Lifting equipment with replaceable lifting appliance and automatic lifting appliance replacement control method thereof

Abstract

The invention discloses lifting equipment with a replaceable lifting appliance and an automatic lifting appliance replacement control method of the lifting equipment, and belongs to the technical field of operation machinery. The lifting equipment comprises a lifting body, a lifting appliance library assembly and a first mechanical arm, and the lifting body comprises a connecting piece; at least one lifting appliance is accommodated in the lifting appliance library assembly; and the first mechanical arm is used for transferring the lifting appliance connected to the connecting piece to the containing cavity and connecting the lifting appliance located in the containing cavity to the connecting piece under the condition that the connecting piece reaches the replacement area of the lifting appliance library assembly. According to the lifting appliance replacing device, the lifting appliance is transferred into the containing cavity, meanwhile, the lifting appliance in the containing cavity is installed on the connecting piece, automatic replacement of the lifting appliance is completed, compared with a manual loading and unloading mode, the lifting appliance replacing efficiency can be effectively improved, and the working intensity of workers can be greatly relieved.

Description

Technical Field

[0001] The present application relates to the technical field of operating machinery, and in particular to a lifting device with replaceable slings and a method for automatically changing the slings thereof. Background Art

[0002] Lifting equipment refers to multi-action lifting machinery that can lift heavy objects vertically and move them horizontally within a certain range. It can also be called "overhead crane", "overhead crane" or "crane". It is widely used in many fields, including ports, workshops, power plants and construction sites. Among them, the sling, as a part of the lifting equipment, is mainly used to lift heavy objects and is a vital component of the lifting equipment.

[0003] In the related art, in order to enable the lifting equipment to lift heavy objects in more working scenarios, a variety of lifting tools suitable for lifting different heavy objects are usually designed, and the corresponding lifting tools can be replaced according to the corresponding working scenarios. However, the replacement of the lifting tools of the lifting equipment is currently mainly achieved by manually moving the lifting tools to be replaced to the bottom of the lifting equipment and loading and unloading the lifting tools connected to the lifting rope, which is time-consuming and labor-intensive, resulting in low replacement efficiency of the lifting tools of the lifting equipment. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, in a first aspect, the present application proposes a lifting device with replaceable slings, which can solve the problem of low sling replacement efficiency.

[0005] In a second aspect, the present application proposes a control method applied to the above-mentioned lifting equipment.

[0006] A lifting device with replaceable slings according to the first embodiment of the present application includes: A lifting body, including a connecting piece for detachable connection with a lifting device; The spreader warehouse assembly comprises a spreader warehouse body, wherein the spreader warehouse body has a receiving cavity, and at least one spreader is received in the receiving cavity; The first robot arm is used to transfer the sling connected to the connecting member to the accommodating cavity when the connecting member reaches the replacement area of ​​the sling warehouse assembly, and to connect the sling located in the accommodating cavity to the connecting member.

[0007] The lifting equipment according to the embodiment of the present application has at least the following beneficial effects: the present application accommodates the sling through the accommodating cavity of the sling warehouse main body, and provides a first mechanical arm and a connecting piece detachably connected to the sling. When the sling needs to be replaced, the connecting piece is moved to the replacement area of ​​the sling warehouse component. The original sling can be automatically disassembled by the first mechanical arm and transferred to the accommodating cavity. At the same time, the sling in the accommodating cavity is installed on the connecting piece to complete the automatic replacement of the sling. Compared with the manual loading and unloading method, the efficiency of sling replacement can be effectively improved, and the work intensity of workers can be greatly reduced.

[0008] According to some embodiments of the present application, the sling warehouse assembly further includes: a driving member, which is used to drive the sling warehouse body so that the position of the sling in the accommodating cavity relative to the connecting member changes. Therefore, each time the sling is replaced, it is only necessary to move the connecting member to a fixed replacement area, and then select the sling to be installed by moving the sling in the accommodating cavity, without considering collision factors and obstacle avoidance design, which is conducive to improving the efficiency of sling replacement.

[0009] According to some embodiments of the present application, the accommodating cavity includes a plurality of accommodating sub-cavities distributed in an annular shape, each of the accommodating sub-cavities is used to accommodate a sling, and the driving member is used to drive the main body of the sling library to rotate. Thus, different slings can be accommodated in each accommodating sub-cavity, and the sling can be moved by driving the main body of the sling library to rotate using the driving member, so that the required sling can be moved to the replacement area quickly and conveniently, thereby improving the efficiency of sling replacement.

