Full-automatic feeding grab bucket crane

Abstract

The invention relates to a full-automatic feeding grab bucket crane which comprises two portal frames arranged in a spaced mode. The multi-degree-of-freedom moving mechanism is movably arranged at the top ends of the two portal frames; the lifting mechanism is fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism; the adjustable grab bucket mechanism is fixedly arranged at the bottom end of the lifting mechanism; and the grab bucket stabilizing mechanism is fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism, and the grab bucket stabilizing mechanism is used for clamping and stabilizing the adjustable grab bucket mechanism. The adjustable grab bucket mechanism can be stably clamped through the arranged grab bucket stabilizing mechanism, the stability of the adjustable grab bucket mechanism in the moving process after raw materials are grabbed is guaranteed, potential safety hazards in the working process of the grab bucket crane are reduced, the working coverage area of the grab bucket crane can be increased through the arranged multi-degree-of-freedom moving mechanism, and the working efficiency of the grab bucket crane is improved. And the arranged adjustable grab bucket mechanism can adjust the self capacity, so that the crane is suitable for grabbing raw materials with different volumes, and the application range of the crane is widened.

Description

Technical Field

[0001] The invention belongs to the technical field of cranes, and in particular relates to a fully automatic loading grab crane. Background Art

[0002] At present, grab cranes do not have a special anti-sway system. When working, they rely on the workers' operating experience or combine the inverter to use a slow stepless speed regulation method when starting and stopping, accelerating and decelerating. This can theoretically reduce the swing amplitude, but the latter is bound to reduce work efficiency, while the former is bound to make the driver highly nervous, and the electrical components are subject to great impact and have a short life. Due to the influence of the operating conditions of the grab crane, it is not suitable to install an encoder to control the output frequency of the inverter or to measure the length of the wire rope to calculate the swing angle. Therefore, when the grab crane is running, in order to improve work efficiency, the speed is generally faster. The wire rope is often longer when moving large and small vehicles quickly. The swing is more obvious during parking or shifting, which poses certain safety hazards.

[0003] Therefore, it is necessary to design a fully automatic loading grab crane to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic loading grab crane to solve the above problems and achieve the purpose of improving the operating stability of the grab crane.

[0005] To achieve the above object, the present invention provides the following solution: a fully automatic loading grab crane, comprising

[0006] Two gantries, set at intervals;

[0007] A multi-degree-of-freedom mobile mechanism, movably arranged at the top of the two gantries;

[0008] A lifting mechanism, fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism;

[0009] An adjustable grab mechanism, fixedly arranged at the bottom end of the lifting mechanism;

[0010] A grab bucket stabilizing mechanism is fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism, and the grab bucket stabilizing mechanism is used to clamp and stabilize the adjustable grab bucket mechanism.

[0011] A fully automatic loading grab bucket crane based on the present invention, the grab bucket stabilizing mechanism includes two multi-stage telescopic rods, the two multi-stage telescopic rods are symmetrically arranged on both sides of the lifting mechanism, the multi-stage telescopic rods are vertically arranged and the top ends are fixedly connected to the bottom ends of the multi-degree-of-freedom moving mechanism, the bottom ends of the multi-stage telescopic rods are fixedly connected to the middle part of the top end of the stabilizing frame, the stabilizing frame is an inverted U-shape, the two bottom ends of the stabilizing frame are respectively fixedly connected to a fixed end of the telescopic rod, the telescopic rod is horizontally arranged, and a telescopic end of the telescopic rod is fixedly connected to a positioning plate, the two positioning plates are both located inside the stabilizing frame, and the two positioning plates are used to clamp and stabilize the adjustable grab bucket mechanism.

[0012] A fully automatic loading grab bucket crane based on the present invention, the adjustable grab bucket mechanism includes a central axis, a fixed block is fixedly connected to the middle of the top end of the central axis, the fixed block is fixedly connected to the free end of the lifting mechanism, a grab bucket flap 1 and a grab bucket flap 2 are rotatably connected to the central axis, the grab bucket flap 1 and the grab bucket flap 2 are adapted to each other and constitute a complete grab bucket, the top ends of the grab bucket flap 1 and the grab bucket flap 2 are commonly fixedly connected to an opening and closing driving part, the insides of the grab bucket flap 1 and the grab bucket flap 2 are commonly slidably connected to an expansion part, and the sides of the grab bucket flap 1 and the grab bucket flap 2 that are close to each other are fixedly connected to a magnetic suction part.

[0013] A fully automatic loading grab bucket crane based on the present invention, the opening and closing drive part includes two connecting plates one and two connecting plates two, the connecting plate one and the connecting plate two correspond to each other one by one, the connecting plate one is fixedly connected to the top end of the grab bucket petal one, the connecting plate two is fixedly connected to the top end of the grab bucket petal two, and a tension spring is fixedly connected between the corresponding connecting plate one and the connecting plate two.

