Crane with replaceable spreader and method for automatic replacement of the spreader

Abstract

The application discloses a replaceable sling hoisting equipment and a sling automatic replacement control method thereof, and belongs to the technical field of operation machinery. The hoisting equipment comprises a hoisting body, a sling warehouse assembly and a first mechanical arm. The hoisting body comprises a connecting piece. The sling warehouse assembly comprises at least one sling. The first mechanical arm is used for transferring the sling connected to the connecting piece to the accommodating cavity when the connecting piece reaches a replacement area of the sling warehouse assembly, and connecting the sling in the accommodating cavity to the connecting piece. The application can automatically disassemble the sling through the first mechanical arm, transfer the sling to the accommodating cavity, and install the sling in the accommodating cavity to the connecting piece, thereby completing automatic replacement of the sling. Compared with the manual installation and disassembly mode, the efficiency of sling replacement can be effectively improved, and the work intensity of workers can be greatly reduced.

Description

Technical Field

[0001] This application relates to the field of work machinery technology, and in particular to a lifting device with replaceable lifting attachments and a method for automatically changing the lifting attachments. Background Technology

[0002] Lifting equipment refers to multi-action lifting machinery that vertically lifts and horizontally moves heavy objects within a certain range. It is also known as "overhead crane," "gantry crane," or "crane," and its applications are very wide, covering multiple fields such as ports, workshops, power plants, and construction sites. Among them, the lifting gear, as a part of the lifting equipment, is mainly used for lifting heavy objects and is a crucial component of the lifting equipment.

[0003] In related technologies, to enable lifting equipment to lift heavy objects in more work scenarios, it is usually designed with a variety of lifting tools suitable for lifting different heavy objects, and the corresponding lifting tool can be changed according to the corresponding work scenario. However, at present, the replacement of lifting tools for lifting equipment is mainly carried out manually by moving the lifting tool to be replaced to the bottom of the lifting equipment and loading and unloading the lifting tool connected to the lifting rope. The operation is time-consuming and labor-intensive, resulting in low efficiency of lifting tool replacement. Summary of the Invention

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

[0005] Secondly, this application proposes a control method for the aforementioned lifting equipment.

[0006] The lifting device with replaceable spreader according to the first aspect of the present application includes:

[0007] The lifting body includes a connector for detachable connection with a lifting device;

[0008] A spreader storage assembly includes a spreader storage body having a receiving cavity, and the receiving cavity contains at least one spreader.

[0009] A first robotic arm is configured to, when the connector reaches the replacement area of ​​the spreader assembly, transfer a spreader connected to the connector to the receiving cavity, and connect a spreader located in the receiving cavity to the connector.

[0010] The lifting equipment according to the embodiments of this application has at least the following beneficial effects: This application uses the receiving cavity of the main body of the lifting tool magazine to receive the lifting tool, and provides a first robotic arm and a connector that is detachably connected to the lifting tool. When it is necessary to replace the lifting tool, the connector is moved to the replacement area of ​​the lifting tool magazine component. The original lifting tool can be automatically disassembled by the first robotic arm and transferred to the receiving cavity. At the same time, the lifting tool in the receiving cavity is installed on the connector, completing the automatic replacement of the lifting tool. Compared with the manual loading and unloading method, it can effectively improve the efficiency of lifting tool replacement and greatly reduce the labor intensity of workers.

[0011] According to some embodiments of this application, the spreader magazine assembly further includes a drive member for driving the spreader magazine body to change the position of the spreader within the accommodating cavity relative to the connecting member. Therefore, each time a spreader is replaced, only the connecting member needs to be moved to a fixed replacement area, and the spreader to be installed can be selected by moving the spreader within the accommodating cavity, eliminating the need to consider collision factors and obstacle avoidance design, thus improving spreader replacement efficiency.

[0012] According to some embodiments of this application, the accommodating cavity includes multiple accommodating sub-cavities arranged in a ring, each accommodating sub-cavity being used to accommodate a lifting device, and the driving component being used to drive the main body of the lifting device storage unit to rotate. Thus, different lifting devices can be accommodated in each accommodating sub-cavities, and the lifting devices can be moved by using the driving component to drive the main body of the lifting device storage unit to rotate, facilitating the rapid movement of the required lifting devices to the replacement area and improving the efficiency of lifting device replacement.