[0010] According to some embodiments of the present application, the lifting body includes a tower body, and the plurality of accommodating sub-cavities are arranged around the tower body, thereby facilitating saving of installation space.

[0011] According to some embodiments of the present application, when the connecting member is located outside the replacement area, the accommodating chamber is sealed, thereby facilitating the protection of the sling.

[0012] According to some embodiments of the present application, the lifting body further includes a locking member disposed on the connecting member, and the locking member is used to: lock the connecting member and the sling located on the connecting member when in a locked state; and unlock the connecting member and the sling located on the connecting member when in an unlocked state. Thus, the locking and unlocking switching between the connecting member and the sling is performed by the locking member, which is conducive to simplifying the control process.

[0013] According to some embodiments of the present application, the lifting body further includes an unlocking button connected to the locking member, wherein: when the first mechanical arm presses the unlocking button, the locking member is in the unlocking state; when the first mechanical arm releases the unlocking button, the locking member is in the locking state. Thus, the first mechanical arm is convenient to control and adjust the locking member.

[0014] According to some embodiments of the present application, the lifting body further comprises an electric control module connected to the locking member, and the electric control module is used to: when the electric control module is powered on, the locking member is in the unlocked state; when the electric control module is powered off, the locking member is in the locked state. Thus, the connecting member can actively switch between locking and unlocking of the sling under the control of the electric control module.

[0015] According to some embodiments of the present application, the spreader library assembly further includes a wireless charging unit, which is used to charge the connector when the connector reaches the replacement area, so that the electric control module is in the power-on state. Thus, when the connector reaches the replacement area, automatic charging can be performed to provide operating power for the electric control module.

[0016] According to some embodiments of the present application, the sling is provided with a second mechanical arm, and the second mechanical arm is used to assist the sling in operation. Thus, the posture of the sling can be adjusted by the second mechanical arm.

[0017] According to some embodiments of the present application, a battery module is provided on the second mechanical arm, and the spreader warehouse component is used to charge or replace the battery module when the connecting member reaches the replacement area. Thus, the spreader warehouse component can be used to supplement the working power supply of the second mechanical arm.

[0018] According to a method for automatically controlling the replacement of a sling of a lifting equipment according to an embodiment of the second aspect of the present application, the method is applied to the lifting equipment of any of the above-mentioned embodiments, and the method includes: controlling the connecting piece on the lifting body of the lifting equipment to move toward the sling warehouse assembly; when the connecting piece reaches the replacement area in the sling warehouse assembly, performing a sling replacement operation on the lifting equipment, wherein the replacement operation includes: transferring the sling connected to the connecting piece to the accommodating cavity, and connecting the sling located in the accommodating cavity to the connecting piece.

[0019] The method according to the embodiment of the present application has at least the following beneficial effects: the method of the present embodiment can realize automatic replacement of the sling and solve the problem of low efficiency of manual loading and unloading.

[0020] According to some embodiments of the present application, the sling warehouse assembly includes a driving member, and the method further includes: determining a target replacement sling, the target replacement sling being located in the accommodating cavity; and controlling the driving member to drive the sling warehouse body in the sling warehouse assembly so that the target replacement sling reaches a position that matches the connecting member. Thus, when replacing the sling, the sling to be installed can be selected by moving the sling in the accommodating cavity, without considering collision factors and obstacle avoidance design, which is conducive to improving the efficiency of sling replacement.

[0021] Additional aspects and advantages of the present application will be partially given in the following description, and some of the additional aspects and advantages will become obvious from the following description, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application is further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 It is a schematic diagram of the overall structure of the lifting equipment in this application; Figure 2 A schematic diagram of a state in which a connecting member is moved to a replacement area in this application; Figure 3 A structural schematic diagram of a spreader library component in this application; Figure 4 A schematic diagram of a state in which a connecting piece enters a replacement area in this application; Figure 5 A working schematic diagram of the first robotic arm in this application; Figure 6 A flow chart of the automatic replacement control method of the sling in this application.

[0023] In the figure: 100-lifting body; 200-spreader warehouse assembly, 201-accommodation sub-chamber, 202-replacement area; 300-connector; 400-Spreader; 500-First robotic arm. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0025] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, 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 application and simplifying the description, 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 application.