[0014] A fully automatic loading grab crane based on the present invention, the expansion part includes an expansion grab one and an expansion grab two, the expansion grab one and the expansion grab two are adapted to each other, the expansion grab one is slidably arranged inside the grab petal one, the outer side wall of the grab petal one is fixedly connected with the fixed end of the telescopic rod two, the telescopic rod two is vertically arranged, the telescopic end of the telescopic rod two is fixedly connected with a fixed connecting plate, the fixed connecting plate is fixedly connected to the outer side wall of the expansion grab one, the expansion grab two is slidably arranged inside the grab petal two, the outer side wall of the grab petal two is fixedly connected with another fixed end of the telescopic rod two, the other telescopic rod two is vertically arranged, the telescopic end of the other telescopic rod two is fixedly connected with another fixed connecting plate, and the other fixed connecting plate is fixedly connected to the outer side wall of the expansion grab two.

[0015] A fully automatic loading grab bucket crane based on the present invention, the magnetic attraction part includes electromagnet 1 and electromagnet 2, the electromagnet 1 is fixedly connected to the side of the outer wall of the grab bucket petal 1, the electromagnet 2 is fixedly connected to the side of the outer wall of the grab bucket petal 2, the electromagnet 1 and the electromagnet 2 are attracted when energized and magnetized, and the electromagnet 1 and the electromagnet 2 are separated when the power is off and demagnetized.

[0016] According to a fully automatic loading grab bucket crane of the present invention, the gantry comprises two groups of column groups, the two groups of column groups are arranged at intervals, each group of the column groups comprises two columns, the two columns are arranged vertically at intervals, the top ends of the two columns of each group of the column groups are commonly fixedly connected with a cross beam, the cross beam is arranged horizontally, and track grooves are respectively provided on both side walls of the cross beam.

[0017] A fully automatic loading grab bucket crane based on the present invention, the multi-degree-of-freedom moving mechanism includes four U-shaped frames, the U-shaped frames are opened downward, two of the U-shaped frames are slidably arranged on one of the beams, and the other two of the U-shaped frames are slidably arranged on another of the beams, the top ends of the four U-shaped frames are commonly fixedly connected to a fixed plate, the bottom end of the fixed plate is fixedly connected to a moving part, and the lifting mechanism is fixedly connected to the bottom end of the moving part.

[0018] A fully automatic loading grab crane based on the present invention, the moving part includes a motor, the motor is fixedly connected to one end of the bottom of the fixed plate, the output end of the motor is coaxially fixedly connected to one end of a horizontally arranged lead screw, the other end of the lead screw is rotatably connected to a fixed seat, the fixed seat is fixedly connected to the other end of the bottom of the fixed plate, the outer side wall of the lead screw is threadedly connected to a slider, the top of the slider is in sliding contact with the bottom end of the fixed plate, and the lifting mechanism and the grab stabilizing mechanism are both fixedly connected to the bottom end of the slider.

[0019] According to the fully automatic loading grab bucket crane of the present invention, the lifting mechanism comprises a winch, the fixed end of the winch is fixedly connected to the bottom end of the slider, and the free end of the winch is fixedly connected to the adjustable grab bucket mechanism.

[0020] Compared with the prior art, the present invention has the following advantages and technical effects:

[0021] The present invention can clamp and stabilize the adjustable grab bucket mechanism through the grab bucket stabilization mechanism, ensure the stability of the adjustable grab bucket mechanism during the movement after grabbing the raw materials, reduce the safety hazards during the operation of the grab bucket crane, and the multi-degree-of-freedom moving mechanism can increase the working coverage area of ​​the grab bucket crane and improve the working efficiency. The adjustable grab bucket mechanism can adjust its own capacity and is suitable for grabbing raw materials of different volumes, thereby improving the application range of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0023] Figure 1 It is an overall schematic diagram of the present invention;

[0024] Figure 2 It is a schematic diagram of the grab bucket stabilizing mechanism and the adjustable grab bucket mechanism of the present invention;

[0025] Figure 3 It is a schematic diagram of the adjustable grab bucket mechanism of the present invention.

[0026] Among them, 1. column; 2. crossbeam; 3. track groove; 4. U-shaped frame; 5. limit block; 6. driving wheel; 7. fixed plate; 8. motor; 9. screw; 10. fixed seat; 11. slider; 12. winch; 13. multi-stage telescopic rod; 14. stabilizing frame; 15. telescopic rod one; 16. positioning plate; 17. center axis; 18. fixed block; 19. grab flap one; 20. grab flap two; 21. sleeve one; 22. sleeve two; 23. connecting plate one; 24. connecting plate two; 25. tension spring; 26. telescopic rod two; 27. fixed connecting plate; 28. extended grab one; 29. ​​guide bar one; 30. extended grab two; 31. guide bar two; 32. electromagnet one; 33. electromagnet two. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figures 1 to 3 As shown, the present invention provides a fully automatic loading grab crane, comprising two gantries, which are arranged at intervals;

[0030] Multi-degree-of-freedom mobile mechanism, movable arrangement at the top of two gantries;

[0031] A lifting mechanism, fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism;

[0032] An adjustable grab mechanism is fixed at the bottom of the lifting mechanism;

[0033] The grab bucket stabilizing mechanism is fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism, and is used for clamping and stabilizing the adjustable grab bucket mechanism.