[0013] According to some embodiments of this application, the lifting body includes a tower body, and the plurality of accommodating sub-cavities are arranged around the tower body. This helps to save installation space.

[0014] According to some embodiments of this application, when the connector is located outside the replacement area, the accommodating cavity is sealed. This facilitates the protection of the lifting device.

[0015] According to some embodiments of this application, the lifting body further includes a locking member disposed on the connector, and the locking member is used to: lock the connector to the lifting device located on the connector when in a locked state; and unlock the connector to the lifting device located on the connector when in an unlocked state. Thus, switching between locking and unlocking the connector and the lifting device via the locking member simplifies the operation process.

[0016] According to some embodiments of this application, the lifting body further includes an unlocking button connected to the locking member, wherein: when the first robotic arm presses the unlocking button, the locking member is in the unlocked state; when the first robotic arm releases the unlocking button, the locking member is in the locked state. This facilitates the first robotic arm's control and adjustment of the locking member.

[0017] According to some embodiments of this application, the lifting body further includes an electronic control module connected to the locking member. The electronic control module is used to: when the electronic control module is energized, the locking member is in the unlocked state; and when the electronic control module is de-energized, the locking member is in the locked state. Thus, the connecting member can actively switch between locking and unlocking the lifting device under the control of the electronic control module.

[0018] According to some embodiments of this application, the spreader assembly further includes a wireless charging unit for charging the connector when it arrives at the replacement area, thereby energizing the electronic control module. Thus, automatic charging can be performed when the connector arrives at the replacement area, providing operating power to the electronic control module.

[0019] According to some embodiments of this application, the lifting device is equipped with a second robotic arm, which assists in the operation of the lifting device. Thus, the posture of the suspended object can be adjusted using the second robotic arm.

[0020] According to some embodiments of this application, the second robotic arm is equipped with a battery module, and the spreader assembly is used to charge or swap the battery module when the connector reaches the replacement area. Thus, the spreader assembly can be used to supplement the power supply of the second robotic arm.

[0021] An automatic spreader replacement control method for a lifting device according to a second aspect of this application is applied to a lifting device according to any of the above embodiments. The method includes: controlling a connector on the lifting body of the lifting device to move toward a spreader storage assembly; and performing a spreader replacement operation on the lifting device when the connector reaches a replacement area within the spreader storage assembly, wherein the replacement operation includes: transferring a spreader connected to the connector to the receiving cavity, and connecting a spreader located in the receiving cavity to the connector.

[0022] The method according to the embodiments of this application has at least the following beneficial effects: the method of this embodiment can realize the automatic replacement of lifting equipment and solve the problem of low efficiency of manual loading and unloading.

[0023] According to some embodiments of this application, the spreader magazine assembly includes a drive component, and the method further includes: determining a target spreader to be replaced, the target spreader to be replaced being located in the receiving cavity; controlling the drive component to drive the spreader magazine body within the spreader magazine assembly, so that the target spreader to be replaced reaches a position matching the connector. Therefore, when replacing spreaders, the spreader to be installed can be selected by moving the spreader within the receiving cavity, without considering collision factors or obstacle avoidance design, which helps to improve the efficiency of spreader replacement.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and some of these additional aspects and advantages will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0025] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] Figure 1 This is a schematic diagram of an overall structure of the lifting equipment in this application;

[0027] Figure 2 This is a schematic diagram illustrating one state of the connector being moved to the replacement area in this application.

[0028] Figure 3 This is a schematic diagram of one structure of the spreader magazine assembly in this application;

[0029] Figure 4 This is a schematic diagram illustrating one state of the connector entering the replacement area in this application;

[0030] Figure 5 This is a schematic diagram of one working principle of the first robotic arm in this application;

[0031] Figure 6 This is a flowchart of an automatic spreader changing control method in this application.