[0026] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0028] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0029] Reference Figures 1 to 5 The embodiment of the present application provides a lifting device with replaceable slings, including a lifting body 100, a sling library component 200 and a first mechanical arm 500. The lifting body 100 includes a connecting member 300 for detachably connecting with a lifting device 400; The spreader warehouse assembly 200 includes a spreader warehouse body, the spreader warehouse body has a receiving cavity, and at least one spreader 400 is received in the receiving cavity; The first robot arm 500 is used to transfer the sling 400 connected to the connecting member 300 into the accommodating cavity when the connecting member 300 reaches the replacement area 202 of the sling warehouse assembly 200 , and to connect the sling 400 in the accommodating cavity to the connecting member 300 .

[0030] In this embodiment, the connecting member 300 can be moved to the replacement area 202 of the sling warehouse assembly 200 through the lifting body 100, and the sling 400 originally installed on the connecting member 300 is moved into the accommodating cavity by the first robotic arm 500, and then the sling 400 in the accommodating cavity is moved onto the connecting member 300, thereby realizing automatic replacement of the sling 400.

[0031] The replacement area 202 is the set replacement point of the sling 400. One or more replacement areas 202 can be set according to actual needs. When the lifting equipment needs to replace the sling 400, the connecting part 300 can be moved to the corresponding replacement area 202 to replace the sling 400.

[0032] Furthermore, the replacement area 202 may be an area artificially set in the sling warehouse component 200, or may be a spatial area with a physical structure set in the sling warehouse component 200, such as a space with side walls, an opening defined by the side walls, etc.

[0033] It is understandable that the connection between the connector 300 and the sling 400 is detachable, that is, the two need to be disassembled and locked. When the sling 400 is transferred from the connector 300 to the accommodating chamber, it is necessary to control the disassembly between the connector 300 and the sling 400. When the sling 400 is moved from the accommodating chamber to the connector 300, it is necessary to control the locking and fixing between the connector 300 and the sling 400. The first mechanical arm 500 in this embodiment is mainly capable of realizing the transfer of the sling 400 between the connector 300 and the accommodating chamber. The disassembly and locking actions can be performed by the first mechanical arm 500, by the connector 300, or by other peripheral mechanisms. Those skilled in the art can flexibly set it according to needs, and it is not specifically limited in this embodiment.

[0034] In addition, it is also understood that the number and type of the slings 400 that can be accommodated in the accommodating cavity can be flexibly set according to needs and are not limited to a single number or a single functional type. The types of slings 400 include but are not limited to ordinary slings and multifunctional slings with auxiliary mechanical structures.

[0035] In summary, the lifting equipment of this embodiment can complete the automatic replacement of the sling 400. Compared with the manual loading and unloading method, it can effectively improve the efficiency of replacing the sling 400 and can greatly reduce the work intensity of the workers.

[0036] In some embodiments of the present application, the spreader warehouse assembly 200 further includes a driving member, which is used to drive the spreader warehouse body so that the position of the spreader 400 in the accommodating cavity changes relative to the connecting member 300 .

[0037] The driving member in this embodiment can control the spreader 400 to move in the accommodating cavity, so that each spreader 400 can be moved into the operating range of the first mechanical arm 500. When replacing the spreader 400, the lifting body 100 only needs to move the connecting member 300 to the replacement area 202, and then use the driving member to move the required spreader 400 into the operating range of the first mechanical arm 500, so that the first mechanical arm 500 can be transferred to the connecting member 300.

[0038] With the structural setting of this embodiment, it is only necessary to move the connecting member 300 to the fixed replacement area 202, and then select the sling 400 to be installed by moving the sling 400 in the accommodating cavity, which is conducive to simplifying the operation process of replacing the sling 400. Compared with the situation where the connecting member 300 is moved multiple times to select different slings 400, the lifting body 100 in this embodiment does not need to consider collision factors and obstacle avoidance design, which is conducive to improving the efficiency of sling replacement and further simplifying the operation process of sling 400 replacement.

[0039] The driving member used in this embodiment can be set as a servo motor, a cylinder or the like according to the movement requirements of the main body of the sling warehouse.

[0040] In contrast to the above-mentioned embodiments, in other embodiments of the present application, the first mechanical arm 500 can dock with the sling 400 at any position to transfer the sling 400 at any position to the replacement area 202 to dock with the connector 300, and dock with any position of the accommodating cavity to transfer the sling 400 to any position of the accommodating cavity. In this embodiment, the docking of any sling 400 with the connector 300 is achieved by moving and adjusting the first mechanical arm 500.

