An apparatus and method for box module transfer

Abstract

The present application relates to the technical field of auxiliary engineering machinery, and particularly relates to a device and method for transferring box modules, which comprises a connecting seat, a rotating mechanism, a leveling mechanism, an extensible body, a grab mechanism and a lifting mechanism, the connecting seat is connected with the arm body of a hoisting device, the two ends of the leveling mechanism are respectively connected with the connecting seat and the arm body of the hoisting device, the rotating mechanism is arranged on the connecting seat, the extensible body comprises a fixed arm and a movable arm, the fixed arm is fixed at the rotating end of the rotating mechanism, the movable arm is coaxially arranged in the fixed arm in an extendable manner, the grab mechanism is fixed on the movable arm, the lifting mechanism comprises a lifting rope and a connecting head for being connected with the box module, the lifting rope is connected with the hoisting end of the hoisting device, and the lifting rope and the connecting head are fixedly connected. Under the joint action of the leveling mechanism, the grab mechanism and the rotating mechanism, the angle of the box module can be adjusted, and the box module can be accurately positioned even in a narrow space.

Description

Technical Field

[0001] This invention relates to the field of auxiliary engineering machinery technology, and in particular to a device and method for transporting box-type modules. Background Technology

[0002] Box-type modules are a way to store goods to facilitate handling. The transfer of box-type modules is achieved by using grippers or manual handling.

[0003] Traditional lifting equipment relies on externally attached steel wire ropes for hoisting. Among related technologies, the invention patent with publication number CN108455454B discloses a container crane, which mainly uses a spreader and container for hoisting. Then, the crane uses the steel wire rope to wind up the container, thereby lifting it. Finally, the traveling device moves the container, thereby realizing the container transfer work.

[0004] Regarding the aforementioned technologies, when using wire ropes to hoist box-type modules, the wire ropes are prone to swaying, with a large swing range, making it difficult to adjust the angle of the box-type modules. When it is necessary to place the box-type modules in a confined space, it is difficult to accurately place the box-type modules in the designated position. Furthermore, because the wire ropes cause the box-type modules to sway, the box-type modules are prone to collisions and have poor stability. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for transporting box-type modules. Under the combined action of a leveling mechanism, a gripping mechanism and a rotating mechanism, the angle of the box-type module can be adjusted, and the box-type module can be accurately positioned even in a confined space.

[0006] To achieve the aforementioned objectives, the present invention employs the following technical solution: a device for transporting box-type modules, comprising a connecting seat, a slewing mechanism, a leveling mechanism, a telescopic body, a gripping mechanism, and a lifting mechanism. The connecting seat is connected to the arm of a lifting device. The two ends of the leveling mechanism are respectively connected to the connecting seat and the arm of the lifting device. The slewing mechanism is mounted on the connecting seat. The telescopic body includes a fixed arm and a movable arm. The fixed arm is fixed to the slewing end of the slewing mechanism. The movable arm is coaxially telescopically mounted within the fixed arm. The gripping mechanism is fixed to the movable arm and is used to grip the box-type module. The lifting mechanism includes a lifting rope and a connecting head. The lifting rope is connected to the lifting end of the lifting device. The lifting rope and the connecting head are fixedly connected. The connecting head is used to connect to the box-type module.

[0007] In practical use, this invention works as follows: The device is used in conjunction with a lifting device. A leveling mechanism levels the gripper mechanism, the lifting rope lowers the connector, connecting the connector to the lifting lug of the box module. The gripper mechanism clamps the box module, the lifting rope raises the box module, and the lifting device moves the box module to the designated position. A slewing mechanism adjusts the angle of the box module, the lifting rope lowers, and the box module falls into place. The gripper mechanism releases its clamp on the box module, disassembling the connector and the box module. The combined action of the leveling mechanism, gripper mechanism, and slewing mechanism allows for adjustment of the box module's angle, ensuring it remains vertical. The box module experiences stable force, preventing swaying and impacts during transport. It enables precise positioning of the box module, even in confined spaces.