[0032] In the picture:

[0033] 100 - Lifting body;

[0034] 200 - Spreader magazine assembly, 201 - Receiving sub-cavity, 202 - Replacement area;

[0035] 300-Connector;

[0036] 400-Lifting Gear;

[0037] 500 - First robotic arm. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0039] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0041] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0042] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0043] Reference Figures 1 to 5 This application proposes a lifting device with replaceable spreaders, including a lifting body 100, a spreader magazine assembly 200, and a first robotic arm 500. Wherein,

[0044] The lifting body 100 includes a connector 300 for detachable connection with the lifting device 400;

[0045] The spreader storage assembly 200 includes a spreader storage body having a receiving cavity and containing at least one spreader 400.

[0046] The first robotic arm 500 is used to transfer the lifting device 400 connected to the connector 300 into the receiving cavity when the connector 300 reaches the replacement area 202 of the lifting device library assembly 200, and to connect the lifting device 400 located in the receiving cavity to the connector 300.

[0047] In this embodiment, the connector 300 can be moved to the replacement area 202 of the spreader storage assembly 200 by the lifting body 100. The first robotic arm 500 moves the spreader 400 originally installed on the connector 300 into the receiving cavity, and then moves the spreader 400 in the receiving cavity onto the connector 300, thereby realizing the automatic replacement of the spreader 400.

[0048] Replacement area 202 is the set replacement point for lifting device 400. One or more replacement areas 202 can be set according to actual needs. When the lifting equipment needs to replace lifting device 400, the connecting piece 300 can be moved to the corresponding replacement area 202 to replace lifting device 400.

[0049] Furthermore, the replacement area 202 can be an area artificially set in the spreader storage component 200, or it can be a spatial area with a solid structure set in the spreader storage component 200, such as having side walls or openings defined by side walls.

[0050] It is understood that the connector 300 and the lifting device 400 are detachably connected, meaning that they need to be disassembled and locked. When transferring the lifting device 400 from the connector 300 to the receiving cavity, it is necessary to control the disassembly of the connector 300 and the lifting device 400. When moving the lifting device 400 from the receiving cavity to the connector 300, it is necessary to control the locking and fixation of the connector 300 and the lifting device 400. In this embodiment, the first robotic arm 500 is mainly capable of transferring the lifting device 400 between the connector 300 and the receiving cavity. The disassembly and locking actions can be performed by the first robotic arm 500, by the connector 300, or by other external mechanisms. Those skilled in the art can flexibly set it as needed, and no specific limitation is made in this embodiment.

[0051] Furthermore, it is understandable that the number and types of lifting devices that the accommodating cavity can hold can be flexibly set according to needs, and are not limited to a single quantity or a single function. The 400 types of lifting devices include, but are not limited to, ordinary lifting devices and multi-functional lifting devices with auxiliary mechanical structures.

[0052] In summary, the lifting equipment in this embodiment can automatically change the spreader 400. Compared with manual loading and unloading, it can effectively improve the efficiency of spreader 400 replacement and greatly reduce the workload of workers.

[0053] In some embodiments of this application, the spreader magazine assembly 200 further includes a drive member for driving the spreader magazine body to change the position of the spreader 400 within the accommodating cavity relative to the connector 300.

[0054] In this embodiment, the drive unit can control the movement of the lifting devices 400 within the accommodating cavity, allowing each lifting device 400 to move within the working range of the first robotic arm 500. When changing a lifting device 400, the lifting body 100 only needs to move the connecting member 300 to the replacement area 202, and then use the drive unit to move the required lifting device 400 to the working range of the first robotic arm 500, so that the first robotic arm 500 can transfer it to the connecting member 300.

[0055] With the structural configuration of this embodiment, it is only necessary to move the connector 300 to the fixed replacement area 202, and then select the lifting device 400 to be installed by moving the lifting device 400 within the accommodating cavity. This simplifies the lifting device 400 replacement process. Compared to the situation where the connector 300 is moved multiple times to select different lifting devices 400, the lifting body 100 in this embodiment does not need to consider collision factors and obstacle avoidance design, which helps to improve the efficiency of lifting device replacement and further simplifies the lifting device 400 replacement process.

[0056] The driving components used in this embodiment can be configured as servo motors, cylinders, or other structures according to the movement requirements of the main body of the lifting device.

