A multi-motor input lifting device with force sensing

Abstract

The present application relates to a multi-motor input lifting equipment with force sensing, and relates to the technical field of motor output torque and load bearing detection. A multi-motor input lifting equipment with force sensing comprises: a drum, a bracket supported at both ends of the drum, an input shaft located in the drum, a driven wheel fixedly sleeved on the front end of the input shaft, a box body, and a driving wheel respectively fixedly arranged on each motor shaft for engaging with the driven wheel; the box body comprises box body one and box body two, and the driving wheel is installed on box body one at one end close to the motor; box body two comprises box body two and three arranged on the outside of box body one, box body two and three are rigidly connected to the planetary frame, the planetary frame is rigidly connected to the bracket, and boxes two and three and box body one are both provided with jacks, and force measuring pins are arranged in the jacks; a planetary system is arranged in the length direction of the input shaft, the planetary system is supported by the planetary frame, and the planetary system drives the drum to rotate. The present application reflects the lifting capacity and load monitoring of the multi-motor input lifting equipment in real time and truly.

Description

Technical Field

[0001] The invention belongs to the field of motor output torque and load bearing monitoring, and in particular relates to a multi-motor input lifting device with force sensing. Background Art

[0002] Lifting equipment is widely used in various lifting operations, such as construction sites, ports, docks, mining and other places. In these places, lifting equipment needs to frequently perform heavy lifting operations.

[0003] In hoisting operations, the load condition of the lifting equipment is directly related to the safety and efficiency of the operation. If the load is too large, it may cause damage to the lifting equipment or an accident; if the load is too small, it will affect the efficiency of the operation. Therefore, how to perform hoisting according to the hoisting capacity of the lifting equipment is crucial to ensure the safety and stability of the hoisting operation.

[0004] When it is necessary to handle larger loads or work under more complex working conditions, multi-motor can provide stronger power and better adaptability. The frame and planetary frame of the input part of the lifting equipment are fixed by bolts, the planetary frame and the bracket are connected by bolts, and the bracket is fixed on the customer's equipment. The motor outputs torque through the hydraulic control system, and the output torque of the motor drives the planetary system to work through the gear transmission of the input part.

[0005] The operation of multiple motors is more complicated, and the pressure of the hydraulic control system will change at any time due to various factors, causing the output torque of the motor to change at any time. In addition, the lifting capacity of the equipment after the lifting equipment needs to be operated by multiple motors is difficult. If the load hoisted on the drum cannot directly measure or reflect the real-time output torque of the motor, the user cannot obtain the real and dynamic lifting capacity of the equipment, which will lead to overloading or underloading, and thus cannot guarantee the safety and efficiency of the lifting operation. Summary of the invention

[0006] We hope to accurately detect the output torque of the motor to reflect the lifting capacity of multi-motor input lifting equipment in real time and truly, so as to avoid safety accidents caused by overloading of the lifting equipment.

[0007] The present application provides a multi-motor input lifting device for force sensing, which adopts the following technical solution:

[0008] A force sensing multi-motor input lifting device, comprising: a drum, brackets supported at both ends of the drum, an input shaft located in the drum, a driven wheel fixedly sleeved on the front end of the input shaft, a box body, and driving wheels respectively fixedly arranged on each motor shaft for meshing with the driven wheel;

[0009] The box body comprises box body 1 and box body 2, and the end of the driving wheel close to the motor is installed on the box body 1;

[0010] The box body 2 includes a box body 23 arranged outside the box body 1, the box body 23 is rigidly connected to the planetary frame, the planetary frame is rigidly connected to the bracket, and the box body 23 and the box body 1 are both provided with a socket, and a force measuring pin is provided in the socket;

[0011] A planetary system is arranged in the length direction of the input shaft, the planetary system is supported by the planetary frame, and the planetary system drives the reel to rotate.

[0012] By adopting the above technical solution, when the motor transmits torque to the driven wheel through the driving wheel, the torque can be transmitted from the motor to the planetary system, and the winding drum is driven to rotate through the planetary system. Box body 1 and box body 2 are statically connected together through a force measuring pin, and the end of the driving wheel close to the motor is installed on box body 1 so that box body 1 supports the driving wheel. The force measuring pin is not only plugged into box body 1, but also plugged into box body 2 and 3 fixed on the planetary frame. When the driving wheel rotates, box body 1 also has a tendency to rotate relatively. By using the relationship between force and reaction force, the force measuring pin is subjected to force at this time. The force of the force measuring pin can directly, truly and in real time feedback the real-time output torque of the motor, and then can truly and in real time monitor the lifting capacity of the lifting equipment, reduce the occurrence of overload of the lifting equipment, and reduce the occurrence rate of safety accidents.