[0008] Furthermore, the leveling mechanism includes a leveling cylinder, the cylinder body of which is hinged to the boom of the lifting device, the piston shaft of which is hinged to the connecting seat, and the connecting seat and the boom of the lifting device are hinged to each other. The hinge axes of the cylinder body of the leveling cylinder and the boom of the lifting device, the hinge axis of the piston shaft of the leveling cylinder and the connecting seat, and the hinge axis of the connecting seat and the boom of the lifting device are arranged in parallel.

[0009] By adopting the above technical solution, the angle of the box-type module can be leveled by adjusting the extension and retraction of the leveling cylinder during handling and transfer, ensuring that the box-type module does not tilt and improving the stability of the gripper mechanism in holding the box-type module, thus ensuring stable force on the box-type module. When the box-type module is tilted, it can be first fixed to the box-type module with the head connector of the lifting rope, and then lifted to a basically vertical position before the gripper mechanism grabs it. During the transfer and lowering process, the leveling cylinder can level the angle of the box-type module, and the gripper mechanism can keep the box-type module stable. The overall coordination facilitates precise placement.

[0010] Furthermore, the gripper mechanism includes a base and at least four sets of clamping cylinder assemblies. The base is fixed to the movable arm, and the multiple sets of clamping cylinder assemblies are arranged on the base in a circumferential array around the movable arm. Each clamping cylinder assembly includes a gripping arm cylinder, a gripping arm, and multiple guide cylinders. The gripping arm cylinder and the guide cylinders are fixed to the base. The axis of the piston shaft of the gripping arm cylinder is perpendicular to the axis of the movable arm. The gripping arm is fixed to the piston end of the gripping arm cylinder. A pawl protrudes from one side of the gripping arm cylinder and is located below the gripping arm cylinder. Multiple guide posts are fixed on the gripping arm. The axis of the guide posts is parallel to the axis of the piston shaft of the gripping arm cylinder. The guide posts are slidably disposed within the guide cylinders, and the guide posts and guide cylinders are configured to cooperate with each other.

[0011] By adopting the above technical solution, the gripper mechanism operates with multiple sets of clamping cylinder assemblies working synchronously. The gripping arm cylinder drives the clamping arm to move, allowing multiple clamping arms to simultaneously clamp the four sides of the box-type module. Simultaneously, the jaws support the bottom surface of the box-type module's upper edge. The combined action of the clamping arms and jaws improves the stability of the box-type module's clamping, making it less prone to shaking during transport. Furthermore, the guide columns prevent the clamping arms from deforming under stress when clamping the box-type module, ensuring the stability of the clamping arms in holding the module.

[0012] Furthermore, the clamping arm includes a support rod and multiple clamping plates. The middle section of the support rod is fixedly connected to the piston end of the gripping arm cylinder. The multiple clamping plates are symmetrically fixed at both ends of the support rod. Each clamping plate has a claw protruding from one side facing the gripping arm cylinder, and each clamping plate has a guide post fixed to one side facing the gripping arm cylinder.

[0013] By adopting the above technical solution, the overall weight of the clamping arm can be reduced, and the stability of the clamping arm in clamping the box module can be guaranteed.

[0014] Furthermore, the lifting rope is sequentially threaded through the fixed arm, the movable arm, and the base. The lifting rope and the movable arm are coaxially arranged. The connector abuts against the bottom of the base. The bottom of the connector has a lifting groove that mates with the lifting lug of the box module. A connecting pin is threaded through the connector and is used to mate with the lifting lug of the box module.

[0015] By adopting the above technical solution, when hoisting the box-type module, the lifting lugs of the box-type module are inserted into the hoisting slot, and then the connecting pin is installed on the connector to fix the box-type module and the connector. Since the wire rope is located at the center of the transfer device, the connector is always pressed against the bottom of the base during the hoisting process, driving the moving arm to rise synchronously. The hoisting rope applies tension to the middle position of the box-type module, improving the stress stability of the box-type module. Moreover, the hoisting rope is not easy to come into contact with other structures, and the hoisting rope is not easy to be worn.