[0034] Furthermore, the grab stabilizing mechanism includes two multi-stage telescopic rods 13, which are symmetrically arranged on both sides of the lifting mechanism. The multi-stage telescopic rods 13 are vertically arranged and the top ends are fixedly connected to the bottom end of the multi-degree-of-freedom moving mechanism. The bottom end of the multi-stage telescopic rod 13 is fixedly connected to the middle of the top end of the stabilizing frame 14. The stabilizing frame 14 is an inverted U-shape. The two bottom ends of the stabilizing frame 14 are respectively fixedly connected to the fixed ends of the telescopic rod 15. The telescopic rod 15 is horizontally arranged. The telescopic ends of the telescopic rod 15 are fixedly connected to the positioning plates 16. The two positioning plates 16 are both located inside the stabilizing frame 14. The two positioning plates 16 are used to clamp and stabilize the adjustable grab mechanism.

[0035] During the movement of the adjustable grab mechanism before grabbing materials, the lifting mechanism drives the adjustable grab mechanism to rise to the top. At this time, the telescopic ends of the two telescopic rods 15 on each stabilizing frame 14 extend out, driving the two positioning plates 16 to approach each other and press against the outer wall of the adjustable grab mechanism, forming a clamping state for the adjustable grab mechanism, thereby ensuring the stability of the movement of the adjustable grab mechanism before grabbing materials. During the movement of the adjustable grab mechanism after grabbing materials, the telescopic ends of the multi-stage telescopic rods 13 extend out, driving the stabilizing frame 14 to descend to a height corresponding to the adjustable grab mechanism, and then the telescopic ends of the two telescopic rods 15 extend out, driving the two positioning plates 16 to approach each other and press against the outer wall of the adjustable grab mechanism, thereby forming a clamping state for the adjustable grab mechanism, thereby ensuring the stability of the movement of the adjustable grab mechanism after grabbing materials.

[0036] Furthermore, the adjustable grab mechanism includes a central axis 17, a fixed block 18 is fixedly connected to the middle of the top of the central axis 17, the fixed block 18 is fixedly connected to the free end of the lifting mechanism, a grab petal 19 and a grab petal 2 20 are rotatably connected to the central axis 17, the grab petal 19 and the grab petal 2 20 are adapted to each other and constitute a complete grab, the tops of the grab petal 19 and the grab petal 2 20 are jointly fixedly connected with an opening and closing drive part, the insides of the grab petal 19 and the grab petal 2 20 are jointly slidably connected with an expansion part, and the sides of the grab petal 19 and the grab petal 2 20 that are close to each other are fixedly connected with a magnetic suction part.

[0037] As an embodiment that can be added to the present invention, two sleeves 21 are fixedly connected to the side of the top wall of the grab flap 19, and the grab flap 19 is rotatably sleeved on the outside of the central axis 17 through the two sleeves 21. Two sleeves 22 are fixedly connected to the side of the top wall of the grab flap 20, and the grab flap 20 is rotatably sleeved on the outside of the central axis 17 through the two sleeves 22. The two sleeves 22 are located between the two sleeves 21.

[0038] Furthermore, the opening and closing drive unit includes two connecting plates 23 and two connecting plates 24, and the connecting plates 23 and 24 correspond to each other one by one. The connecting plate 23 is fixedly connected to the top of the grab petal 19, and the connecting plate 24 is fixedly connected to the top of the grab petal 20. A tension spring 25 is fixedly connected between the corresponding connecting plates 23 and 24.

[0039] Furthermore, the extension part includes an extension grab 1 28 and an extension grab 2 30, and the extension grab 1 28 and the extension grab 2 30 are adapted to each other. The extension grab 1 28 is slidably arranged inside the grab petal 19, and the outer side wall of the grab petal 19 is fixedly connected with the fixed end of the telescopic rod 26, the telescopic rod 26 is vertically arranged, and the telescopic end of the telescopic rod 26 is fixedly connected with a fixed connecting plate 27, and the fixed connecting plate 27 is fixedly connected to the outer side wall of the extension grab 1 28. The extension grab 2 30 is slidably arranged inside the grab petal 20, and the outer side wall of the grab petal 20 is fixedly connected with another fixed end of the telescopic rod 26, the other telescopic rod 26 is vertically arranged, and the telescopic end of the other telescopic rod 26 is fixedly connected with another fixed connecting plate 27, and the other fixed connecting plate 27 is fixedly connected to the outer side wall of the extension grab 2 30.

