Anti-deviation single-beam metallurgical crane

Abstract

The invention belongs to the field of cranes, and particularly discloses an anti-deviation single-beam metallurgical crane which comprises a main body, a cross beam, a trolley movably arranged on the cross beam and a crane body arranged at the bottom of the trolley. The anti-deviation mechanism comprises a shell arranged between the trolley and the crane body, a rotating shaft arranged in the shell and a sleeve movably arranged on the rotating shaft, winding drums I are arranged on the two sides of the interior of the shell at the front end of the rotating shaft, and winding drums II are arranged on the two sides of the interior of the shell at the rear end of the rotating shaft; when irregular objects are hoisted, the driving mechanism is started, the driving mechanism can drive the rotating shaft and the sleeve to rotate, when the rotating shaft rotates, the first winding drum is driven to rotate synchronously through the first gear, when the sleeve rotates, the second winding drum is driven to rotate synchronously through the second gear, and the winding drum corresponding to the gravity center direction of the objects is controlled to rotate; and pulling the article which is inclined downwards until the article is adjusted to be horizontal transversely.

Description

Technical Field

[0001] The invention belongs to the field of cranes, and in particular relates to an anti-deviation single-beam metallurgical crane. Background Art

[0002] Single-beam metallurgical crane is a kind of lifting equipment widely used in the industrial field, especially in metallurgy, steel manufacturing and other heavy operations. Because its two ends are located on tall concrete columns or metal brackets, it looks like a bridge. The main beam of the bridge of the single-beam crane is mostly made of I-shaped steel or a combination of steel and steel plates. The hoisting trolley is often assembled with a hand chain hoist, an electric hoist or a hoist as a lifting mechanism component.

[0003] However, when lifting irregular objects, traditional single-beam metallurgical cranes may tilt due to the deviation of the center of gravity of the object, and deviate in the opposite direction of movement during the movement and transportation of the crane, which may cause the crane and the object to offset and shake, affecting the transportation stability. Summary of the invention

[0004] The object of the present invention is to provide an anti-deviating single-beam metallurgical crane to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A single-beam metallurgical crane with anti-deviance comprises a main body, a crossbeam, a trolley movably arranged on the crossbeam, and a crane body arranged at the bottom of the trolley; an anti-deviance mechanism comprises a shell arranged between the trolley and the crane body, a rotating shaft arranged in the shell, and a sleeve movably arranged on the rotating shaft, a reel 1 is arranged on both sides of the shell inside the front end of the rotating shaft, a reel 2 is arranged on both sides of the shell inside the rear end of the rotating shaft, a gear 1 is arranged on the input end of the reel 1 and the sleeve, a gear 2 is arranged on the input end of the reel 2 and the rotating shaft, a worm gear is arranged on the rotating shaft and the sleeve, and two worms are arranged in the shell; a driving mechanism is arranged at the input end of the worm.

[0007] Preferably, the two gear 1s are meshed with each other, the two gear 2s are meshed with each other, and the two worms are respectively meshed with two worm wheels.

[0008] Preferably, the driving mechanism includes two central shafts respectively arranged at the input ends of the two worm gears, two connecting shafts respectively arranged at the input ends of the two central shafts, a gear three arranged between the two connecting shafts, a gear four arranged in the housing, and a rotating driving member arranged at the input end of the gear four.

[0009] Preferably, the central shaft and the connecting shaft are engaged with each other via a side gear, a bearing seat is movably provided on the connecting shaft, a threaded rod is threadedly connected between the bearing seats, and a motor is provided at the input end of the threaded rod.

[0010] Preferably, the input end of the connecting shaft is provided with a first latching tooth, both ends of the gear three are provided with a second latching tooth, and a gap is provided between the first latching tooth and the adjacent second latching tooth.

[0011] Preferably, the worm and the center shaft are meshingly connected via a bevel gear set.

[0012] Preferably, the crane body, drum one and drum two are all provided with lifting equipment.

[0013] Preferably, both side surfaces of the shell are provided with openings, and both sides of the shell at the bottom of the opening are provided with support shafts.

[0014] Preferably, it further comprises a control module, and a load detection module and an offset detection module connected to the control module;

[0015] The control module is used to receive and process the detection data of the load detection module and the offset detection module, and issue control instructions;

[0016] The load detection module is used to monitor the dynamic information of the load of the crane body;

[0017] The offset detection module is used to monitor the position information of both ends of the hoisted object.