[0016] Furthermore, a guide block is fixed to the bottom of the fixed arm, and a guide groove is provided on the outer wall of the movable arm, with the guide block slidably disposed in the guide groove.

[0017] By adopting the above technical solution, since the guide block slides in the guide groove, the moving arm and the fixed arm can maintain synchronous rotation, which also makes it easier to ensure the coaxiality of the moving arm and the fixed arm.

[0018] Furthermore, the guide groove extends through the bottom end of the movable arm, but does not extend through the top end of the movable arm.

[0019] By adopting the above technical solution, the groove wall formed at the top of the guide groove and the guide block cooperate to limit the sliding of the moving arm, ensuring that the moving arm will not detach from the fixed arm during use.

[0020] Furthermore, the slewing mechanism includes a slewing drive, a slewing bearing inner ring, and a slewing bearing outer ring. The slewing bearing inner ring is coaxially rotatably disposed within the slewing bearing outer ring. The slewing bearing inner ring is fixedly connected to the connecting seat, and the slewing bearing outer ring is fixedly connected to the fixed arm. The slewing drive is connected to the slewing bearing inner ring, and the slewing drive is used to drive the slewing bearing outer ring to rotate around the slewing bearing inner ring.

[0021] By adopting the above technical solution, the angle of the box module can be easily adjusted during the transfer process, making the placement of the box module more precise.

[0022] Furthermore, an angle sensor is provided on the gripper mechanism, a limit switch is provided inside the fixed arm and located above the moving arm, and an encoder is provided on the end face of the rotary drive component. The encoder is used to display the rotation direction and angle of the box module.

[0023] By adopting the above technical solutions, an angle sensor is set up to facilitate the detection of the angle of the box module, and a limit switch is set up to prevent the hoisting rope from being over-retracted.

[0024] To better achieve the above-mentioned objectives, the present invention also provides a method for transporting box-type modules, comprising the following steps:

[0025] S1. The grab mechanism is leveled by the leveling mechanism, the lifting rope drives the connector to fall, and the connector and the lifting lug of the box module are fixed by the connecting pin;

[0026] S2. The gripper cylinder drives the clamping arm to clamp the box-type module, so that the top of the gripper abuts against the bottom surface of the edge of the box-type module;

[0027] S3. The lifting rope drives the box module to rise, and the lifting device drives the box module to move to the designated position.

[0028] S4. Adjust the angle of the box-type module using the rotary mechanism;

[0029] S5. The lifting rope descends, causing the box-type module to fall into place;

[0030] S6. The grab arm cylinder releases its grip on the box module and removes the connecting pin.

[0031] By adopting the above technical solution, the angle of the box module can be adjusted under the combined action of the leveling mechanism, the gripping mechanism and the rotating mechanism, so that the box module always remains vertical. The box module is stably subjected to force, and the box module is not easy to shake or bump during the transfer process. It can accurately position the box module and accurately place it even in a narrow space.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] 1. This invention, by setting up a leveling mechanism, a gripping mechanism, and a rotating mechanism, can adjust the angle of the box module under the combined action of the leveling mechanism, the gripping mechanism, and the rotating mechanism, so that the box module always remains in a vertical state. The box module is stably subjected to force, and the box module is not easy to shake or bump during the transfer process. It can accurately position the box module. With the use of a telescopic body, the box module can be accurately placed even in a narrow space.

[0034] 2. When the gripper mechanism of the present invention is working, multiple sets of clamping cylinder assemblies work synchronously. The gripper cylinder drives the clamping arm to move, so that multiple clamping arms clamp the four sides of the box module at the same time. At the same time, the claws support the bottom surface of the upper edge of the box module. Under the combined action of the clamping arms and the claws, the stability of clamping the box module is improved, so that the box module is not easy to shake during the transfer process.