[0040] As an embodiment that can be added to the present invention, the two opposite inner side walls of grab bucket flap 19 and the two opposite inner side walls of grab bucket flap 20 are both provided with guide grooves, the two opposite outer side walls of extended grab bucket 28 are fixedly connected with guide strips 29, and the two guide strips 29 are correspondingly slidably arranged in the two guide grooves of grab bucket flap 19, and the two opposite outer side walls of extended grab bucket 20 are fixedly connected with guide strips 31, and the two guide strips 31 are correspondingly slidably arranged in the two guide grooves of grab bucket flap 20.

[0041] Furthermore, the magnetic attraction part includes an electromagnet 1 32 and an electromagnet 2 33. The electromagnet 1 32 is fixedly connected to the side of the outer wall of the grab bucket flap 1 19, and the electromagnet 2 33 is fixedly connected to the side of the outer wall of the grab bucket flap 20. The electromagnet 1 32 and the electromagnet 2 33 are attracted when energized and magnetized, and are separated when the electromagnet 1 32 and the electromagnet 2 33 are deenergized and demagnetized.

[0042] Grab bucket flap 19 and grab bucket flap 20 can be in an open state or a closed state when moving before grabbing the material. In the open state, electromagnet 1 32 and electromagnet 2 33 are powered off and demagnetized, and at the same time, the tension spring 25 is restored from the stretched state to the natural state, thereby driving grab bucket flap 19 and grab bucket flap 20 to rotate around the central axis 17 and be in the open state. In the closed state, electromagnet 1 32 and electromagnet 2 33 are powered on and magnetized, and the magnetic adsorption force between electromagnet 1 32 and electromagnet 2 33 overcomes the tension of the tension spring 25, so that grab bucket flap 19 and grab bucket flap 20 are in a closed state. State, when the grab petal 19 and the grab petal 2 20 grab the raw materials and move, they must be in a closed state. When the volume or quantity of the raw materials to be grabbed is large, the space inside the grab petal 19 and the grab petal 2 20 can be expanded. The expansion of the space is achieved by expanding the grab petal 1 28 and the expansion of the grab petal 2 30. When the space needs to be expanded, the telescopic end of the telescopic rod 26 is controlled to extend, and the telescopic rod 26 drives the expansion grab petal 1 28 to slide out of the grab petal 1 19 and the expansion grab petal 2 30 to slide out of the grab petal 2 20 through the fixed connecting plate 27, so as to achieve the purpose of expanding the space.

[0043] Furthermore, the gantry includes two groups of column groups, which are spaced apart, each group of column groups includes two columns 1, and the two columns 1 are vertically spaced apart. The tops of the two columns 1 in each group of column groups are commonly fixedly connected with a crossbeam 2, which is horizontally arranged, and track grooves 3 are respectively opened on both side walls of the crossbeam 2.

[0044] Furthermore, the multi-degree-of-freedom mobile mechanism includes four U-shaped frames 4, the U-shaped frames 4 are opened downward, two U-shaped frames 4 are slidably set on one beam 2, and the other two U-shaped frames 4 are slidably set on another beam 2. The top ends of the four U-shaped frames 4 are commonly fixedly connected to a fixed plate 7, the bottom end of the fixed plate 7 is fixedly connected to a moving part, and the lifting mechanism is fixedly connected to the bottom end of the moving part.

[0045] As an embodiment that can be added to the present invention, a driving wheel 6 is rotatably connected inside the U-shaped frame 4, and a driving motor is fixedly embedded in the U-shaped frame 4. The driving motor controls the rotation of the driving wheel 6. The driving wheel 6 is in rolling contact with the top of the beam 2 to drive the U-shaped frame 4 and the fixed plate 7 to move along the length direction of the beam 2. The bottoms of the two opposite inner side walls of the U-shaped frame 4 are respectively fixedly connected to limit blocks 5. The limit blocks 5 correspond to the track grooves 3 one by one and are slidably arranged inside the track grooves 3. The limit blocks 5 cooperate with the track grooves 3 to ensure the stability of the movement of the U-shaped frame 4 and the fixed plate 7.

[0046] Furthermore, the moving part includes a motor 8, which is fixedly connected to one end of the bottom of the fixed plate 7, and the output end of the motor 8 is coaxially fixedly connected to one end of a horizontally arranged lead screw 9, and the other end of the lead screw 9 is rotatably connected to a fixed seat 10, and the fixed seat 10 is fixedly connected to the other end of the bottom of the fixed plate 7, and a slider 11 is threadedly connected to the outer wall of the lead screw 9, and the top of the slider 11 is in sliding contact with the bottom end of the fixed plate 7, and the lifting mechanism and the grab stabilizing mechanism are both fixedly connected to the bottom end of the slider 11.