[0018] Preferably, the control module uses the following formula to issue a control instruction:

[0019] u(t) = -K x(t), where u(t) is the control signal, K is the feedback gain matrix, and x(t) is the state vector, including the height and tilt angle of the two ends of the hoisted object, which can be specifically expressed as:

[0020] where h 1( t ) is the real-time monitoring value of the height of one end of the hoisted object, h 2( t ) is the real-time monitoring value of the height of the other end of the hoisted object, θ ( t ) is the inclination angle of the hoisted object, specifically expressed as:

[0021] Where L is the horizontal distance between the two ends of the hoisted object, and arctan is the inverse tangent function.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention starts the driving mechanism when lifting irregular objects, and the driving mechanism will drive two worms to rotate respectively. When the worms rotate, they will engage with the worm wheel to drive it to rotate at a reduced speed, and drive the two worm wheels to rotate respectively. The two worm wheels will drive the rotating shaft and the sleeve to rotate respectively. When the rotating shaft rotates, it will drive the reel one to rotate synchronously through the gear one, and when the sleeve rotates, it will drive the reel two to rotate synchronously through the gear two. The reel corresponding to the center of gravity direction of the object is controlled to rotate and reel in the hook sling to pull up the object tilted downward until the object is adjusted to a horizontal level, thereby improving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the anti-deviating mechanism of the present invention;

[0027] Figure 3 It is a schematic diagram of the driving mechanism structure of the present invention;

[0028] Figure 4 It is a schematic diagram of the local structure of the threaded rod of the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the driving mechanism of the present invention;

[0030] Figure 6 It is a schematic diagram of the local structure of the rotating shaft of the present invention;

[0031] Figure 7 It is a module block diagram of the present invention.

[0032] In the figure: 1. main body; 101. crossbeam; 102. trolley; 103. crane body; 2. anti-deviating mechanism; 201. shell; 2011. opening; 2012. supporting shaft; 202. reel one; 203. reel two; 204. rotating shaft; 205. gear one; 206. worm; 207. worm wheel; 208. sleeve; 209. gear two; 3. driving mechanism; 301. bevel gear set; 302. tooth one; 303. gear three; 304. gear four; 305. rotating driving member; 306. connecting shaft; 307. middle shaft; 3071. motor; 3072. threaded rod; 3073. bearing seat; 3074. side gear; 308. tooth two. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0036] As attached Figure 1 , 2 and 6:

[0037] Embodiment 1: This embodiment provides a single-beam metallurgical crane with an anti-deviating function, comprising a main body 1, a crossbeam 101, a trolley 102 movably arranged on the crossbeam 101, and a crane body 103 arranged at the bottom of the trolley 102; an anti-deviating mechanism 2, comprising a housing 201 arranged between the trolley 102 and the crane body 103, a rotating shaft 204 arranged in the housing 201, a sleeve 208 movably arranged on the rotating shaft 204, and a housing 201 at the front end of the rotating shaft 204. 01 is provided with reel one 202 on both sides, reel two 203 is provided on both sides of the shell 201 at the rear end of the rotating shaft 204, gear one 205 is provided on the input end of reel one 202 and sleeve 208, gear two 209 is provided on the input end of reel two 203 and the rotating shaft 204, worm gear 207 is provided on the rotating shaft 204 and sleeve 208, and two worms 206 are provided in the shell 201; driving mechanism 3 is provided at the input end of the worm 206.

[0038] When working, first connect the hook sling on the crane body 103 with the object to be lifted, then hook the hook sling rolled up on the two reels 202 on both sides of the front end of the object to be lifted, and hook the hook sling rolled up on the two reels 203 on both sides of the rear end of the object to be lifted, then start the crane body 103, the crane body 103 will lift the object to be lifted, and then use the trolley 102 to drive the device to move on the beam 101, and then the transportation work can be carried out;