[0057] In contrast to the above embodiments, in other embodiments of this application, the first robotic arm 500 can dock with a lifting device 400 at any position to transfer the lifting device 400 at any position to the docking connector 300 in the replacement area 202, and can also dock with any position in the receiving cavity to transfer the lifting device 400 to any position in the receiving cavity. In this embodiment, docking of any lifting device 400 with the connector 300 is achieved through the movement and adjustment of the first robotic arm 500.

[0058] In some embodiments of this application, the spreader storage assembly 200 is provided with a replacement area 202 for each spreader 400 corresponding to the receiving cavity. The lifting body 100 moves to the corresponding replacement area 202 by controlling the connecting member 300 to replace the corresponding spreader 400. Unlike the previous embodiments, this embodiment uses the active movement of the connecting member 300 to connect different spreaders 400.

[0059] The number of the first robotic arms 500 in this embodiment can be set to one or more as needed.

[0060] Reference Figure 3 and Figure 4In some embodiments of this application, the accommodating cavity includes a plurality of accommodating sub-cavities 201 arranged in a ring, each accommodating sub-cavity 201 being used to accommodate the lifting device 400, and the driving member being used to drive the main body of the lifting device magazine to rotate.

[0061] It is understandable that the various accommodating sub-cavities 201 are arranged in a ring. When the drive unit drives the main body of the spreader magazine 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 spreader 400 is accommodated in the accommodating sub-cavity 201, the position of the spreader 400 relative to the replacement area 202 will also change, so that the spreader 400 in the accommodating sub-cavities at different positions can move into the working range of the first robotic arm 500.

[0062] This embodiment sets up multiple accommodating sub-cavities 201, which can be used to accommodate the corresponding lifting tools 400 respectively. The lifting tool 400 is moved by driving the main body of the lifting tool library to rotate using a driving component. This allows the required lifting tool 400 to be moved to the replacement area 202 for replacement quickly, thus improving the efficiency of lifting tool 400 replacement.

[0063] Furthermore, when placing the lifting device 400 into the receiving sub-cavity 201, a one-to-one correspondence can be established between the lifting device 400 and the receiving sub-cavity 201, meaning one lifting device 400 is placed in one receiving sub-cavity 201. This facilitates quick selection of the corresponding lifting device 400, or quick selection of the receiving sub-cavity 201 corresponding to the lifting device 400 removed from the connector 300. Alternatively, a many-to-one correspondence can be established between the lifting device 400 and the receiving sub-cavity 201, meaning multiple lifting devices 400 are placed in one receiving sub-cavity 201. Multiple lifting devices 400 of the same type can be placed in one receiving sub-cavity 201, facilitating quick selection of the desired type of lifting device 400.

[0064] Alternatively, multiple accommodating sub-cavities 201 can be distributed in a straight line, and the driving component can be used to drive the main body of the lifting device to move back and forth in the direction of the straight line distribution, so that each accommodating sub-cavity 201 enters the working range of the first robotic arm 500.

[0065] Reference Figure 1 and Figure 2 In some embodiments of this application, the lifting body 100 includes a tower body, and a plurality of accommodating sub-cavities 201 are arranged around the tower body.

[0066] The structural arrangement of this embodiment, with the accommodating sub-cavities 201 arranged around the tower body, saves installation space and eliminates the need for constructing a separate foundation at the construction site to install the lifting tool storage assembly 200. Furthermore, since the movement of the connecting member 300 involves rotation and amplitude adjustment around the tower body, arranging the accommodating sub-cavities 201 around the tower body improves the positioning accuracy of the lifting tool storage assembly 200 and the lifting body 100, facilitating the lifting body 100's control over the moving parts 300 into and out of the replacement area 202.

[0067] It is understandable that the spreader storage assembly 200 can also be installed on one side of the tower, or placed at any location within the area that the tower can cover through the luffing mechanism.

[0068] In some embodiments of this application, the accommodating cavity is sealed when the connector 300 is located outside the replacement area 202.

[0069] Since the connector 300 is typically only controlled to enter the replacement area 202 when the spreader 400 needs to be replaced, when the connector 300 is outside the replacement area 202, i.e. when the spreader 400 is not being replaced, this embodiment seals the accommodating cavity to prevent other objects or personnel from contacting the internal structure of the accommodating cavity, thus preventing damage to the spreader storage assembly 200 or the spreader 400, and also improving the overall integrity of the spreader storage assembly 200.

