected with the rotary pair of the slider, the rotary axis of the connecting rod 30 and the slider is G axis, which should be parallel to the A axis.

[0131] It can be foreseen that, based on the content in Embodiment 2, the connecting point of the linkage core 31 and the pull rod 2 is arranged below the base 10, and the lifting and pulling part 5 is arranged above the base 10, in the use process, the angle ∠ θ between the connecting rod 30 and the upper end of the pull rod 2 is all <90°, then the formed clamp is a supporting and expanding clamp.

[0132] It can be foreseen that, based on the content in Embodiment 2, the connecting point of the linkage core 31 and the pull rod 2 is arranged between the base 10 and the lifting and pulling part 5, in the use process, the angle ∠ θ between the connecting rod 30 and the upper end of the pull rod 2 is all <90°, then the formed clamp is a clamping clamp.

[0133] It can be foreseen that, based on the content in Embodiment 2, the connecting point of the linkage core 31 and the pull rod 2 is arranged between the base 10 and the lifting and pulling part 5, in the use process, the angle ∠ θ between the connecting rod 30 and the upper end of the pull rod 2 is all >90°, then the formed clamp is a supporting and expanding clamp.

[0134] Embodiment 3: A lifting tool, comprising a base, a clamping arm, a pull rod, a transmission device, a clamp loosening driving device and a lifting and pulling part, the clamping arm has at least two to be connected with the base to form a clamp. The pull rod, the transmission device, the clamp loosening driving device and the lifting and pulling part can use the structure in Embodiment 1.

[0135] The difference from Embodiment 1 is that, referring to Figure 2 -5, in this embodiment, the clamp further comprises a friction support 12 installed on the clamping arm 11.

[0136] The friction surface of the friction block 12 can be formed by an elastic layer. In this case, the friction block 12 can be fixedly connected with the clamping arm 11 or movably connected with the clamping arm 11. When the friction surface of the friction block 12 is formed by an elastic layer, even if the elastic friction block is fixedly connected with the clamping arm 11, the elastic friction block can form a surface contact with the side surface of the object when the clamp clamps the object. After the contact area is increased, the clamping pressure can be dispersed, the single-point pressure is prevented from being too high to damage the side surface of the object, and the object can be clamped more stably.

[0137] Referring to Figure 4 In this embodiment, the friction block 12 is connected with the clamping arm 11 through a rotary pair, and the rotary shaft of the friction block 12 and the clamping arm 11 is I-axis. In this case, the I-axis is preferably parallel to the A-axis. In this case, the friction surface of the friction block can be rigid or elastic.

[0138] When the clamp clamps the object, in order to avoid that the posture of the friction block is not conducive to the clamping of the object, referring to Figure 4 In this embodiment, the friction block reset member 15 can be a column spring. The column spring is arranged below the rotary shaft of the friction block 12 and the clamping arm 11, and the two ends of the column spring are connected with the friction block 12 and the clamping arm 11 respectively. When the clamping arm gripping mechanism 2 drives the clamping arm 11 to grip, before the friction block 12 contacts the object, the column spring keeps the angle between the friction block 12 and the clamping arm 11 unchanged. Therefore, the bottom edge of the friction block 12 first contacts the object, and the object conducts the force to the clamping arm 11 through the friction block 12 and the column spring. In this process, the column spring is compressed, so that the friction block 12 contacts the surface of the object. In the process in which the clamp loosening driving device 3 sets the angle between the clamping arm 11 and the base 10 to the initial state and the friction block 12 is separated from the object, and after that, the column spring restores the initial angle between the friction block 12 and the clamping arm 11. In other embodiments, the friction block reset member 15 can be a tension spring. The tension spring is arranged above the rotary shaft of the friction block 12 and the clamping arm 11, and the two ends of the tension spring are connected with the friction block 12 and the clamping arm 11 respectively.

[0139] It should be understood that the features of the embodiment 1 can also be added to the lifting device in the embodiment 2.

[0140] Embodiment 4: A lifting device, comprising a base, clamping arms, a lifting rod, a transmission device, a clamp loosening driving device and a lifting and pulling part. The clamping arms are connected with the base to form a clamp. The lifting rod, the transmission device, the clamp loosening driving device and the lifting and pulling part can use the structures in the embodiment 1.