[0039] When the object to be hoisted is an irregular object, when the crane body 103 lifts the object, the object may tilt toward the center of gravity with the hook sling at the bottom of the crane body 103 as the center because the center of gravity of the object is not on the hook sling at the bottom of the crane body 103. When the trolley 102 drives the crane body 103 to move, the object will tilt and deviate in the direction opposite to the moving direction, thereby affecting the stability of the crane body 103 in transportation. At this time, the driving mechanism 3 is started, and the driving mechanism 3 will respectively drive the two worms 206 to rotate. When the worm 206 rotates, it will drive the worm 207 to mesh with the worm wheel 207. The two worm gears 207 rotate at a reduced speed, and the two worm gears 207 respectively rotate the shaft 204 and the sleeve 208. When the shaft 204 rotates, the reel 1 202 rotates synchronously through the gear 1 205. When the sleeve 208 rotates, the reel 2 203 rotates synchronously through the gear 2 209. When the center of gravity of the object is biased toward the front end, the reel 1 202 is controlled to rotate the winding hook sling. When the center of gravity of the object is biased toward the rear end, the reel 2 203 is controlled to rotate the winding hook sling to pull up the object tilted downward until the object is adjusted to a horizontal level to improve stability.

[0040] The meshing of the worm wheel 207 and the worm 206 drives the reel 1 202 or the reel 2 203 to rotate. The meshing reduction transmission of the worm wheel 207 and the worm 206 can greatly improve the adjustment accuracy of the object, and the one-way transmission characteristics of the worm wheel 207 and the worm 206 can achieve self-locking after the adjustment is completed, thereby improving stability.

[0041] Specifically, the two gears 1 205 are meshed with each other, the two gears 209 are meshed with each other, and the two worms 206 are meshed with the two worm wheels 207 respectively.

[0042] As attached Figure 1 and 2 As shown:

[0043] Embodiment 2: This embodiment provides a single-beam metallurgical crane with an anti-deviating function, comprising a main body 1, a crossbeam 101, a trolley 102 movably arranged on the crossbeam 101, and a crane body 103 arranged at the bottom of the trolley 102; an anti-deviating mechanism 2, comprising a housing 201 arranged between the trolley 102 and the crane body 103, a rotating shaft 204 arranged in the housing 201, a sleeve 208 movably arranged on the rotating shaft 204, and a housing 201 at the front end of the rotating shaft 204. 01 is provided with reel one 202 on both sides, reel two 203 is provided on both sides of the shell 201 at the rear end of the rotating shaft 204, gear one 205 is provided on the input end of reel one 202 and sleeve 208, gear two 209 is provided on the input end of reel two 203 and the rotating shaft 204, worm gear 207 is provided on the rotating shaft 204 and sleeve 208, and two worms 206 are provided in the shell 201; driving mechanism 3 is provided at the input end of the worm 206.

[0044] Specifically, the two gears 1 205 are meshed with each other, the two gears 209 are meshed with each other, and the two worms 206 are meshed with the two worm wheels 207 respectively.

[0045] As attached Figure 3 and 4 As shown:

[0046] Specifically, the driving mechanism 3 includes two central shafts 307 respectively arranged at the input ends of the two worm gears 206, two connecting shafts 306 respectively arranged at the input ends of the two central shafts 307, a gear three 303 arranged between the two connecting shafts 306, a gear four 304 arranged in the shell 201, and a rotating driving member 305 arranged at the input end of the gear four 304.

[0047] Specifically, the middle shaft 307 is engaged with the connecting shaft 306 via a side gear 3074 , a bearing seat 3073 is movably provided on the connecting shaft 306 , a threaded rod 3072 is threadedly connected between the bearing seats 3073 , and a motor 3071 is provided at the input end of the threaded rod 3072 .

[0048] As attached Figure 5 As shown:

[0049] Specifically, the input end of the connecting shaft 306 is provided with a first latch tooth 302 , and both ends of the gear 3 303 are provided with a second latch tooth 308 , and a gap is provided between the first latch tooth 302 and the adjacent second latch tooth 308 .

[0050] Specifically, the worm 206 is meshedly connected with the central shaft 307 via a bevel gear set 301 .

[0051] Specifically, the crane body 103 , the first drum 202 and the second drum 203 are all provided with lifting equipment.

[0052] Specifically, openings 2011 are provided on both side surfaces of the shell 201, and support shafts 2012 are provided on both sides of the shell 201 at the bottom of the opening 2011. The ropes wound on the reel 1 202 and the reel 2 203 extend out of the device through the opening 2011. A hook for fixing objects is provided at the front end of the rope. The support shaft 2012 is used to support the rope to prevent the rope from directly contacting the shell 201 when lifting objects.