[0047] Furthermore, the lifting mechanism includes a winch 12, a fixed end of the winch 12 is fixedly connected to the bottom end of the slider 11, and a free end of the winch 12 is fixedly connected to the adjustable grab mechanism.

[0048] A winch, also known as a winch, is a small, light lifting device that uses a drum to wrap a wire rope or chain to lift or pull heavy objects.

[0049] The winch is composed of power, reduction mechanism, and wire rope drum. It has the characteristics of simple structure, flexible use, and not prone to failure. It is also the basic equipment of the crane. According to the different forms of power devices, winches are divided into manual winches, electric winches, internal combustion winches, hydraulic winches, and steam winches; according to the speed of the wire rope movement, there are fast winches, slow winches, and speed-adjustable winches. The working principle is to control the wire rope mainly through the rotation of the drum, thereby controlling the rise and fall of heavy objects. It can lift vertically, horizontally or tilt to pull heavy objects. It can be used alone or as a component of machinery such as lifting, road construction, and mine hoisting. It is widely used due to its simple operation, large rope winding volume, and convenient relocation. It is mainly used in material lifting or flat towing in construction, water conservancy projects, forestry, mining, docks, etc.

[0050] As an embodiment that can be added to the present invention, the winch includes a frame, the frame includes a shell, a front cover, a rear cover and a rear support, a drum with a rotation axis extending in the front-to-back direction is rotatably arranged on the rear support, and a drum transmission gear is fixedly arranged coaxially at the front end of the drum. An electric motor is arranged in the inner hole of the drum, and the axis of the motor shaft of the electric motor is also extended in the front-to-back direction. The output end of the electric motor is located on the front side of the drum, and a gear transmission mechanism for realizing the transmission connection between the electric motor and the drum is also arranged on the frame at the front side of the drum. The gear transmission mechanism includes a manual shaft and a three-stage gear reduction assembly, and the three-stage gear reduction assemblies are respectively a first-stage gear reduction assembly, a second-stage gear reduction assembly and a third-stage gear reduction assembly, and the output end of the gear reduction assembly is transmission-connected with a power output shaft with a rotation axis extending in the front-to-back direction, and each stage of the gear reduction assembly includes a reduction gear shaft and a coaxial gear reduction assembly. The large gear and the small gear are fixedly arranged on the reduction gear shaft in line, and the reduction gear shafts of the gear reduction assemblies at each level are arranged in parallel, wherein the large gear of the first-stage gear reduction assembly is meshed with the motor gear fixed on the motor shaft of the electric motor for transmission, the second-stage gear reduction assembly and the third-stage gear reduction assembly are respectively located on both sides of the motor gear, the small gear of the first-stage gear reduction assembly is meshed with the large gear of the second-stage gear reduction assembly for transmission, the small gear of the second-stage gear reduction assembly is meshed with the large gear of the third-stage gear reduction assembly for transmission, and the small gear of the third-stage gear reduction assembly constitutes the output end of the entire gear reduction assembly. An output shaft transmission gear is coaxially fixedly arranged on the power output shaft and meshes with the pinion gear of the third-stage reduction gear. The output shaft transmission gear is equivalent to the fourth-stage reduction. The manual shaft is arranged above the power output shaft and the rotation axis of the manual shaft extends in the up-down direction. The manual shaft is connected to the power output shaft through a bevel gear transmission mechanism. A manual bevel gear shaft parallel to the power output shaft is arranged between the manual shaft and the power output shaft. The bevel gear transmission mechanism includes a first bevel gear coaxially fixedly arranged on the manual bevel gear shaft and a second bevel gear coaxially fixedly arranged at the lower end of the manual shaft. The first and second bevel gears mesh together for transmission. A manual transmission gear coaxially fixedly arranged on the manual bevel gear shaft and meshes with the output shaft transmission gear is also coaxially fixedly arranged on the manual bevel gear shaft. The manual bevel gear shaft and the manual shaft are located directly above the output shaft transmission gear. A reel matching gear coaxially fixedly arranged on the power output shaft and meshes with the reel transmission gear is The rear support is also rotatably equipped with a winding shaft arranged parallel to the reel. The winding shaft is connected to the reel drive gear through a gear wiring reduction mechanism. The manual shaft and the winding shaft are respectively arranged on the left and right sides of the reel. The gear wiring reduction mechanism includes three stages of sequentially transmitted winding reduction gears, and each stage of the winding reduction gear includes a large gear and a small gear.