[0013] Optionally, a strip bearing is provided between the second box body and the first box body.

[0014] By adopting the above technical solution, adding a belt bearing to divide the box into two parts, the box is divided into two parts, which are absolutely static (box two) and relatively static (box one). When box one has a tendency to rotate relatively, a belt bearing is arranged between box one and box two to avoid direct friction between box one and box two. The belt bearing and the force measuring pin are directly arranged at the input end, which can directly monitor the change of the torque input by the motor and the load of the drum wire rope after the planetary-level speed ratio conversion.

[0015] Optionally, the box body 2 further includes a box body 21 and a box body 22, the box body 23, the box body 21 and the box body 22 are sequentially arranged along the axial direction of the input shaft and the three are fixedly connected, and the box body 22 is located at an end of the box body 21 away from the motor and is fixedly connected to the planetary carrier;

[0016] The box body 1 is located at the front end of the input shaft, and the box body 21 and the box body 22 are both located on the peripheral side of the box body 1.

[0017] By adopting the above technical solution, box body 2 is divided into multiple parts and arranged along the axial direction, the thickness of box body 2 in the axial direction is extended, and it is fixed by box body 23 and box body 1, and fixed together by box body 23, box body 21 and box body 22, while box body 22 is fixed to the planetary frame, and the planetary frame and the bracket are rigidly connected, so that the entire box body 2 is absolutely fixed. Box body 1 is fixed to box body 23 by a force measuring pin to achieve relative fixation of box body 1. When the driving wheel rotates, box body 1 tends to rotate under the action of the motor torque and acts on the force measuring pin. The pressure sensor set on the force measuring pin can accurately and real-time monitor the output torque of the motor.

[0018] Optionally, a convex block is formed on one side of the box body 1 close to the motor, a groove is provided on the side wall of the convex block, a clamping block is provided on one side of the box body 2 or 3 close to the convex block, the clamping block extends into the groove, and the force measuring pin passes through the upper side wall of the groove, the clamping block and the lower side wall of the groove in sequence;

[0019] A bearing is arranged at the middle part of the force measuring pin, and rubber sleeves are arranged at the upper and lower ends. The bearing is in contact with the clamping block, and the two rubber sleeves are in contact with the upper and lower side walls of the groove respectively.

[0020] By adopting the above technical solution, the force measuring pin fixes the box body 1 on the box body 2 to prevent the box body 1 from moving. When the box body 1 tends to rotate relatively, the force and reaction force are used. At this time, the force measuring pin is subjected to force. In order to avoid rigid collision and friction between the force measuring pin and the box body 2, a bearing is arranged between the two. A rubber sleeve and a pressure sensor are arranged at the contact point between the box body 1 and the force measuring pin to protect the force measuring pin while measuring the force. The box body 2 and the third are inserted into the groove on the convex block of the box body 1 through the block to achieve the axial fixation of the box body 2 and the third and the box body 1.

[0021] Optionally, a card is provided on the top of the protrusion, and a notch is provided on the axial side wall of the force measuring pin corresponding to the card.

[0022] By adopting the above technical solution, when the card is located in the notch of the force measuring pin, the force measuring pin is axially fixed and will not fall off from the insertion holes on the box body one and the box body two or three.

[0023] Optionally, the input end of the motor is connected to an oil return pipe, and the oil return pipe is connected to a liquid storage tank.

[0024] By adopting the above technical solution, when the reducer runs at high speed, the gear stirring the oil may cause the lubricating oil to leak out. The leaking oil can be temporarily stored in the liquid storage tank, and the gas is discharged from the exhaust valve on the liquid storage tank, thereby avoiding the situation where the gear stirring the oil causes the lubricating oil to overflow from the lifting equipment.

[0025] Optionally, an exhaust pipe is provided on the box body, the exhaust pipe is connected to a liquid storage tank, and an exhaust valve is provided on the liquid storage tank.

[0026] By adopting the above technical solution, when the reducer is not working, the lubricating oil level of the reducer is at the highest horizontal middle position, and the position of the liquid storage tank is much higher than the oil level. If the reducer runs at high speed, the gears stir the oil, and the gas will enter the liquid storage tank with the oil. The gas is discharged through the exhaust valve, and the oil will return to the reducer.