[0053] As can be seen from the above, when the object to be hoisted is an irregular object, when the crane body 103 lifts the object, the object may tilt toward the center of gravity with the hook sling at the bottom of the crane body 103 as the center because the center of gravity of the object is not on the hook sling at the bottom of the crane body 103. When the trolley 102 drives the crane body 103 to move, the object will tilt and deviate in the direction opposite to the moving direction, thereby affecting the stability of the crane body 103 in transportation. At this time, the driving mechanism 3 is started, and the driving mechanism 3 will respectively drive the two worms 206 to rotate. When the worm 206 rotates, it will mesh with the worm wheel 207. The two worm gears 207 are driven to rotate at a reduced speed, and the two worm gears 207 are driven to rotate respectively. The two worm gears 207 drive the rotating shaft 204 and the sleeve 208 to rotate respectively. When the rotating shaft 204 rotates, it drives the reel 1 202 to rotate synchronously through the gear 1 205. When the sleeve 208 rotates, it drives the reel 2 203 to rotate synchronously through the gear 2 209. When the center of gravity of the object is biased toward the front end, the reel 1 202 is controlled to rotate the winding hook sling. When the center of gravity of the object is biased toward the rear end, the reel 2 203 is controlled to rotate the winding hook sling to pull up the object tilted downward until the object is adjusted to a horizontal level to improve stability.

[0054] The meshing of the worm wheel 207 and the worm 206 drives the reel 1 202 or the reel 203 to rotate. The meshing reduction transmission of the worm wheel 207 and the worm 206 can greatly improve the adjustment accuracy of the object, and the one-way transmission characteristics of the worm wheel 207 and the worm 206 can achieve self-locking after the adjustment is completed, thereby improving stability.

[0055] When the crane body 103 is used to lift the object, the rotating driving member 305 is started, and the rotating driving member 305 drives the gear 4 304 to rotate. The gear 4 304 drives the gear 3 303 to rotate by meshing with the gear 3 303, and then drives the two middle shafts 307 to rotate together through the side gear 3074. The middle shaft 307 drives the worm 206 to rotate through the bevel gear set 301, so as to synchronously drive the two reels 1 202 and reel 2 203 to rotate, thereby pulling the hook slings on the crane body 103, reel 1 202 and reel 2 203 at the same time to ensure the stability of the object when lifting;

[0056] When the center of gravity of the object is biased toward the front end and it is necessary to control the reel 1 202 to rotate the winding hook hanger, the motor 3071 is started, the motor 3071 will drive the threaded rod 3072 to rotate, and then drive the connecting shaft 306 to move through the threaded connection relationship with the bearing seat 3073, so that the side gear 3074 on the connecting shaft 306 is disengaged from the side gear 3074 on the reel 203. At this time, when the rotating drive member 305 is started, it will only drive the reel 1 202 to rotate but not the reel 203, so as to only lift the front end of the object tilted downward. The same applies when the center of gravity of the object is biased toward the rear end.

[0057] By setting a certain gap between the latch tooth 1 302 and the latch tooth 2 308, the connecting shaft 306 can rotate to a certain extent on the gear 303. When the separated side gear 3074 needs to contact and mesh again and the latch teeth on it are aligned, the side gear 3074 of the middle shaft 307 will generate an oblique thrust on the latch teeth of the side gear 3074 on the gear 303 through the arc edge of the front end of the latch teeth to rotate and push it away, so that the latch teeth on the side gear 3074 are staggered and can mesh again, thereby synchronously driving the reel 1 202 and the reel 2 203 to rotate to lift the object.

[0058] As attached Figure 7 As shown:

[0059] Embodiment 3: This embodiment is basically the same as the previous embodiment, except that it further includes a control module, and a load detection module and an offset detection module connected to the control module;

[0060] A control module, used for receiving and processing detection data of the load detection module and the offset detection module, and issuing control instructions;

[0061] A load detection module, used to monitor dynamic information of the load of the crane body 103;

[0062] The offset detection module is used to monitor the position information of both ends of the hoisted objects.

[0063] Specifically, the control module uses the following formula to issue a control instruction:

[0064] u ( t ) =-K·x ( t ) , where u ( t ) is the control signal, K is the feedback gain matrix, x ( t ) is the state vector, including the height and tilt angle of both ends of the hoisted object, which can be specifically expressed as:

[0065] where h 1( t ) is the real-time monitoring value of the height of one end of the hoisted object, h 2( t ) is the real-time monitoring value of the height of the other end of the hoisted object, θ ( t ) is the inclination angle of the hoisted object, specifically expressed as:

[0066] Where L is the horizontal distance between the two ends of the hoisted object, and arctan is the inverse tangent function.