[0141] In this embodiment, the clamp loosening driving device 3 comprises a telescopic rod and a telescopic control module. The telescopic rod comprises a reset spring, a pulling rope and a pulling mechanism. One end of the reset spring is fixedly connected with one end of the pulling rope, and the other end of the reset spring constitutes a movable end. The pulling rope is led out from the movable end of the reset spring and is fixedly connected with an output member of the pulling mechanism. The pulling mechanism is arranged in a static state opposite to the movable end of the reset spring. The pulling mechanism is used to pull the pulling rope, so that the length of the reset spring can be roughly set. The reset spring can be compressed again. When the pulling mechanism releases the pulling of the pulling rope, the reset spring can recover to the initial length, so that a telescopic rod is formed.

[0142] In the telescopic rod, when the pulling rope is loosened, the clamp loosening driving device 3 realizes the reset function. When the pulling rope is tightened, the reset function of the clamp loosening driving device 3 is cut off.

[0143] Embodiment 5: A lifting appliance comprises a base, at least two clamping arms, a lifting rod, a transmission device, a clamp loosening driving device and a lifting and pulling part. The clamping arms are connected with the base to form a clamp. The lifting rod, the transmission device, the clamp loosening driving device and the lifting and pulling part can use the structure in embodiment 1.

[0144] Referring to Figure 2 -5, in this embodiment, the lifting appliance further comprises a swing linkage rod 6. The swing linkage rod 6 is fixedly connected with the lifting rod 2, and the anti-sway limiting rod 6 is arranged on the gravity center line of the lifting appliance. A matched anti-sway limiting sleeve is fixed on the lifting frame. After the lifting appliance is lifted, the swing linkage rod 6 is inserted into the anti-sway limiting sleeve, so that the lifting appliance can be prevented from swinging when the lifting appliance is horizontally moved.

[0145] It can be predicted that, based on the content in embodiment 1, the swing linkage rod 6 is fixedly connected with the base 10, and a matched swing linkage sleeve is fixed on the lifting frame, so that the corresponding effect can be achieved.

[0146] It should be understood that the additional features of embodiment 1 can also be attached to the lifting appliance in embodiment 2.

[0147] Embodiment 6: A lifting appliance comprises a base, at least two clamping arms, a lifting rod, a transmission device, a clamp loosening driving device and a lifting and pulling part. The clamping arms are connected with the base to form a clamp. The lifting rod, the transmission device, the clamp loosening driving device and the lifting and pulling part can use the structure in embodiment 1.

[0148] Referring to Figure 2—5. In this embodiment, a cable storage tube 7 is also fixed on the base 10. During use, the cable connected to the lifting device can be a spiral cable. When the lifting device is raised, the pitch of the spiral cable decreases and it is stored in the cable storage tube 7. When the lifting device is lowered, the pitch of the spiral cable increases. Using the cable storage tube 7 to store the spiral cable avoids the adverse effects of messy cable shapes on the lifting process.

[0149] It should be understood that the features added to Embodiment 1 in this embodiment can also be added to the lifting device in Embodiment 2.

[0150] Example 7: A crane, including a lifting rope and a lifting device according to any one of Examples 1-6, wherein the lifting rope is connected to a lifting unit. The lifting unit may be... Figure 4 or Figure 7 The movable pulley frame equipped with a movable pulley can also use a ring buckle.

[0151] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. It should be understood that it is impossible to exhaustively describe all possible implementations in practice; the inventive concept of the present invention is illustrated to the extent possible through examples. Without departing from the inventive concept of the present invention and without any creative effort, any specific embodiments formed by selecting and combining technical features in the above embodiments, experimentally changing specific parameters, or conventionally replacing the disclosed technical means of the present invention using existing technology should be considered as implicit disclosures of the present invention.

Claims

1. A spreader, characterized in that, The utility model relates to a lifting device, including: a base; at least two clamping arms connected with the base to form a clamp; a lifting rod for lifting the lifting device by pulling the lifting rod; the lifting rod is slidingly connected with the base, and the sliding axis of the lifting rod and the base is B axis; a transmission device for drivingly connecting the lifting rod and the clamping arms, so that the base, the clamping arms, the transmission device and the lifting rod form a deformable structure; and the clamp loose driving device includes an angular stroke executor and a clamping angle control module, the angular stroke executor has a clamping angle elastic adjustment space on the basis of coarse adjustment of the clamping angle, and the clamping angle control module is used for coarsely setting the clamping angle of the angular stroke executor; or the clamp loose driving device includes a telescopic rod and a telescopic control module, the telescopic rod has a length elastic adjustment space on the basis of coarse adjustment of the length, and the telescopic control module is used for coarsely setting the length of the telescopic rod; Clamp clamping loose driving device, for roughly setting the included angle of the clamp arm and the base α And make the included angle α Roughly set also has elastic adjustment space; wherein, the included angle α Point to the lower end of the clamp arm and the radial centripetal side of the counterweight base the telescopic rod includes a reset spring, a second pulling rope and a pulling mechanism, one end of the reset spring is fixedly connected with one end of the second pulling rope, the second pulling rope is led out from the other end of the reset spring and is fixedly connected with the tension output part of the pulling mechanism, the pulling mechanism is arranged opposite to the second pulling rope leading-out end of the reset spring, and the telescopic control module is used for setting the pulling length of the pulling mechanism; the angular stroke executor includes a fixed end, a movable end, a reset spring, a second pulling rope and a pulling mechanism, the fixed end and the movable end are connected through a rotary pair, one end of the reset spring is fixedly connected with the fixed end, the other end of the reset spring is fixedly connected with the movable end, one end of the second pulling rope is connected with the movable end, the second pulling rope is led out from the hole of the movable end and is fixedly connected with the tension output part of the pulling mechanism, the pulling mechanism is arranged opposite to the fixed end, and the telescopic control module is used for setting the pulling length of the pulling mechanism. It also includes a lifting part, the lifting part is fixedly connected with the lifting rod in the B axis direction, when the lifting part is lifted, the B axis is parallel to the gravity center line of the lifting device.