[0070] Understandably, the accommodating cavity can also be designed as an open structure, so that the lifting device 400 contained inside is exposed, making it convenient for staff to visually inspect the storage status of the accommodating cavity and the condition of the lifting device 400, and also making it convenient for staff to put the lifting device 400 into the accommodating cavity in the early stages.

[0071] In some embodiments of this application, the main body of the spreader magazine includes an end cap corresponding to the accommodating cavity. The end cap is used to: close the accommodating cavity when the connector 300 is outside the replacement area 202; and open the accommodating cavity when the connector 300 is in the replacement area 202.

[0072] In this embodiment, the end cap is correspondingly set to the accommodating cavity and is used to control the opening and closing of the accommodating cavity. It can quickly switch between opening and closing the accommodating cavity, and while protecting the lifting device 400 inside the accommodating cavity, it is also easy to open quickly, which helps to improve the efficiency of changing the lifting device 400.

[0073] Specifically, in combination Figure 3In some embodiments of this application, the main body of the spreader magazine includes a coaxially arranged annular outer shell and a rotating part, the rotating part being enclosed by the annular outer shell. A notch is provided on one side of the annular outer shell to form a replacement area 202. Simultaneously, openings are formed at the two ends of the annular outer shell adjacent to the notch. End caps are provided at the two openings of the spreader magazine body; the end caps are movable or rotatable to control the opening and closing of the openings during movement or rotation. The rotating part is rotatably configured and has multiple placement positions circumferentially arranged thereon. Each placement position is used to place a spreader 400.

[0074] It is understood that in this embodiment, the annular outer shell surrounds and forms a closed accommodating cavity, and each placement position corresponds to an accommodating sub-cavity 201. By rotating, the rotating part can drive each accommodating sub-cavity 201 into the replacement area 202, so as to facilitate the selection and replacement of the lifting device 400.

[0075] Furthermore, the placement position can be a recess formed by the indentation of the rotating part, or it can be a cylindrical structure set on the rotating part.

[0076] In some embodiments of this application, the lifting body 100 further includes a locking member disposed on the connector 300, the locking member being used to: lock the connector 300 to the lifting device 400 located on the connector 300 when in a locked state; and unlock the connector 300 to the lifting device 400 located on the connector 300 when in an unlocked state.

[0077] Since the lifting device 400 needs to be disassembled after the connector 300 is moved to the replacement area 202, the locking device needs to be adjusted to the unlocked state so that the connector 300 and the lifting device 400 can be unlocked and separated. Then, when replacing the new lifting device 400, the locking device needs to be adjusted to the locked state so that the connector 300 and the new lifting device 400 are locked and fixed. Therefore, it can be understood that the locking device is the control part used for clamping and loosening the connector 300.

[0078] In practical applications, the locking and unlocking states of the locking element can be two states: pressed and released, or two states: flicked downwards and flicked upwards, or two states: clockwise rotation and counterclockwise rotation. The structure of the locking element and the state switching method can be flexibly designed according to the actual structure of the connector 300.

[0079] This embodiment uses a locking element to adjust and control the clamping and loosening of the connector 300. This is a type of mechanical structure that is highly reliable, easy to control, and simplifies the operation process.

[0080] In some embodiments of this application, the lifting body 100 further includes an unlock button connected to the locking member, wherein: when the first robotic arm 500 presses the unlock button, the locking member is in an unlocked state; when the first robotic arm 500 releases the unlock button, the locking member is in a locked state.

[0081] Since the first robotic arm 500 only docks with the connector 300 when the lifting device 400 is being replaced, this embodiment uses an unlock button to automatically press the unlock button when docking with the connector 300 and disassembling the lifting device 400, thus unlocking the lifting device 400 from the connector 300. When replacing the lifting device 400 and transferring it to dock with the connector 300, the unlock button is automatically released when the lifting device 400 and the connector 300 are released, so that the connector 300 and the lifting device 400 are automatically locked and fixed without the need for separate unlocking adjustment, simplifying the control and adjustment of the locking device.