[0067] By calculating the height difference between the two ends of the object, we can get the degree of inclination of the object due to factors such as transportation. Using arctan to calculate the ratio of the height difference to the length L, the result is the angle θ at which the object is tilted relative to the horizontal plane. ( t ) , which can effectively deal with the balance problem of irregular objects during transportation and improve the operational safety and efficiency of the crane.

[0068] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0069] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0070] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An anti-deviating single-beam metallurgical crane, characterized in that: include, The main body (1) comprises a crossbeam (101), a trolley (102) movably arranged on the crossbeam (101), and a crane body (103) arranged at the bottom of the trolley (102); The anti-deviating mechanism (2) comprises a housing (201) arranged between the trolley (102) and the crane body (103), a rotating shaft (204) arranged in the housing (201), and a sleeve (208) movably arranged on the rotating shaft (204); a reel (202) is arranged on both sides of the housing (201) at the front end of the rotating shaft (204); a reel (203) is arranged on both sides of the housing (201) at the rear end of the rotating shaft (204); a gear (205) is arranged on the input end of the reel (202) and the sleeve (208); a gear (209) is arranged on the input end of the reel (203) and the rotating shaft (204); a worm gear (207) is arranged on the rotating shaft (204) and the sleeve (208); and two worms (206) are arranged in the housing (201); A driving mechanism (3) is arranged at the input end of the worm (206).

2. The anti-deviating single-beam metallurgical crane according to claim 1, characterized in that: The two gears 1 (205) are meshed with each other, the two gears 2 (209) are meshed with each other, and the two worms (206) are respectively meshed with the two worm wheels (207).

3. The anti-deviating single-beam metallurgical crane according to claim 1, characterized in that: The driving mechanism (3) comprises two central shafts (307) respectively arranged at the input ends of the two worm gears (206), two connecting shafts (306) respectively arranged at the input ends of the two central shafts (307), a gear three (303) arranged between the two connecting shafts (306), a gear four (304) arranged in the housing (201), and a rotating driving member (305) arranged at the input end of the gear four (304).

4. The anti-deviating single-beam metallurgical crane according to claim 3, characterized in that: The central shaft (307) is engaged with the connecting shaft (306) via a side gear (3074); a bearing seat (3073) is movably provided on the connecting shaft (306); a threaded rod (3072) is threadedly connected between the bearing seats (3073); and a motor (3071) is provided at the input end of the threaded rod (3072).

5. The anti-deviating single-beam metallurgical crane according to claim 3, characterized in that: The input end of the connecting shaft (306) is provided with a first latching tooth (302), and both ends of the gear three (303) are provided with a second latching tooth (308), and a gap is provided between the first latching tooth (302) and the adjacent second latching tooth (308).

6. The anti-deviating single-beam metallurgical crane according to claim 3, characterized in that: The worm (206) and the center shaft (307) are meshingly connected via a bevel gear set (301).

7. The anti-deviating single-beam metallurgical crane according to claim 1, characterized in that: The crane body (103), the first drum (202) and the second drum (203) are all provided with lifting equipment.

8. The anti-deviating single-beam metallurgical crane according to claim 1, characterized in that: Openings (2011) are provided on both side surfaces of the shell (201), and support shafts (2012) are provided on both sides of the shell (201) at the bottom of the opening (2011).

9. The anti-deviating single-beam metallurgical crane according to claim 1, characterized in that: It also includes a control module, and a load detection module and an offset detection module connected to the control module; The control module is used to receive and process the detection data of the load detection module and the offset detection module, and issue control instructions; The load detection module is used to monitor dynamic information of the load of the crane body (103); The offset detection module is used to monitor the position information of both ends of the hoisted object.

10. The anti-deviating single-beam metallurgical crane according to claim 9, characterized in that: The control module uses the following formula to issue control instructions: u(t) = -K x(t), where u(t) is the control signal, K is the feedback gain matrix, and x(t) is the state vector, including the height and tilt angle of the two ends of the hoisted object, which can be specifically expressed as: where h 1( t ) is the real-time monitoring value of the height of one end of the hoisted object, h 2( t ) is the real-time monitoring value of the height of the other end of the hoisted object, θ ( t ) is the inclination angle of the hoisted object, specifically expressed as: Where L is the horizontal distance between the two ends of the hoisted object, and arctan is the inverse tangent function.

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