[0051] When in electric mode, the electric motor drives the motor gear to rotate, and the motor gear drives the power output shaft to rotate through various gear reduction assemblies. The drum matching gear on the power output shaft meshes with the drum transmission gear to achieve the rotation of the drum. When the drum transmission gear rotates, it drives the winding shaft to rotate through the first winding reduction gear, the second winding reduction gear and the third winding reduction gear. When in manual mode, the manual shaft is rotated with a tool, and the manual shaft drives the manual bevel gear shaft to rotate through the meshing transmission of the first and second bevel gears. Through the meshing transmission of the manual shaft transmission gear and the transmission shaft transmission gear, the manual bevel gear shaft drives the power output shaft to rotate, thereby realizing the rotation of the drum and the winding shaft. A corresponding rope groove is provided on the drum. After the wire rope is wound in the rope groove, it can be used for lifting or lowering heavy objects. The gear transmission mechanism has a compact structure, is highly integrated, and has stable and reliable transmission; it is small in size and can achieve a large transmission ratio; it has two working modes, manual and electric, and can be switched freely.

[0052] The number of stages of the gear reduction assembly can also be one, two or other stages; the number of stages of the winding reduction gear in the gear wiring reduction mechanism can also be one, two or other stages; the first bevel gear can also be coaxially fixed on the power output shaft, and there is no need to set a manual bevel gear shaft; the manual bevel gear shaft and the manual shaft can also be located obliquely above the output shaft transmission gear; the electric motor can also be replaced by a hydraulic motor or a pneumatic motor.

[0053] As another embodiment that can be added to the present invention, it includes a frame, one end of which is fixed with a horizontally arranged crossbeam, and both ends of the crossbeam are rotated and connected with guide wheels; the other end of the frame is equipped with a hoisting mechanism, which includes a motor, a drum and a gear box arranged at the end of the motor output shaft, a lifting rope is wound on the drum, the axis of the drum is perpendicular to the length direction of the crossbeam, the lifting rope is wound around the guide wheel on the crossbeam in turn and then hangs freely, and the end of the lifting rope is connected with a hook; a guide rope assembly is arranged between the drum and the crossbeam, and a torsion relief assembly is arranged at one end of the lifting rope close to the hook. The guide rope assembly allows the lifting rope to be arranged in an orderly manner without twisting when the drum reels the lifting rope, and the torsion relief assembly can remove the torsional force existing in the lifting rope, effectively reducing the possibility of the hook rotating during lifting, and keeping the lifting objects stable.

[0054] The crossbeam includes a horizontal section and a vertical section, and a reinforcing rib is provided between the horizontal section and the vertical section. The reinforcing rib, the horizontal section and the vertical section form a triangular support structure to improve the load-bearing capacity of the crossbeam. The guide wheel can be a fixed pulley, and the guide wheel is provided with a V-shaped wheel groove along the circumference, so that the lifting rope will not deviate when passing through the guide wheel. The midpoint of the axis of the crossbeam and the drum is on the same vertical plane, so that the lifting rope is balanced when it is wound around the two ends of the drum.

[0055] The guide rope assembly includes a bracket arranged side by side with the drum, a slide groove parallel to the axis of the drum is arranged on the bracket along the length direction, a reciprocating screw rod is arranged in the slide groove, and both ends of the reciprocating screw rod are rotatably connected to the bracket; a transmission device is arranged between the end of the reciprocating screw rod away from the gear box and the drum, and the transmission device can be a speed gear set, so that the drum drives the reciprocating screw rod to rotate; a rope guide matching with it is sleeved on the reciprocating screw rod, one end of the rope guide rod matches with the slide groove and slides relatively, and the other end of the rope guide rod is provided with a rope hole for the lifting rope to pass through, and the axis of the rope hole is perpendicular to the axis of the drum. The center height of the rope hole can be flush with the highest point of the circumference of the drum or 5-15cm higher than the highest point of the circumference of the drum.

[0056] When the drum rotates, the reciprocating screw connected to the drum through the transmission rotates. Since the rope guide double slide groove is limited and cannot rotate, the rope guide matched with the reciprocating screw moves along the axial direction of the reciprocating screw, so that the lifting rope passing through the rope hole is arranged in order on the drum. In order to prevent the lifting rope from overlapping and winding on the drum and causing twisting when the drum rotates and rewinds, the transmission relationship of the transmission is as follows: the radius of the gear connected to the end of the drum is r1, and the angular velocity of rotation is ω1; the radius of the gear connected to the end of the reciprocating screw is r2, and the angular velocity of rotation is ω2; the linear speed of the two gears is the same, that is, ω1*r1=ω2*r2; the lead of the reciprocating screw is S=nP, P is the thread pitch, and n is the number of thread heads; the diameter of the lifting rope is d; for every rotation of the drum, the rope guide moves along the reciprocating screw by a lifting rope diameter. The linear velocity of the rope guide moving along the axis of the reciprocating screw is V, V=ω2*S; the time taken for the drum to rotate one circle is T1=d / V=2π / ω1, then d / (ω2*S)=2π / ω1, then ω1 / ω2=2π*S / d.