[0082] In contrast to the above embodiment, a striker structure can also be provided in the replacement area 202. When the lifting body 100 moves the connecting member 300 to the replacement area 202, the unlock button strikes the striker structure to achieve the purpose of pressing, thereby realizing the switching control between the unlocked and locked states. That is, in the above embodiment, the lifting gear library assembly 200 actively presses the unlock button through the first robotic arm 500, while in this embodiment, the connecting member 300 actively strikes the striker structure, forcing the unlock button to be pressed.

[0083] In some embodiments of this application, the lifting body 100 further includes an electronic control module connected to the locking member. The electronic control module is used to: unlock the locking member when the electronic control module is powered on; and lock the locking member when the electronic control module is powered off.

[0084] This embodiment achieves electric adjustment of the locking component through an electronic control module. When the connector 300 moves to the replacement area 202, the lifting device 400 needs to be replaced. Therefore, the electronic control module is energized at this time to allow the connector 300 to release the lifting device 400. When the new lifting device 400 is then assembled onto the connector 300, it needs to be clamped. During normal lifting operations, the connector 300 must maintain clamping and securing the lifting device 400. Therefore, setting the connector 300 to clamp the lifting device 400 when the electronic control module is de-energized helps improve the installation stability of the lifting device 400. Thus, in this embodiment, the locking component can actively switch between locking and unlocking the lifting device 400 under the control of the electronic control module.

[0085] In some embodiments of this application, the spreader library assembly 200 further includes a wireless charging unit for charging the connector 300 when it arrives at the replacement area 202, so as to energize the electronic control module.

[0086] With the structural configuration of this embodiment, when the connector 300 enters the replacement area 202, the spreader storage assembly 200 provides operating power to the electronic control module of the connector 300 through the wireless charging unit. When the connector 300 leaves the replacement area 202, the wireless charging unit is naturally disconnected, so that the electronic control module is in a power-off state, which facilitates the control switching between the power-on state and the power-off state of the electronic control module in the aforementioned embodiment.

[0087] In other embodiments of this application, the connector 300 is equipped with an energy storage battery, and the lifting equipment includes a solar panel mounted on the tower body. A proximity sensor or other type of sensor is installed between the connector 300 and the main body of the lifting device storage unit. 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 electronic control module is energized. After the relevant sensor detects that the lifting device 400 has been replaced, the solar panel stops supplying power to the energy storage battery, causing the electronic control module to be de-energized. The solar panel and the energy storage battery are connected by contact to achieve power on / off control, and the switching between the energized and de-energized states of the electronic control module is controlled in conjunction with the electronic control method.

[0088] In some embodiments of this application, the first robotic arm 500 is also used to align the wireless charging unit with the connector 300 when the connector 300 reaches the replacement area 202, so that the wireless charging unit charges the connector 300.

[0089] It should be noted that, normally, the lifting body 100 is connected to the lifting device 400 using a lifting rope, so the connector 300 is generally connected to the lower end of the lifting rope. In this embodiment, the first robotic arm 500 ensures that the connector 300 is aligned with the wireless charging unit, which ensures the power supply stability of the electronic control module during the replacement of the lifting device 400 and avoids loss of control due to the swaying of the lifting rope in the power-on or power-off state.

[0090] In some embodiments of this application, a second robotic arm is provided on the lifting device 400 to assist in the operation of the lifting device 400. The posture of the suspended object can be adjusted by the second robotic arm, or other auxiliary functions can be realized.

[0091] In addition, the lifting device 400 can be set as a regular hook, or some of the lifting devices 400 can be set as regular hooks and some of the lifting devices 400 can be set as hooks with a second mechanical arm.

[0092] In some embodiments of this application, the second robotic arm is equipped with a battery module, which is electrically connected to the second robotic arm. Since the second robotic arm needs to actively adjust the posture of the suspended object, it requires driving force when adjusting its posture. In this embodiment, the battery module provides power to the second robotic arm, enabling it to perform its function.

[0093] Based on the above embodiments, in some embodiments of this application, the spreader storage assembly 200 is used to charge or swap the battery module when the connector 300 reaches the replacement area 202. Thus, the spreader storage assembly 200 can be used to supplement the power supply for the second robotic arm.