[0035] 3. When hoisting the box-type module, the lifting lugs of the box-type module are inserted into the hoisting slot, and then the connecting pin is installed on the connector to fix the box-type module and the connector. Since the wire rope is located at the center of the transfer device, the connector is always pressed against the bottom of the base during the hoisting process, which drives the moving arm to rise synchronously. The hoisting rope applies tension to the middle position of the box-type module, which improves the stress stability of the box-type module.

[0036] 4. The invention has a simple overall structure, a wide range of applications, and strong applicability. Attached Figure Description

[0037] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0038] Figure 1 This is an exploded view of the structure of a device for transporting box-type modules according to an embodiment of the present invention.

[0039] Figure 2 This is a cross-sectional view of the internal structure of a box-type module transfer device according to an embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram of the gripper mechanism according to an embodiment of the present invention.

[0041] The reference numerals in the attached drawings are as follows: 1. Connecting seat; 2. Rotary mechanism; 21. Rotary drive component; 22. Inner ring of slewing bearing; 23. Outer ring of slewing bearing; 3. Leveling mechanism; 31. Leveling cylinder; 4. Telescopic body; 41. Fixed arm; 42. Moving arm; 5. Gripping mechanism; 51. Base; 52. Clamping cylinder assembly; 521. Gripping arm cylinder; 522. Clamping arm; 5221. Support rod; 5222. Clamping plate; 523. Guide cylinder; 6. Lifting mechanism; 61. Lifting rope; 62. Connector; 63. Connecting pin; 7. Encoder; 8. Guide block; 9. Guide groove; 10. Lifting groove; 11. Claw; 12. Guide column; 13. Reinforcing rib; 14. Angle sensor; 15. Limit switch. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] Example:

[0044] See Figures 1 to 3 The present invention provides a device for transporting box-type modules, which is used in conjunction with a lifting device. It includes a connecting seat 1, a slewing mechanism 2, a leveling mechanism 3, a telescopic body 4, a gripping mechanism 5, and a lifting mechanism 6. The connecting seat 1 is hinged to the boom of the lifting device. The two ends of the leveling mechanism 3 are respectively hinged to the connecting seat 1 and the boom of the lifting device. The leveling mechanism 3 is used to adjust the angle of the connecting seat 1. The slewing mechanism 2 is installed at the bottom of the connecting seat 1. The telescopic body 4 includes a fixed arm 41 and a movable arm 42. The fixed arm 41 is fixed to the slewing end of the slewing mechanism 2. The movable arm 42 is coaxially telescopically arranged inside the fixed arm 41. The gripping mechanism 5 is fixed on the movable arm 42. The gripping mechanism 5 is used to grip the box-type module. The lifting mechanism 6 includes a lifting rope 61, a connector 62 and a connecting pin 63. The lifting rope 61 is connected to the lifting end of the lifting device and can provide power to the lifting rope 61. The lifting rope 61 and the connector 62 are fixedly connected. The connector 62 and the lifting lug of the box-type module are detachably connected by the connecting pin 63.

[0045] In use, this device works in conjunction with a lifting device. The leveling mechanism 3 levels the gripper mechanism 5, the lifting rope 61 lowers the connector 62, connecting the connector 62 to the lifting lug of the box module. The gripper mechanism 5 clamps the box module, the lifting rope 61 raises the box module, and the lifting device moves the box module to the designated position. The rotation mechanism 2 adjusts the angle of the box module, the lifting rope 61 lowers, and the box module falls into place. The gripper mechanism 5 releases its clamp on the box module, and the connector 62 and box module are removed. The combined action of the leveling mechanism 3, gripper mechanism 5, and rotation mechanism 2 allows for adjustment of the box module's angle, ensuring it remains vertical. The box module experiences stable force, preventing swaying and impacts during transport. It enables precise positioning of the box module, even in confined spaces.