[0041] In some embodiments of the present application, the sling library assembly 200 is provided with a replacement area 202 for each sling 400 corresponding to the accommodating cavity, and the lifting body 100 controls the connection member 300 to move to the corresponding replacement area 202 to replace the corresponding sling 400. Different from the above-mentioned embodiments, this embodiment utilizes the active movement of the connection member 300 to dock different slings 400.

[0042] In this embodiment, the number of the first robotic arms 500 can be one or more as needed.

[0043] Reference Figure 3 and Figure 4 In some embodiments of the present application, the accommodating cavity includes a plurality of accommodating sub-cavities 201 distributed in a ring shape, each accommodating sub-cavity 201 is used to accommodate the sling 400, and the driving member is used to drive the sling library body to rotate.

[0044] It can be understood that the various accommodating sub-cavities 201 are distributed in a ring shape. When the driving member drives the main body of the sling warehouse to rotate, the position of each accommodating sub-cavity 201 will change, that is, the position relative to the replacement area 202 will change. When the sling 400 is accommodated in the accommodating sub-cavity 201, the position of the sling 400 relative to the replacement area 202 will also change, so that the slings 400 in the accommodating sub-cavities at different positions can be moved to the operating range of the first robot arm 500.

[0045] This embodiment provides a plurality of accommodating sub-cavities 201 to respectively accommodate corresponding slings 400 , and utilizes a driving member to drive the sling warehouse body to rotate to realize the movement of the sling 400 . The required sling 400 can be quickly moved to the replacement area 202 for replacement of the sling 400 , thereby improving the efficiency of replacing the sling 400 .

[0046] Furthermore, when placing the sling 400 into the accommodating sub-cavity 201, the sling 400 and the accommodating sub-cavity 201 can be made to correspond one to one, that is, one sling 400 is placed in one accommodating sub-cavity 201, so that it is convenient to quickly select the corresponding sling 400, or quickly select the accommodating sub-cavity 201 corresponding to the sling 400 removed from the connecting member 300. The sling 400 and the accommodating sub-cavity 201 can also be made into a many-to-one form, that is, multiple slings 400 are placed in one accommodating sub-cavity 201, and multiple slings 400 of the same type can be placed in one accommodating sub-cavity 201, so that the sling 400 of the required type can be quickly selected.

[0047] In addition, multiple accommodating sub-cavities 201 can also be distributed along a straight line, and the driving member is used to drive the sling warehouse body to move back and forth along the straight line distribution direction, so that each accommodating sub-cavity 201 enters the operating range of the first robot arm 500.

[0048] Reference Figure 1 and Figure 2 In some embodiments of the present application, the lifting body 100 includes a tower body, and a plurality of accommodating sub-cavities 201 are arranged around the tower body.

[0049] The structural setting of this embodiment is adopted, by arranging the accommodating sub-cavity 201 around the tower body, which is conducive to saving installation space, and there is no need to construct an additional foundation at the construction site to set up the sling warehouse assembly 200. In addition, since the movement of the connecting member 300 is to rotate around the tower body and adjust the amplitude, the accommodating sub-cavity 201 is arranged around the tower body, which is conducive to improving the positioning accuracy of the sling warehouse assembly 200 and the lifting body 100, and it is convenient for the lifting body 100 to control the connecting member 300 to enter and exit the replacement area 202.

[0050] It is understandable that the spreader warehouse assembly 200 may also be installed on one side of the tower body, or the spreader warehouse assembly 200 may be set at any position within the area that the tower body can cover through luffing.

[0051] In some embodiments of the present application, when the connecting member 300 is located outside the replacement area 202, the accommodating chamber is sealed.

[0052] Since the connecting member 300 is usually controlled to enter the replacement area 202 only when the sling 400 needs to be replaced, when the connecting member 300 is located outside the replacement area 202, that is, when the sling 400 is not replaced, the present embodiment seals the accommodating cavity when the sling 400 is not replaced, which can prevent other objects or personnel from contacting the structure inside the accommodating cavity, avoid damage to the sling warehouse assembly 200 or damage to the sling 400, and is also beneficial to improving the integrity of the sling warehouse assembly 200.

[0053] It is understandable that the accommodating cavity can also be set as an open structure so that the sling 400 accommodated therein is exposed to the outside, making it convenient for the staff to intuitively check the storage conditions of the accommodating cavity, the condition of the sling 400, etc., and making it convenient for the staff to place the sling 400 into the accommodating cavity in the early stage.