[0094] Embodiments of this application also propose an automatic spreader changing control method, including:

[0095] The connecting piece 300 on the lifting body 100 of the control lifting equipment moves toward the spreader magazine assembly 200;

[0096] When the connector 300 reaches the replacement area 202 within the spreader storage assembly 200, a change operation is performed on the spreader 400 of the lifting equipment.

[0097] The replacement operation includes: transferring the lifting device 400 connected to the connector 300 to the receiving cavity, and connecting the lifting device 400 located in the receiving cavity to the connector 300.

[0098] It is understood that the method of this embodiment can realize the automatic replacement of the spreader 400, solving the problem of low efficiency of manual loading and unloading.

[0099] In a further embodiment of the above method, the spreader magazine assembly 200 includes a drive element, and the method further includes:

[0100] Identify the target replacement spreader, which is located within the accommodating cavity;

[0101] The control drive unit drives the spreader magazine body within the spreader magazine assembly 200 to bring the target spreader to a position that matches the connector 300.

[0102] It is understood that the drive adjustment in this embodiment is the process of selecting the lifting device 400. When changing the lifting device 400, the lifting device 400 to be installed is selected by moving the lifting device 400 in the accommodating cavity. There is no need to consider collision factors and obstacle avoidance design, which helps to improve the efficiency of changing the lifting device 400.

[0103] In a further embodiment of the above method, before performing the operation of changing the spreader 400 of the lifting equipment, the method further includes: controlling the wireless charging unit in the spreader storage assembly 200 to charge the connector 300 so that the electronic control module of the connector 300 is energized. The electronic control module is used to unlock the connector 300 from the spreader 400 located on the connector 300 when it is energized.

[0104] The steps in this embodiment are for a structure where the spreader assembly 200 is equipped with a wireless charging unit and the connector 300 is equipped with an electronic control module. By first energizing the electronic control module of the connector 300, the spreader 400 is unlocked using the electronic control module, allowing for the disassembly and replacement of the original spreader 400. This embodiment enables active unlocking of the connector 300 and the spreader 400, improving the efficiency of spreader 400 replacement.

[0105] In a further embodiment of the above method, when the spreader 400 is equipped with a second robotic arm, the method further includes controlling the spreader storage assembly 200 to charge or swap the battery module of the second robotic arm. Specifically, the charging of the second robotic arm can be either direct electrical charging or wireless charging.

[0106] In a further embodiment of the above method, before controlling the movement of the connector 300 on the lifting body 100 of the lifting equipment towards the spreader magazine assembly 200, the method further includes performing a load detection on the connector 300, obtaining a detection result, and only controlling the movement of the connector 300 towards the spreader magazine assembly 200 if the detection result indicates that the spreader 400 on the connector 300 is in a load-free state. This ensures that the connector 300 is in a load-free state when changing the spreader 400. The load detection can be performed by using a weight sensor to detect the weight of the connector 300, or by using a vision sensor.

[0107] In some embodiments of this application, the lifting equipment includes a lifting body 100, a spreader storage assembly 200, and a first robotic arm 500. The lifting body 100 includes a tower body with a lifting rope. A connector 300 is provided at the end of the lifting rope, and the connector 300 is detachably connected to a spreader 400. The spreader storage assembly 200 includes a spreader storage body with a receiving cavity surrounding the tower body. A notch is provided on one side of the receiving cavity in the spreader storage body, forming a fixed replacement area 202. A rotating part is rotatably disposed within the receiving cavity, and the rotating part has multiple placement positions around the tower body for accommodating the spreader 400. The first robotic arm 500 is disposed in the replacement area 202.

[0108] Based on the lifting equipment in this embodiment, refer to Figure 6 The automatic changeover control method for spreader includes:

[0109] First, obtain and set the installation position of the spreader library component 200 and the position of the replacement area 202;

[0110] When a lifting device replacement instruction is received, the lifting device 400 on the connector 300 is checked for load, and the test results are obtained. If the test results indicate that the lifting device 400 on the connector 300 is in a state of no load, the lifting rope is controlled by the tower body to move upward to a safe height, and then the tower body is controlled to move inward and rotate to control the connector 300 to be directly above the replacement area 202. Then the lifting rope is controlled to descend, so that the connector 300 moves into the replacement area 202, and at the same time the rotating part rotates to an empty placement position in the replacement area 202.