[0046] Reference Figure 1 and Figure 2 The leveling mechanism 3 includes a leveling cylinder 31. The cylinder body of the leveling cylinder 31 is hinged to the boom of the lifting device. The hinge axis between the cylinder body of the leveling cylinder 31 and the boom of the lifting device is horizontal. The piston shaft of the leveling cylinder 31 is hinged to the connecting seat 1. The connecting seat 1 is hinged to the boom of the lifting device. The hinge axes between the cylinder body of the leveling cylinder 31 and the boom of the lifting device, the hinge axis between the piston shaft of the leveling cylinder 31 and the connecting seat 1, and the hinge axis between the connecting seat 1 and the boom of the lifting device are parallel. By adjusting the extension and retraction of the leveling cylinder 31, the angle of the connecting seat 1 can be adjusted, facilitating the leveling of the box-type module.

[0047] Understandably, when the box module is tilted, it can be fixed to the box module with the head connector 62 of the lifting rope 61 first, and then lifted to a basically vertical state. The gripping mechanism 5 then grabs it. The leveling cylinder 31 can adjust the angle of the box module during the transfer and lowering process, and the gripping mechanism 5 can keep the box module stable. The overall cooperation facilitates accurate placement.

[0048] Reference Figure 1 and Figure 2The rotary mechanism 2 includes a rotary drive 21, a rotary bearing inner ring 22, and a rotary bearing outer ring 23. The rotary bearing inner ring 22 is coaxially rotatably disposed within the rotary bearing outer ring 23. The rotary bearing inner ring 22 is fixedly connected to the connecting seat 1, and the rotary bearing outer ring 23 is fixedly connected to the fixed arm 41. The rotary drive 21 is connected to the rotary bearing inner ring 22 and is used to drive the rotary bearing outer ring 23 to rotate around the rotary bearing inner ring 22. In this embodiment, the rotary drive 21 can be a stepper motor, which can drive the rotary bearing outer ring 23 to rotate with the help of a gear set or other reduction transmission components. An encoder 7 is arranged on the rotary mechanism 2 to display the rotation direction and angle of the box module. The rotary mechanism 2 can drive the box module to rotate freely, which is convenient for placing the box module in a designated position. It is especially suitable for placing the box module in a narrow space, enabling more precise placement of the box module in a designated position and improving the placement speed.

[0049] Reference Figure 2 In this embodiment, both the fixed arm 41 and the movable arm 42 are cylindrical structures. Two guide blocks 8 are fixed to the bottom of the fixed arm 41, symmetrically distributed on both sides of the fixed arm 41. Two guide grooves 9 are formed on the outer wall of the movable arm 42, symmetrically distributed on both sides of the movable arm 42. The guide grooves 9 penetrate the bottom end of the movable arm 42 but not the top end. The two guide blocks 8 are slidably disposed within the two guide grooves 9. This arrangement guides the sliding direction of the movable arm 42 within the fixed arm 41, ensuring the coaxiality of the movable arm 42 and the fixed arm 41, and also ensuring synchronous rotation between the movable arm 42 and the fixed arm 41. Furthermore, the groove wall formed at the top of the guide groove 9 limits the sliding of the movable arm 42, ensuring that the movable arm 42 will not detach from the fixed arm 41 during use.