[0027] Optionally, a cooling oil inlet pipe is provided on the planetary carrier, and a cooling oil outlet pipe is provided on the box body.

[0028] By adopting the above technical solution, cooling oil is inputted from the cooling oil inlet pipe to lubricate the reducer. When the lubricating oil needs to be cooled, the lubricating oil is drawn out from the reducer through the cooling oil outlet pipe and cooled before being injected again.

[0029] In summary, the present application includes at least one of the following beneficial technical effects: by setting a strip bearing, the box body is divided into two parts. One part is box body one fixed by a force measuring pin and box body two, and box body one is relatively stationary. The other part is box body two fixed to the bracket, and box body two is absolutely stationary. When the hydraulic motor drives the driving wheel to rotate, box body one also has a tendency to rotate relatively. By utilizing the relationship between force and reaction force, the force measuring pin is subjected to force at this time, and the magnitude of the force on the force measuring pin can directly, truly and in real time feedback the output torque of the motor, avoiding the untrue data caused by the load hoisted on the drum to feedback the lifting capacity of the equipment, and avoiding the occurrence of inaccurate load. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional structural diagram of a multi-motor input lifting device embodying the present application;

[0031] Figure 2 is an input axle profile of a force sensing multi-motor input lifting device embodying the present application;

[0032] Figure 3 yes Figure 2 AA map in;

[0033] Figure 4 yes Figure 2 BB diagram in .

[0034] Description of reference numerals:

[0035] 1. Reel; 2. Bracket; 3. Input shaft; 4. Driven wheel; 5. Driving wheel; 6. Box one; 61. Bump; 611. Groove; 612. Card; 62. Exhaust pipe; 7. Box two; 71. Box two three; 711. Card; 712. Ring box; 72. Box two one; 73. Box two two; 8. Planet carrier; 9. Force measuring pin; 10. Planetary system; 11. Strip bearing; 12. Bearing; 13. Rubber sleeve; 20. Oil return pipe; 21. Liquid storage tank; 211. Exhaust valve; 30. Spline sleeve; 81. Cooling oil inlet pipe; 82. Cooling oil outlet pipe. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1-Figure 4 This application is described in further detail.

[0037] The embodiment of the present application discloses a multi-motor input lifting device with force sensing.

[0038] See also Figure 1 , Figure 2 and Figure 3 A force sensing multi-motor input lifting equipment uses multiple hydraulic motors as power sources. The attached figure shows the case where there are two hydraulic motors, but the hydraulic motor part is not shown. Both motor shafts are fixedly connected to the driving wheel 5 through a spline sleeve 30.

[0039] The force sensing multi-motor input lifting equipment comprises: a drum 1 and a bracket 2, wherein the bracket 2 indirectly supports both ends of the drum 1 so that the drum 1 can rotate relative to the bracket 2. An input shaft 3 is arranged at the central axis of the drum 1, and a driven wheel 4 is fixedly sleeved at the front end of the input shaft 3. Two driving wheels 5 are symmetrically arranged on both sides of the driven wheel 4 and mesh with the driven wheel 4, thereby driving the driven wheel 4 to rotate together, and the rotation of the driven wheel 4 drives the input shaft 3 to rotate.

[0040] A planetary system 10 is arranged along the length direction of the input shaft 3 and on one side away from the hydraulic motor. The planetary system 10 is supported by the planetary frame 8. The planetary system 10 drives the drum 1 to rotate relative to the bracket 2, and the drum 1 rotates to realize the lifting work of the lifting equipment. The planetary system 10 is composed of a series of gears to change the transmission ratio to achieve the purpose of speed reduction. The entire planetary system 10 constitutes the reducer part of the multi-motor input lifting equipment. The reducer part is any existing structure that can achieve speed reduction through gear meshing. It is not the part to be protected by the present invention and will not be described here.

[0041] See also Figure 2 , Figure 3 and Figure 4The lifting equipment also includes a box body, which includes box body 1 6 and box body 2 7. Box body 1 6 is in the shape of an end cover and is located on the side of the spline sleeve 30 close to the driving wheel 5 and is perpendicular to the input shaft 3. The driving wheel 5 is installed on the box body 1 6 at one end close to the spline sleeve 30.