[0054] In some embodiments of the present application, the sling warehouse body includes an end cover arranged corresponding to the accommodating cavity, and the end cover is used to: close the accommodating cavity when the connecting member 300 is located outside the replacement area 202; and open the accommodating cavity when the connecting member 300 is located in the replacement area 202.

[0055] The end cover in this embodiment is arranged corresponding to the accommodating chamber and is used to control the opening and closing of the accommodating chamber. The opening and closing of the accommodating chamber can be quickly switched. On the basis of realizing the protection of the sling 400 in the accommodating chamber, it is also convenient for rapid opening, which helps to improve the efficiency of replacing the sling 400.

[0056] Specific, combined Figure 3 In some embodiments of the present application, the main body of the sling warehouse includes a coaxially arranged annular shell and a rotating part, and the rotating part is wrapped by the annular shell. A notch is set on one side of the annular shell to form a replacement area 202. At the same time, openings are formed at both ends of the annular shell adjacent to the notch. The main body of the sling warehouse is provided with end covers at the two openings, and the end covers are movable or rotatable, and are used to control the opening and closing of the openings during the movement or rotation process. The rotating part is rotatably arranged, and a plurality of placement positions are arranged circumferentially. Each placement position is used to place the sling 400.

[0057] It is understandable that the annular housing in this embodiment surrounds a closed accommodating cavity, and each placement position corresponds to an accommodating subcavity 201. The rotating part can drive each accommodating subcavity 201 into the replacement area 202 by rotating, so as to facilitate the selection and replacement of the sling 400.

[0058] Furthermore, the placement position may be a recessed position formed by the inner concave portion of the rotating portion, or may be a cylindrical structure arranged on the rotating portion.

[0059] In some embodiments of the present application, the lifting body 100 also includes a locking member arranged on the connecting member 300, and the locking member is used to: lock the connecting member 300 and the sling 400 located on the connecting member 300 when it is in a locked state; and unlock the connecting member 300 and the sling 400 located on the connecting member 300 when it is in an unlocked state.

[0060] Since the sling 400 needs to be disassembled after the connecting member 300 is moved to the replacement area 202, the locking member needs to be adjusted to the unlocked state so that the connecting member 300 and the sling 400 are unlocked and can be separated. Later, when replacing the new sling 400, the locking member needs to be adjusted to the locked state so that the connecting member 300 and the new sling 400 are locked and fixed. Therefore, it can be understood that the locking member is a control part used to clamp and release the connecting member 300.

[0061] In practical applications, the locking state and unlocking state of the locking member can be two states of pressing and releasing to spring up, two states of toggling downward and toggling upward, or two states of rotating clockwise and rotating counterclockwise. The structure of the locking member and the state switching method can be flexibly designed according to the actual structure of the connecting member 300.

[0062] This embodiment adjusts and controls the clamping and loosening of the connecting member 300 by setting a locking member, which is a form of mechanical structure, has high reliability, is easy to control, and is conducive to simplifying the operation process.

[0063] In some embodiments of the present application, the lifting body 100 also includes an unlocking button connected to the locking member, wherein: when the first mechanical arm 500 presses the unlocking button, the locking member is in an unlocked state; when the first mechanical arm 500 releases the unlocking button, the locking member is in a locked state.

[0064] Since the first robotic arm 500 will dock with the connector 300 only when the sling 400 is being replaced, the present embodiment provides an unlocking button so that the first robotic arm 500 automatically presses the unlocking button when docking with the connector 300 and disassembling the sling 400, thereby unlocking the sling 400 and the connector 300. When the sling 400 is replaced and transferred to the docking connector 300, the unlocking button is automatically released when the sling 400 and the connector 300 are released, so that the connector 300 and the sling 400 are automatically locked and fixed, without the need for separate unlocking adjustment, thereby simplifying the control and adjustment of the locking member.

[0065] In contrast to the above embodiment, a striker structure may also be provided in the replacement area 202, and when the lifting body 100 moves the connecting member 300 to the replacement area 202, the unlocking button hits the striker structure to achieve the purpose of pressing, thereby realizing the switching control between the unlocking state and the locking state. That is, in the above embodiment, the sling warehouse component 200 actively presses the unlocking button through the first mechanical arm 500, while in this embodiment, the connecting member 300 actively hits the striker structure, so that the unlocking button is forced to be pressed.