[0050] Reference Figure 2 and Figure 3The gripper mechanism 5 includes a base 51 and four sets of clamping cylinder assemblies 52. The base 51 is fixed to the bottom of the movable arm 42. The four sets of clamping cylinder assemblies 52 are arranged in a circumferential array on the base 51, surrounding the movable arm 42. The four sets of clamping cylinder assemblies 52 clamp the four side walls of the box module respectively. The lifting rope 61 passes through the fixed arm 41, the movable arm 42, and the base 51 in sequence. The lifting rope 61 and the movable arm 42 are coaxially arranged. The connector 62 abuts against the bottom of the base 51. The center of the base 51 has a circular hole for the lifting rope 61 to pass through, and the connector 62 cannot pass through the circular hole in the center of the base 51. When the lifting rope 61 rises, the connector 62 will drive the base 51 to rise. When the lifting rope 61 descends, the movable arm 42 will automatically slide down under the action of gravity. The bottom of the connector 62 is provided with a lifting groove 10 that mates with the lifting lug of the box module. A connecting pin 63 is passed through the connector 62. The connecting pin 63 is used to mate with the lifting lug in the middle of the box module, which facilitates the assembly and disassembly of the box module.

[0051] The clamping cylinder assembly 52 includes a gripping arm cylinder 521, a clamping arm 522, and two guide cylinders 523. The gripping arm cylinder 521 and the guide cylinders 523 are fixed on the base 51. The axis of the piston shaft of the gripping arm cylinder 521 is perpendicular to the axis of the moving arm 42. The clamping arm 522 is fixed to the piston end of the gripping arm cylinder 521. The clamping arm 522 includes a support rod 5221 and two clamping plates 5222. The middle section of the support rod 5221 is fixedly connected to the piston end of the gripping arm cylinder 521. The two clamping plates 5222 are symmetrically fixed at both ends of the support rod 5221. A claw 11 protrudes from one side of the clamping arm cylinder 5222 towards the gripping arm cylinder 521. The claw 11 is located below the gripping arm cylinder 521. A guide post 12 is fixed to one side of the gripper cylinder 521 on any clamping plate 5222. The axis of the guide post 12 is parallel to the axis of the piston shaft of the gripper cylinder 521. The two guide posts 12 are respectively slidably disposed in the two guide cylinders 523.

[0052] When the gripper mechanism 5 is in operation, the four sets of clamping cylinder assemblies 52 work synchronously. The gripping arm cylinder 521 drives the clamping arms 522 to move, allowing multiple clamping arms 522 to simultaneously clamp the four sides of the box-type module. Simultaneously, the jaws 11 support the bottom surface of the upper edge of the box-type module. The combined action of the clamping arms 522 and the jaws 11 improves the stability of the clamping of the box-type module, making it less prone to shaking during transport. Furthermore, under the action of the guide post 12, the clamping arms 522 are less prone to deformation under stress when clamping the box-type module, ensuring the stability of the clamping arms 522 in clamping the box-type module. This type of clamping arm 522 has the advantage of being lightweight while ensuring the stability of the clamping arms in clamping the box-type module.

[0053] A reinforcing rib 13 is fixed on the side of the clamping plate 5222 away from the gripper cylinder 521. One side of the reinforcing rib 13 is fixed to the support rod 5221. The reinforcing rib 13 further enhances the structural strength of the clamping plate 5222, making it less prone to deformation when clamping the box-type module, thus improving the stability of the transport box-type module.

[0054] It should also be noted that an angle sensor 14 is installed on the end face of the base 51. The angle sensor 14 is set to facilitate the detection of the rotation angle of the box module. A limit switch 15 is installed inside the fixed arm 41. The limit switch 15 is located above the moving arm 42. The limit switch 15 can prevent the lifting rope 61 from being over-retracted.

[0055] The implementation principle of a device for transporting box-type modules according to an embodiment of the present invention is as follows: This device is used in conjunction with a lifting device. The leveling mechanism 3 levels the gripper mechanism 5, the lifting rope 61 lowers the connector 62, connecting the connector 62 to the lifting lug of the box-type module. The gripper mechanism 5 clamps the box-type module, the lifting rope 61 raises the box-type module, and the lifting device moves the box-type module to the designated position. The rotation mechanism 2 adjusts the angle of the box-type module, the lifting rope 61 lowers, and the box-type module falls into place. The gripper mechanism 5 releases its clamp on the box-type module, disassembling the connector 62 and the box-type module. Under the combined action of the leveling mechanism 3, the gripper mechanism 5, and the rotation mechanism 2, the angle of the box-type module can be adjusted, ensuring that the box-type module remains vertical. The force on the box-type module is stable, and during transport, the box-type module is less prone to shaking or collisions. It allows for precise positioning of the box-type module, enabling accurate placement even in confined spaces.