2. The spreader of claim 1, wherein The geometric center line of the clamp is collinear with the gravity center line.

3. The spreader of claim 2, wherein The lifting rod is slidingly connected with the base, the transmission device includes a connecting rod, one end of the connecting rod is hingedly connected with the clamping arm, and the other end of the connecting rod is hingedly connected with the lifting rod.

4. The spreader of any one of claims 1-2, wherein, The transmission device includes a first pulling rope, one end of the first pulling rope is fixedly connected with the clamping arm, and the other end of the first pulling rope is fixedly connected with the lifting rod.

5. The spreader of any one of claims 1-2, wherein, The lifting rod is connected with the base sliding pair, the transmission device comprises a connecting rod and a sliding block, one end of the connecting rod is fixedly connected with the lifting rod, the other end of the connecting rod is hingedly connected with the sliding block, the sliding block is slidingly connected with the clamping arm, and if the clamp is a clamping clamp, ∠ α <90°.

6. The spreader of any one of claims 1-2, wherein, The lifting rod is cylindrically connected with the base, the transmission device includes a connecting rod and a linkage core, one end of the connecting rod is hingedly connected with the clamping arm, the other end of the connecting rod is hingedly connected with the linkage core, the linkage core is rotatably connected with the lifting rod in the lifting direction, and the linkage core upper limiting part and the linkage core lower limiting part are arranged on the lifting rod.

7. The spreader of any one of claims 1-2, wherein, ​ 8. A spreader according to claim 6 or 7, characterised in that, The clamp clamping loose driving device comprises an auxiliary seat, a B-direction guide rod, an elastic member, a lower limiting part and a rotary driving part, the lifting rod is connected with the auxiliary seat in a threaded pair, the rotary driving part is used for driving the lifting rod to rotate relative to the auxiliary seat, the upper and lower ends of the B-direction guide rod are fixedly connected with the auxiliary seat and the lower limiting part respectively, the base is arranged between the auxiliary seat and the lower limiting part and is connected with the B-direction guide rod in a sliding mode, the two ends of the elastic member are connected with the base and the lower limiting part respectively, and the lifting and pulling part is fixedly connected with the auxiliary seat.

9. The spreader of claim 1, wherein, The clamping arms are connected with the base rotary pair, and the rotation axis of the clamping arms and the base is A axis, and the normal plane of the A axis through the geometric center line of the clamp is vertical plane A; the clamping arms are two, and the included angle ∠ β of the two vertical planes A corresponding to the two clamping arms is 180°, or the clamping arms are at least three, and the included angle ∠ β of the two vertical planes A corresponding to any adjacent two clamping arms is ≤180°.

10. The spreader of claim 9, wherein The clamp further comprises a friction support, the friction support is connected with the clamp arm in a rotary pair, the rotation shaft of the friction support and the clamp arm is I shaft, and I shaft is parallel to the corresponding A shaft of the clamp arm.

11. The spreader of claim 10, wherein, The clamp further comprises a friction support resetting member, the friction support resetting member is arranged at the side of the rotation shaft of the friction support and the clamp arm, and the two ends of the friction support resetting member are connected with the friction support and the clamp arm respectively.

12. The spreader of claim 9, wherein, The clamp further comprises a friction support, the friction support is connected with the clamp arm, and the friction surface of the friction support is formed by an elastic layer.

13. A crane comprising a hoist rope, characterized in that Further comprising the lifting device as claimed in any one of claims 1-12, and the lifting rope is fixedly connected with the lifting rod in the direction of B shaft.

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