[0066] In some embodiments of the present application, the lifting body 100 also includes an electric control module connected to the locking member, and the electric control module is used to: when the electric control module is powered on, the locking member is in an unlocked state; when the electric control module is powered off, the locking member is in a locked state.

[0067] In this embodiment, the electric adjustment of the locking member is realized by setting an electric control module. When the connecting member 300 moves to the replacement area 202, the sling 400 is to be replaced. Therefore, the electric control module is powered on at this time, so that the connecting member 300 can loosen the sling 400. When the new sling 400 is assembled to the connecting member 300, the sling 400 needs to be clamped. In addition, the clamping and fixing of the connecting member 300 to the sling 400 need to be maintained during the normal lifting operation. Therefore, the setting of the connecting member 300 clamping the sling 400 when the electric control module is in the power-off state helps to improve the installation stability of the sling 400. Therefore, the locking member in this embodiment can actively switch between locking and unlocking the sling 400 under the control of the electric control module.

[0068] In some embodiments of the present application, the spreader warehouse component 200 further includes a wireless charging unit, which is used to charge the connector 300 when the connector 300 reaches the replacement area 202, so that the electric control module is in a powered-on state.

[0069] With the structural setting of this embodiment, when the connecting member 300 enters the replacement area 202, the sling warehouse component 200 provides operating power to the electric control module of the connecting member 300 through the wireless charging unit. When the connecting member 300 leaves the replacement area 202, the wireless charging unit is naturally disconnected, so that the electric control module is in a power-off state, which facilitates the control switching of the power-on state and the power-off state of the electric control module in the aforementioned embodiment.

[0070] In other embodiments of the present application, the connector 300 is provided with an energy storage battery, and the lifting equipment includes a solar panel arranged on the tower body, and a proximity sensor or other type of sensor is arranged between the connector 300 and the main body of the sling warehouse. When the sensor detects that the connector 300 is located in the replacement area 202, the solar panel supplies power to the energy storage battery, and the electric control module is in a powered-on state; and after the relevant sensor detects that the sling 400 is replaced, the solar panel stops supplying power to the energy storage battery, so that the electric control module is in a powered-off state. The solar panel and the energy storage battery are connected in contact to realize power on-off control, and the switching control of the powered-on state and the powered-off state of the electric control module is carried out in combination with the electric control method.

[0071] In some embodiments of the present application, the first robotic arm 500 is further used to align the wireless charging unit with the connecting member 300 when the connecting member 300 reaches the replacement area 202 , so that the wireless charging unit charges the connecting member 300 .

[0072] It should be noted that, in general, the lifting body 100 is connected to the sling 400 by a sling rope, so the connecting member 300 is generally connected to the lower end of the sling rope. In this embodiment, the first mechanical arm 500 is used to ensure that the connecting member 300 is aligned with the wireless charging unit, which can ensure the power-on stability of the electric control module during the replacement of the sling 400, and avoid the loss of control of the power-on state and the power-off state due to the shaking of the sling rope.

[0073] In some embodiments of the present application, a second mechanical arm is provided on the sling 400, and the second mechanical arm is used to assist the operation of the sling 400. The second mechanical arm can be used to adjust the posture of the sling or realize other auxiliary functions.

[0074] In addition, the lifting device 400 may be configured as a common lifting hook, or part of the lifting device 400 may be configured as a common lifting hook and part of the lifting device 400 may be configured as a lifting hook with a second mechanical arm.

[0075] In some embodiments of the present application, the second mechanical arm is provided with a battery module, and the battery module is electrically connected to the second mechanical arm. Since the second mechanical arm needs to actively adjust the posture of the hanging object, the second mechanical arm needs a driving force when adjusting the posture. In this embodiment, the battery module is provided to provide power to the second mechanical arm, so that its function can be realized.

[0076] On the basis of the above embodiments, in some embodiments of the present application, the spreader warehouse assembly 200 is used to charge or replace the battery module when the connector 300 reaches the replacement area 202. Thus, the spreader warehouse assembly 200 can be used to supplement the working power supply of the second robot arm.