[0056] Reference Figures 1 to 3 The present invention also provides a method for transporting box-type modules, comprising the following steps:

[0057] S1. The grab mechanism 5 is leveled by the leveling mechanism 3, the lifting rope 61 drives the connector 62 to fall, and the connector 62 and the lifting lug of the box module are fixed by the connecting pin 63.

[0058] S2, the gripper cylinder 521 drives the clamping arm 522 to clamp the box module, so that the top of the claw 11 abuts against the bottom surface of the edge of the box module;

[0059] S3, the lifting rope 61 drives the box module to rise, and the lifting device drives the box module to move to the designated position;

[0060] S4. Adjust the angle of the box module using the rotary mechanism 2;

[0061] S5, the lifting rope 61 descends, causing the box-type module to fall into place;

[0062] S6. The grab arm cylinder 521 releases its grip on the box module and removes the connecting pin 63.

[0063] By adopting the above technical solution, the angle of the box module can be adjusted under the combined action of the leveling mechanism 3, the gripping mechanism 5, and the rotating mechanism 2, ensuring that the box module always remains vertical. The box module experiences stable force, preventing it from shaking or being bumped during transport. It also allows for precise positioning of the box module, enabling accurate placement even in confined spaces. This invention has a simple overall structure, wide application range, and strong applicability.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for transporting box-type modules, characterized in that, The system includes a connecting seat (1), a slewing mechanism (2), a leveling mechanism (3), a telescopic body (4), a gripping mechanism (5), and a lifting mechanism (6). The connecting seat (1) is connected to the boom of the lifting device. The two ends of the leveling mechanism (3) are respectively connected to the connecting seat (1) and the boom of the lifting device. The slewing mechanism (2) is mounted on the connecting seat (1). The telescopic body (4) includes a fixed arm (41) and a movable arm (42). The fixed arm (41) is fixed to the slewing machine. The rotating end of the structure (2) has the movable arm (42) telescopically disposed inside the fixed arm (41), the gripping mechanism (5) is fixed on the movable arm (42), the gripping mechanism (5) is used to grip the box module, the lifting mechanism (6) includes a lifting rope (61) and a connector (62), the lifting rope (61) is connected to the lifting end of the lifting device, the lifting rope (61) and the connector (62) are fixedly connected, and the connector (62) is used to connect with the box module.

2. The device for transporting box-type modules according to claim 1, characterized in that, The leveling mechanism (3) includes a leveling cylinder (31), the cylinder body of the leveling cylinder (31) and the arm of the lifting device are hinged together, the piston shaft of the leveling cylinder (31) and the connecting seat (1) are hinged together, the connecting seat (1) and the arm of the lifting device are hinged together, and the hinge axis of the cylinder body of the leveling cylinder (31) and the arm of the lifting device, the hinge axis of the piston shaft of the leveling cylinder (31) and the connecting seat (1), and the hinge axis of the connecting seat (1) and the arm of the lifting device are arranged in parallel.