[0057] In order to reduce the resistance and wear encountered by the lifting rope when passing through the rope hole, a plurality of balls are rotatably connected along the circumferential side wall of the rope hole, and flares are arranged on both sides of the rope hole, with an arc transition between the rope hole and the flares.

[0058] The torque-releasing assembly includes a connecting sleeve fixedly connected to the lifting rope and a connecting rod connected to the hook, the connecting rod includes an upper connecting part rotatably connected to the connecting sleeve and a lower connecting part fixedly connected to the hook; a receiving chamber is provided in the connecting sleeve, a connecting block matched with the receiving chamber is integrally provided on the upper connecting part, and the connecting block rotates relatively axially in the receiving chamber; a rotating chamber is provided at one end of the upper connecting part close to the lower connecting part, and a rotating block matched with the rotating chamber and rotates relatively axially is provided at one end of the lower connecting part away from the hook. When torsional force occurs during the winding or unwinding process of the lifting rope, the relative rotation of the connecting rod and the connecting sleeve can release the torsional force. In addition, the relative rotation of the upper connecting part and the lower connecting part can also release the torsional force, so that the objects hung on the hook can be lifted and lowered smoothly, reducing the possibility of rotational instability.

[0059] Storage bins are provided on both sides of the frame, and auxiliary support mechanisms are installed in the storage bins. There are four auxiliary support mechanisms and they are symmetrically distributed on both sides of the frame. The auxiliary support mechanism includes a telescopic rod arranged horizontally, a hydraulic jack is installed at the free end of the telescopic rod, the other end of the telescopic rod is rotatably connected to the frame through a rotating shaft, the telescopic rod is fixedly connected to the rotating shaft, a driven sprocket is fixed to the end of the rotating shaft, the driven sprocket is connected to a driving sprocket through a chain, the driving sprocket is connected to a power motor, the output shaft of the power motor is arranged vertically, and the power motor is fixed to the side wall of the storage bin by bolts. The power motor is a forward and reverse motor, the power motor and the rotating shaft are respectively located at the two ends of the storage bin, and the rotating shaft is arranged at the corner of the frame. A retreat groove is provided in the storage bin near the rotating part of the telescopic rod, so that the telescopic rod can rotate out of the storage bin at a larger angle, which can reach up to 130°. According to needs, the power motor and the rotating shaft can also be connected by gear transmission or belt transmission.

[0060] The power motor drives the shaft to rotate, and the telescopic rod fixedly connected to the shaft rotates away from the storage bin. After the telescopic rod is extended, the piston rod of the hydraulic jack extends out and contacts the ground, thereby supporting the rack. When the two telescopic rods near one end of the beam extend, the hook falls into the triangular area formed by the two hydraulic jacks and the vertical section of the beam, which can prevent the rack from tipping over due to the excessive weight of the items lifted by the hook, improve the stability of the rack, and make the operation safer. Rollers are installed at the bottom of the rack as needed to facilitate transfer.

[0061] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope of the present invention.

Claims

1. A fully automatic loading grab crane, characterized in that: include Two gantries, set at intervals; A multi-degree-of-freedom mobile mechanism, movably arranged at the top of the two gantries; A lifting mechanism, fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism; An adjustable grab mechanism, fixedly arranged at the bottom end of the lifting mechanism; A grab bucket stabilizing mechanism is fixedly arranged at the bottom end of the multi-degree-of-freedom moving mechanism, and the grab bucket stabilizing mechanism is used to clamp and stabilize the adjustable grab bucket mechanism.

2. A fully automatic loading grab crane according to claim 1, characterized in that: The grab bucket stabilizing mechanism comprises two multi-stage telescopic rods (13), the two multi-stage telescopic rods (13) are symmetrically arranged on both sides of the lifting mechanism, the multi-stage telescopic rods (13) are arranged vertically and the top ends are fixedly connected to the bottom end of the multi-degree-of-freedom moving mechanism, the bottom end of the multi-stage telescopic rod (13) is fixedly connected to the middle part of the top end of the stabilizing frame (14), the stabilizing frame (14) is an inverted U-shape, the two bottom ends of the stabilizing frame (14) are respectively fixedly connected to the fixed ends of the telescopic rod one (15), the telescopic rod one (15) is arranged horizontally, the telescopic end of the telescopic rod one (15) is fixedly connected to a positioning plate (16), the two positioning plates (16) are both located inside the stabilizing frame (14), and the two positioning plates (16) are used to clamp and stabilize the adjustable grab bucket mechanism.