[0077] The embodiment of the present application also provides a method for controlling the automatic replacement of a sling, comprising: Control the connection member 300 on the lifting body 100 of the lifting equipment to move toward the spreader storage assembly 200; When the connecting member 300 reaches the replacement area 202 in the spreader storage assembly 200, a replacement operation of the spreader 400 of the lifting equipment is performed; The replacement operation includes: transferring the sling 400 connected to the connecting member 300 to the accommodating cavity, and connecting the sling 400 in the accommodating cavity to the connecting member 300 .

[0078] It can be understood that the method of this embodiment can realize automatic replacement of the spreader 400 and solve the problem of low efficiency of manual loading and unloading.

[0079] In a further embodiment of the above method, the spreader library assembly 200 includes a drive member, and the method further includes: determining a target replacement spreader, the target replacement spreader being located in the accommodating cavity; The control driving member drives the spreader library body in the spreader library assembly 200 so that the target replacement spreader reaches a position matching with the connecting member 300 .

[0080] It can be understood that the drive adjustment of this embodiment is the process of selecting the sling 400. When replacing the sling 400, the sling 400 to be installed is selected by moving the sling 400 in the accommodating cavity. There is no need to consider collision factors and obstacle avoidance design, which is conducive to improving the replacement efficiency of the sling 400.

[0081] In a further embodiment of the above method, before executing the replacement operation of the sling 400 of the lifting equipment, it also includes: controlling the wireless charging unit in the sling library component 200 to charge the connector 300 so that the electric control module of the connector 300 is in a powered-on state, and the electric control module is used to unlock the connector 300 and the sling 400 located on the connector 300 when it is in the powered-on state.

[0082] The steps of this embodiment are directed to the structure in which the sling library component 200 is equipped with a wireless charging unit and the connector 300 is equipped with an electric control module. The electric control module of the connector 300 is powered on first, and the electric control module is used to unlock the sling 400, and the original sling 400 is disassembled and then replaced. This embodiment can realize active unlocking of the connector 300 and the sling 400, thereby improving the efficiency of replacing the sling 400.

[0083] In a further embodiment of the above method, when the spreader 400 is provided with a second mechanical arm, the method further includes controlling the spreader library component 200 to charge or replace the battery module of the second mechanical arm. Specifically, the charging of the second mechanical arm can be either direct power charging or wireless charging.

[0084] In a further embodiment of the above method, before controlling the connection member 300 on the lifting body 100 of the lifting equipment to move toward the sling warehouse assembly 200, it also includes performing a hanging object detection on the connection member 300 to obtain a detection result. When the detection result indicates that the sling 400 on the connection member 300 is in a state without hanging objects, the connection member 300 on the lifting body 100 of the lifting equipment is controlled to move toward the sling warehouse assembly 200. In this way, it is ensured that the connection member 300 is in a state without hanging objects when the sling 400 is replaced. The hanging object detection can be judged by detecting the weight of the connection member 300 by a weight sensor, or by a visual sensor.

[0085] In some embodiments of the present application, the lifting equipment includes a lifting body 100, a sling warehouse assembly 200, and a first mechanical arm 500. The lifting body 100 includes a tower body, and the tower body is provided with a sling rope. The end of the sling rope is provided with a connector 300, and the connector 300 is detachably connected to the sling 400. The sling warehouse assembly 200 includes a sling warehouse body, and the sling warehouse body is provided with a accommodating cavity around the tower body. The sling warehouse body is provided with a notch on one side of the accommodating cavity to form a fixed replacement area 202. A rotating part is rotatably arranged in the accommodating cavity, and the rotating part is provided with a plurality of placement positions around the tower body, and the placement positions are used to accommodate the sling 400. The first mechanical arm 500 is arranged in the replacement area 202.

[0086] Based on the lifting equipment of this embodiment, refer to Figure 6 , the automatic replacement control method of the spreader includes: First, obtain and set the installation position of the spreader library component 200 and the position of the replacement area 202; When receiving the lifting device replacement instruction, the lifting device 400 on the connecting member 300 is inspected for lifting objects, and the inspection result is obtained. When the inspection result indicates that the lifting device 400 on the connecting member 300 is in a state without lifting objects, the lifting rope is controlled to move upward to a safe height through the tower body, and then the lifting rope is changed and rotated inward to control the connecting member 300 to be located directly above the replacement area 202, and then the lifting rope is controlled to descend, so that the connecting member 300 moves into the replacement area 202, and at the same time, the rotating part rotates to an empty placement position and is located in the replacement area 202; Then, the first robot arm 500 transfers the hanger 400 on the connecting member 300 to the placement position, and then controls the rotating part to rotate until the hanger 400 to be replaced moves to the replacement area 202, and the first robot arm 500 transfers the hanger 400 to the connecting member 300 for connection; Finally, the tower body is controlled to move the connecting piece 300 to a safe point through the lifting rope, and the lifting equipment replacement operation is completed.