3. The device for transporting box-type modules according to claim 1, characterized in that, The gripping mechanism (5) includes a base (51) and at least four sets of clamping cylinder assemblies (52). The base (51) is fixed on the movable arm (42). The multiple sets of clamping cylinder assemblies (52) are arranged on the base (51) in a circumferential array around the movable arm (42). Each clamping cylinder assembly (52) includes a gripping arm cylinder (521), a gripping arm (522), and multiple guide cylinders (523). The gripping arm cylinder (521) and the guide cylinders (523) are fixed on the base (51). The axis of the piston shaft of the gripping arm cylinder (521) is parallel to the axis of the movable arm (42). The axis of the arm (42) is vertically arranged. The clamping arm (522) is fixed to the piston end of the gripping arm cylinder (521). The clamping arm (522) has a claw (11) protruding from the side facing the gripping arm cylinder (521). The claw (11) is located below the gripping arm cylinder (521). Multiple guide posts (12) are fixed on the clamping arm (522). The axis of the guide post (12) is parallel to the axis of the piston shaft of the gripping arm cylinder (521). The guide post (12) is slidably arranged in the guide cylinder (523). The guide post (12) and the guide cylinder (523) are configured to cooperate with each other.

4. The device for transporting box-type modules according to claim 3, characterized in that, The clamping arm (522) includes a support rod (5221) and multiple clamping plates (5222). The middle section of the support rod (5221) is fixedly connected to the piston end of the gripping arm cylinder (521). The multiple clamping plates (5222) are symmetrically fixed at both ends of the support rod (5221). Each clamping plate (5222) has a claw (11) protruding from one side facing the gripping arm cylinder (521). Each clamping plate (5222) has a guide post (12) fixed to one side facing the gripping arm cylinder (521).

5. The device for transporting box-type modules according to claim 3, characterized in that, The lifting rope (61) is sequentially threaded through the fixed arm (41), the movable arm (42), and the base (51). The lifting rope (61) and the movable arm (42) are coaxially arranged. The connector (62) abuts against the bottom of the base (51). The bottom of the connector (62) is provided with a lifting groove (10) that cooperates with the lifting lug of the box module. A connecting pin (63) is threaded through the connector (62). The connecting pin (63) is used to cooperate with the lifting lug of the box module.

6. The device for transporting box-type modules according to claim 1, characterized in that, The bottom of the fixed arm (41) is fixed with a guide block (8), and the outer wall of the movable arm (42) is provided with a guide groove (9), and the guide block (8) is slidably disposed in the guide groove (9).

7. The device for transporting box-type modules according to claim 6, characterized in that, The guide groove (9) extends through the bottom end of the movable arm (42), but does not extend through the top end of the movable arm (42).

8. The device for transporting box-type modules according to claim 1, characterized in that, The slewing mechanism (2) includes a slewing drive (21), a slewing bearing inner ring (22), and a slewing bearing outer ring (23). The slewing bearing inner ring (22) is coaxially rotatably disposed within the slewing bearing outer ring (23). The slewing bearing inner ring (22) is fixedly connected to the connecting seat (1), and the slewing bearing outer ring (23) is fixedly connected to the fixed arm (41). The slewing drive (21) is connected to the slewing bearing inner ring (22), and the slewing drive (21) is used to drive the slewing bearing outer ring (23) to rotate around the slewing bearing inner ring (22).

9. The device for transporting box-type modules according to claim 8, characterized in that, An angle sensor (14) is provided on the gripper mechanism (5), a limit switch (15) is provided inside the fixed arm (41), the limit switch (15) is located above the moving arm (42), and an encoder (7) is provided on the end face of the rotary drive component (21). The encoder (7) is used to display the rotation direction and angle of the box module.

10. A method for transporting box-type modules, applicable to the device for transporting box-type modules as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The grab mechanism (5) is leveled by the leveling mechanism (3), and the lifting rope (61) drives the connector (62) to fall. The connector (62) and the lifting lug of the box module are fixed by the connecting pin (63). S2, the gripper cylinder (521) drives the clamping arm (522) to clamp the box module, so that the top of the claw (11) abuts against the bottom surface of the edge of the box module; S3, the lifting rope (61) drives the box module to rise, and the lifting device drives the box module to move to the designated position; S4. Adjust the angle of the box module by means of the rotary mechanism (2); S5, the lifting rope (61) falls, causing the box module to fall into place; S6. The grab arm cylinder (521) releases the clamp on the box module and removes the connecting pin (63).

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