[0042] A strip bearing 11 is arranged on the outer wall of the box body 1 6 in the circumferential direction. The box body 2 7 includes a box body 23 71, a box body 21 72 and a box body 22 73 which are arranged in sequence along the axial direction of the input shaft 3, and the three are fixedly connected. The box body 21 72 is arranged around the strip bearing 11 and is located on the outer ring of the strip bearing 11. Both the box body 23 71 and the box body 1 6 are provided with a plug hole, and a force measuring pin 9 is arranged in the plug hole to connect the box body 23 71 and the box body 1 6 together. The force measuring pin 9 is cylindrical.

[0043] The belt bearing 11 divides the box into two parts, so that the box is divided into the box 2 7 fixed to the bracket 2 as absolutely stationary and the box 1 6 fixed to the box 2 7 through the force measuring pin 9 as relatively stationary. The belt bearing 11 is made of metal composite material, and when the box 1 6 tends to rotate relative to the box 2 7, the belt bearing 11 can reduce the friction and wear between the two boxes.

[0044] Box 22 73 is located at the end of box 21 72 away from the motor and is rigidly connected to planetary frame 8. Planetary frame 8 is rigidly connected to bracket 2 close to the motor, so that box 22 73 is indirectly fixed through bracket 2, and box 23 71 and bracket 2 are also indirectly fixed. A bearing ring is provided on the planetary frame 8, and the planetary frame 8 is rotatably connected to the reel 1 through the bearing ring, so that the reel 1 can rotate relative to the planetary frame 8 and also relative to the bracket 2. A safety brake is provided at the end of the reel 1 on the bracket 2 away from the motor, that is, one end of the reel 1 is the input shaft 3 and the other end is the brake. When the hydraulic motor is cut off from driving the reel 1, the reel 1 is still in a rotating state due to inertia, and the reel 1 can be braked by the brake.

[0045] One side of the box body 6 is close to the hydraulic motor and protrudes in the axial direction to form a protrusion 61. A groove 611 is provided on the side wall of the protrusion 61 close to the outer ring. A block 711 is cantilevered on the side of the box body 23 71 close to the box body 1 6. The block 711 extends into the groove 611, and the force measuring pin 9 passes through the upper side wall of the groove 611, the block 711 and the lower side wall of the groove 611 in sequence.

[0046] A bearing 12 is provided in the middle of the force measuring pin 9, and rubber sleeves 13 are provided at the upper and lower ends. A plug hole is provided in the block 711 corresponding to the force measuring pin 9, and the bearing 12 contacts the corresponding plug-in hole wall on the block 711. The upper and lower side walls of the groove 611 are also provided with plug holes corresponding to the force measuring pin 9, and the two rubber sleeves 13 contact the hole walls of the plug holes provided on the upper and lower side walls of the protrusion 61, respectively. The bearing 12 can reduce the rigid collision and friction between the force measuring pin 9 and the box body 23 71, and the rubber sleeve 13 can protect the contact position between the force measuring pin 9 and the box body 16.

[0047] Pressure sensors are provided at both ends of the force measuring pin 9. When the hydraulic motor drives the driving wheel 5 to rotate, the driving wheel 5 and the box 6 used to support it tend to rotate under the action of the motor torque. Utilizing the relationship between force and reaction force, the force measuring pin 9 is subjected to force at this time. The pressure sensor on the force measuring pin 9 measures the force applied to the force measuring pin 9 and transmits the pressure signal to the controller, which calculates the torque output by the motor, and can monitor the output torque of the motor in real time and accurately, avoiding the situation in which the lifting capacity of the equipment is fed back through the load hoisted on the drum 1, that is, the data is not true due to the load change corresponding to the tension borne by the wire rope, thereby reducing the occurrence of overload of the lifting equipment and the occurrence rate of safety accidents.

[0048] The second and third box body 71 further includes an annular box body 712 fixedly connected to the clamping block 711, and the annular box body 712 is axially connected to the second and third box body 72. The clamping block 711 is located in the groove 611, and can limit the position of the second and third box body 71 in the axial direction.

[0049] A card 612 is provided on the top of the protrusion 61, and a notch is provided on the force measuring pin 9 corresponding to the card 612. When the card 612 is rotated so that it is located in the notch of the force measuring pin 9, the force measuring pin 9 is axially fixed. When the force measuring pin 9 is subjected to axial force, radial force or torque, it will not separate from the jacks on the box body 1 6 and the box body 23 71, thereby achieving axial fixation of the force measuring pin 9.