[0087] It is understandable that in the above control method of controlling the connection member 300 to move to the replacement area 202, the path planning design can also be performed based on the obstacle avoidance movement function of the tower body, and is not limited to the above method.

[0088] The lifting equipment and method in the present application can effectively solve the problem of low efficiency of manually replacing the lifting device 400. On this basis, the lifting device library component 200 is used to accommodate different types of lifting devices 400, and the corresponding lifting devices 400 can be automatically selected and replaced according to the needs of the lifting operation, which is conducive to the realization of unmanned lifting operations. Some of the lifting devices 400 can be set as a multifunctional hook structure with a second mechanical arm, so as to assist in adjusting the posture of the lifting object and improve the intelligence of the lifting equipment.

[0089] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A lifting device with replaceable slings, characterized in that: include: A lifting body, including a connecting piece for detachable connection with a lifting device; The spreader warehouse assembly comprises a spreader warehouse body, wherein the spreader warehouse body has a receiving cavity, and at least one spreader is received in the receiving cavity; The first robot arm is used to transfer the sling connected to the connecting member to the accommodating cavity when the connecting member reaches the replacement area of ​​the sling warehouse assembly, and to connect the sling located in the accommodating cavity to the connecting member.

2. The lifting device according to claim 1, characterized in that The spreader library component also includes: A driving member is used to drive the sling library body so that the position of the sling in the accommodating cavity changes relative to the connecting member.

3. The lifting device according to claim 2, characterized in that The accommodating cavity comprises a plurality of accommodating sub-cavities distributed in a ring shape, each of the accommodating sub-cavities is used to accommodate a sling, and the driving member is used to drive the sling library body to rotate.

4. The lifting device according to claim 3, characterized in that The lifting body comprises a tower body, and the plurality of accommodating sub-cavities are arranged around the tower body.

5. The lifting device according to claim 2, characterized in that When the connecting member is located outside the replacement area, the accommodating chamber is sealed.

6. The lifting device according to claim 1, characterized in that The lifting body further comprises a locking member arranged on the connecting member, and the locking member is used for: When in a locked state, locking the connecting member and the sling located on the connecting member; In the unlocked state, the connecting member and the sling located on the connecting member are unlocked.

7. The lifting device according to claim 6, characterized in that The lifting body further comprises an unlocking button connected to the locking member, wherein: When the first mechanical arm presses the unlock button, the locking member is in the unlock state; When the first mechanical arm releases the unlocking button, the locking member is in the locking state.

8. The lifting device according to claim 6, characterized in that The lifting body further comprises an electric control module connected to the locking member, wherein the electric control module is used for: When the electric control module is in a powered-on state, the locking member is in the unlocked state; When the electric control module is in a power-off state, the locking member is in the locking state.

9. The lifting device according to claim 8, characterized in that The spreader warehouse component also includes a wireless charging unit, which is used to charge the connecting part when the connecting part reaches the replacement area, so that the electric control module is in the power-on state.

10. The lifting device according to claim 1, characterized in that The sling is provided with a second mechanical arm, and the second mechanical arm is used to assist the operation of the sling.

11. The lifting device according to claim 10, characterized in that The second robotic arm is provided with a battery module, and the sling warehouse component is used for charging or replacing the battery module when the connecting member reaches the replacement area.

12. A method for controlling the automatic replacement of a sling of a lifting equipment, characterized in that: Applied to a lifting device as claimed in any one of claims 1 to 11, the method comprises: Controlling the connection piece on the lifting body of the lifting equipment to move toward the spreader warehouse assembly; When the connecting member reaches the replacement area in the spreader warehouse assembly, a spreader replacement operation is performed on the lifting equipment. Wherein, the replacement operation includes: transferring the sling connected to the connecting piece to the accommodating cavity, and connecting the sling located in the accommodating cavity to the connecting piece.

13. The method according to claim 12, characterized in that The spreader library assembly includes a drive member, and the method further includes: Determining a target replacement sling, wherein the target replacement sling is located in the accommodating cavity; The driving member is controlled to drive a spreader library body in the spreader library assembly so that the target replacement spreader reaches a position matching the connecting member.

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