3. The fully automatic loading grab bucket crane according to claim 1, characterized in that: The adjustable grab mechanism comprises a central shaft (17), a fixing block (18) is fixedly connected to the middle of the top of the central shaft (17), the fixing block (18) is fixedly connected to the free end of the lifting mechanism, a grab petal 1 (19) and a grab petal 2 (20) are rotatably connected to the central shaft (17), the grab petal 1 (19) and the grab petal 2 (20) are adapted to form a complete grab, an opening and closing driving part is fixedly connected to the top of the grab petal 1 (19) and the grab petal 2 (20), an expansion part is slidably connected inside the grab petal 1 (19) and the grab petal 2 (20), and a magnetic suction part is fixedly connected to the sides of the grab petal 1 (19) and the grab petal 2 (20) that are close to each other.

4. A fully automatic loading grab bucket crane according to claim 3, characterized in that: The opening and closing driving part comprises two connecting plates 1 (23) and two connecting plates 2 (24), wherein the connecting plates 1 (23) and the connecting plates 2 (24) correspond to each other one by one, the connecting plate 1 (23) is fixedly connected to the top end of the grabbing bucket flap 1 (19), and the connecting plate 2 (24) is fixedly connected to the top end of the grabbing bucket flap 2 (20), and a tension spring (25) is fixedly connected between the corresponding connecting plates 1 (23) and the connecting plates 2 (24).

5. The fully automatic loading grab bucket crane according to claim 3, characterized in that: The expansion part comprises an expansion grab bucket 1 (28) and an expansion grab bucket 2 (30), the expansion grab bucket 1 (28) and the expansion grab bucket 2 (30) are adapted to each other, the expansion grab bucket 1 (28) is slidably arranged inside the expansion grab bucket petal 1 (19), the outer side wall of the expansion grab bucket petal 1 (19) is fixedly connected to a fixed end of a telescopic rod 2 (26), the telescopic rod 2 (26) is vertically arranged, the telescopic end of the telescopic rod 2 (26) is fixedly connected to a fixed connecting plate (27), the fixed connecting plate (27) The second extension grab (30) is slidably arranged inside the second grab petal (20), and the outer wall of the second grab petal (20) is fixedly connected to the fixed end of another second telescopic rod (26), and the other second telescopic rod (26) is vertically arranged, and the telescopic end of the other second telescopic rod (26) is fixedly connected to another fixed connecting plate (27), and the other fixed connecting plate (27) is fixedly connected to the outer wall of the second extension grab (30).

6. The fully automatic loading grab bucket crane according to claim 3, characterized in that: The magnetic attraction portion comprises an electromagnet 1 (32) and an electromagnet 2 (33), wherein the electromagnet 1 (32) is fixedly connected to the side of the outer wall of the grab bucket flap 1 (19), and the electromagnet 2 (33) is fixedly connected to the side of the outer wall of the grab bucket flap 2 (20). The electromagnet 1 (32) and the electromagnet 2 (33) are attracted when they are powered on and magnetized, and the electromagnet 1 (32) and the electromagnet 2 (33) are separated when they are powered off and demagnetized.

7. The fully automatic loading grab bucket crane according to claim 1, characterized in that: The gantry comprises two groups of column groups, the two groups of column groups are arranged at intervals, each group of column groups comprises two columns (1), the two columns (1) are arranged vertically at intervals, the top ends of the two columns (1) of each group of column groups are commonly fixedly connected with a crossbeam (2), the crossbeam (2) is arranged horizontally, and the two side walls of the crossbeam (2) are respectively provided with track grooves (3).

8. The fully automatic loading grab bucket crane according to claim 7, characterized in that: The multi-degree-of-freedom mobile mechanism comprises four U-shaped frames (4), the U-shaped frames (4) are opened downward, two of the U-shaped frames (4) are slidably arranged on one of the crossbeams (2), and the other two of the U-shaped frames (4) are slidably arranged on another of the crossbeams (2), the top ends of the four U-shaped frames (4) are commonly fixedly connected to a fixed plate (7), the bottom end of the fixed plate (7) is fixedly connected to a moving part, and the lifting mechanism is fixedly connected to the bottom end of the moving part.

9. The fully automatic loading grab bucket crane according to claim 8, characterized in that: The moving part comprises a motor (8), the motor (8) is fixedly connected to one end of the bottom of the fixed plate (7), the output end of the motor (8) is coaxially fixedly connected to one end of a horizontally arranged lead screw (9), the other end of the lead screw (9) is rotatably connected to a fixed seat (10), the fixed seat (10) is fixedly connected to the other end of the bottom of the fixed plate (7), the outer wall of the lead screw (9) is threadedly connected to a slider (11), the top end of the slider (11) is in sliding contact with the bottom end of the fixed plate (7), and the lifting mechanism and the grab stabilizing mechanism are both fixedly connected to the bottom end of the slider (11).

10. The fully automatic loading grab bucket crane according to claim 9, characterized in that: The lifting mechanism comprises a winch (12), the fixed end of the winch (12) is fixedly connected to the bottom end of the slider (11), and the free end of the winch (12) is fixedly connected to the adjustable grab mechanism.

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