[0050] The motor input end is connected to an oil return pipe 20, and the oil return pipe 20 is connected to a liquid storage tank 21. When the reducer is running at high speed, the gears in the reducer may cause the lubricating oil to come out during the oil stirring process. The lubricating oil that comes out may flow into the liquid storage tank 21 through the oil return pipe 20 and be temporarily stored in the liquid storage tank 21, thereby reducing the occurrence of oil leakage.

[0051] The housing 16 is provided with an exhaust pipe 62, which is connected to the liquid storage tank 21, and the liquid storage tank 21 is provided with an exhaust valve 211. When the reducer is not working, the position of the liquid storage tank 21 is higher than the lubricating oil level of the reducer, and there is no oil leakage. When the reducer is running at high speed, when each gear stirs the oil, the gas in the oil will enter the liquid storage tank 21 with the oil, and the gas is discharged through the exhaust valve 211, and the lubricating oil is in the liquid storage tank 21.

[0052] The planet carrier 8 is provided with a cooling oil inlet pipe 81, through which cooling oil is input to lubricate the reducer. The housing 6 is provided with a cooling oil outlet pipe 82, and when the lubricating oil needs to be cooled, the lubricating oil is drawn out from the cooling oil outlet pipe 82, and after cooling, it is injected into the reducer through the cooling oil inlet pipe 81.

[0053] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multi-motor input lifting device with force sensing, characterized in that: include: A reel (1), a bracket (2) supported at both ends of the reel (1), an input shaft (3) located inside the reel (1), a driven wheel (4) fixedly sleeved on the front end of the input shaft (3), a box body, and a driving wheel (5) fixedly arranged on each motor shaft and used for meshing with the driven wheel (4); The box body comprises a box body 1 (6) and a box body 2 (7), and the end of the driving wheel (5) close to the motor is mounted on the box body 1 (6); The box body 2 (7) comprises a box body 23 (71) arranged outside the box body 1 (6), the box body 23 (71) and the planetary frame (8) are rigidly connected, the planetary frame (8) and the bracket (2) are rigidly connected, and the box body 23 (71) and the box body 1 (6) are both provided with a socket, and a force measuring pin (9) is provided in the socket; A planetary system (10) is provided in the length direction of the input shaft (3), the planetary system (10) is supported by the planetary frame (8), and the planetary system (10) drives the reel (1) to rotate; A belt-shaped bearing (11) is provided between the second box body (7) and the first box body (6); The case 2 (7) further comprises a case 21 (72) and a case 22 (73), wherein the case 23 (71), the case 21 (72) and the case 22 (73) are sequentially arranged along the axial direction of the input shaft (3) and the three are fixedly connected, and the case 22 (73) is located at an end of the case 21 (72) away from the motor and is fixedly connected to the planetary carrier (8); The case one (6) is located at the front end of the input shaft (3), and the case two one (72) and the case two two (73) are both located on the peripheral side of the case one (6); A protrusion (61) is formed on a side of the box body 1 (6) close to the motor, and a groove (611) is provided on a side wall of the protrusion (61); a clamping block (711) is provided on a side of the box body 2 (71) close to the protrusion (61), and the clamping block (711) extends into the groove (611); and the force measuring pin (9) passes through the upper side wall of the groove (611), the clamping block (711) and the lower side wall of the groove (611) in sequence; A bearing (12) is provided in the middle of the force measuring pin (9), and rubber sleeves (13) are provided at the upper and lower ends; the bearing (12) is in contact with the clamping block (711), and the two rubber sleeves (13) are in contact with the upper and lower side walls of the groove (611) respectively; A card (612) is provided on the top of the protrusion (61), and a notch is provided on the axial side wall of the force measuring pin (9) corresponding to the card (612).

2. The multi-motor input lifting device with force sensing according to claim 1, characterized in that: The motor input end is connected to an oil return pipe (20), and the oil return pipe (20) is connected to a liquid storage tank (21).

3. The multi-motor input lifting device with force sensing according to claim 2, characterized in that: The box body (6) is provided with an exhaust pipe (62), the exhaust pipe (62) is connected to the liquid storage tank (21), and the liquid storage tank (21) is provided with an exhaust valve (211).

4. The multi-motor input lifting device with force sensing according to claim 1, characterized in that: The planet carrier (8) is provided with a cooling oil inlet pipe (81), and the box body (6) is provided with a cooling oil outlet pipe (82).

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