[0111] Then the first robotic arm 500 transfers the lifting device 400 on the connector 300 to the placement position, and then controls the rotating part to rotate until the lifting device 400 to be replaced is moved into the replacement area 202. The first robotic arm 500 then transfers the lifting device 400 to the connector 300 for connection.

[0112] Finally, the tower body is moved 300 meters to a safe point using a hoisting rope to complete the lifting equipment replacement operation.

[0113] It is understandable that in the above-mentioned control method of moving the control connector 300 to the replacement area 202, the path planning design can also be based on the obstacle avoidance movement function of the tower body, and is not limited to the above method.

[0114] The lifting equipment and method in this application can effectively solve the problem of low work efficiency when manually changing the lifting tools 400. Based on this, the lifting tool storage assembly 200 is used to accommodate different types of lifting tools 400, allowing for automatic selection and replacement of the corresponding lifting tool 400 according to the needs of the lifting operation. This facilitates unmanned lifting operations. Some of the lifting tools 400 can be configured as multi-functional hook structures with a second robotic arm, thereby assisting in adjusting the posture of the lifted load and improving the intelligence level of the lifting equipment.

[0115] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A lifting device with interchangeable lifting attachments, characterized in that, include: The lifting body includes a tower and a connector for detachable connection with a lifting device; A lifting device storage assembly includes a lifting device storage body and a drive unit. The lifting device storage body has a receiving cavity, and the receiving cavity contains at least one lifting device. The receiving cavity includes a plurality of receiving sub-cavities arranged in a ring around the tower body. Each receiving sub-cavity is used to receive a lifting device. The drive unit is used to drive the lifting device storage body to rotate, so that the position of the lifting device in the receiving cavity relative to the connecting member changes. A first robotic arm is configured to, when the connector reaches the replacement area of ​​the spreader assembly, transfer a spreader connected to the connector to the receiving cavity, and connect a spreader located in the receiving cavity to the connector.

2. The lifting equipment according to claim 1, characterized in that, When the connector is located outside the replacement area, the accommodating cavity is sealed.

3. The lifting equipment according to claim 1, characterized in that, The lifting body further includes a locking member disposed on the connecting member, and the locking member is used for: When in the locked state, the connector is locked to the lifting device located on the connector; When the connector is in the unlocked state, it is unlocked from the lifting device located on the connector.

4. The lifting equipment according to claim 3, characterized in that, The lifting body also includes an unlocking button connected to the locking member, wherein: When the first robotic arm presses the unlock button, the locking member is in the unlocked state; When the first robotic arm releases the unlock button, the locking member is in the locked state.

5. The lifting equipment according to claim 3, characterized in that, The lifting body further includes an electronic control module connected to the locking member, the electronic control module being used for: When the electronic control module is powered on, the locking element is in the unlocked state; When the electronic control module is in a power-off state, the locking component is in the locked state.

6. The lifting equipment according to claim 5, characterized in that, The lifting device assembly also includes a wireless charging unit for charging the connector when it arrives at the replacement area, so that the electronic control module is in the powered-on state.

7. The lifting equipment according to claim 1, characterized in that, The lifting device is equipped with a second robotic arm, which is used to assist the lifting device in operation.

8. The lifting equipment according to claim 7, characterized in that, The second robotic arm is equipped with a battery module, and the lifting device assembly is used to charge or swap the battery module when the connector reaches the replacement area.

9. A method for automatic changing control of lifting equipment's spreader, characterized in that, The method, applied to the lifting equipment as described in any one of claims 1 to 8, comprises: Control the connecting parts on the lifting body of the lifting equipment to move towards the spreader magazine assembly; When the connector reaches the replacement area within the spreader magazine assembly, a spreader replacement operation for the lifting equipment is performed. The replacement operation includes: transferring the lifting device connected to the connector to the receiving cavity, and connecting the lifting device located in the receiving cavity to the connector.

10. The method according to claim 9, characterized in that, The spreader assembly includes a drive unit, and the method further includes: A target replacement lifting device is identified, and the target replacement lifting device is located in the accommodating cavity; The drive unit is controlled to drive the spreader magazine body within the spreader magazine assembly, so that the target spreader is moved to a position that matches the connector.

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