Four-pin grabbing lifting appliance and framework conveying equipment

Abstract

The invention provides a four-pin grabbing lifting appliance. The four-pin grabbing lifting appliance comprises a foundation platform and a grabbing assembly. The grabbing assemblies are installed at the four corners of the basic platform. The grabbing assembly is used for locking the framework; the hoisting of the framework is realized; the grabbing assembly comprises a first-stage adjusting assembly, a second-stage adjusting assembly and a locking assembly. The first adjusting assembly is fixedly installed on the foundation platform. The second-stage adjusting assembly is connected and matched with the first-stage adjusting assembly, and the locking assembly is connected and matched with the second adjusting assembly; the first-stage adjusting assembly can achieve adjustment in the X direction. The second-stage adjusting assembly can achieve adjustment in the Y direction. And the locking assembly can be used for locking the framework. Aiming at automatic turnover of the railway vehicle bogie framework, automatic falling of the bogie is realized, intercommunication and interconnection with a workshop-level informatization management system are realized, and automatic falling operation of the bogie is realized through control and position detection.

Description

Technical Field

[0001] The invention belongs to the field of hoisting equipment, and in particular relates to a four-pin grabbing hoist and frame transmission equipment. Background Art

[0002] As a guarantee for the safe operation of trains, bogies mainly undertake functions such as load-bearing, traction, buffering, guiding and braking. The bogie completion process is a key step to ensure the assembly quality of rail transit vehicle bogies. At present, during the bogie completion process, the frame needs to be transported and completed. The traditional completion method is to manually operate the overhead crane, and the frame does not have a special lifting device. Generally, ropes and hooks are used to transport and complete the frame. This process requires manual operation of the overhead crane, and 2-4 people observe the position of the frame and cooperate to complete the completion action. The labor intensity is high, the production efficiency is low, and the workers need to observe the operation at the bottom of the overhead crane, which poses a safety hazard. Summary of the invention

[0003] In view of this, the present invention aims to propose a four-pin grabbing sling and frame transmission equipment, which can realize the automatic turnover of rail vehicle bogies, the automatic completion of bogies, and interconnection with the workshop-level information management system to realize the automatic completion operation of the bogie through control and position detection.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows: A four-pin grabbing sling comprises a base platform and a grabbing assembly; the grabbing assembly is installed at the four corners of the base platform; the grabbing assembly is used to lock a frame to realize the lifting of the frame.

[0005] Further, the grabbing assembly includes a primary adjustment assembly, a secondary adjustment assembly and a locking assembly; the first adjustment assembly is fixedly mounted to the base platform; The secondary adjustment assembly is connected and matched with the primary adjustment assembly, and the locking assembly is connected and matched with the second adjustment assembly; The first-level adjustment component can realize adjustment in the X direction; The secondary adjustment component can realize adjustment in the Y direction; The locking assembly can achieve locking of the frame.

[0006] Furthermore, the first-level adjustment assembly includes a first-level adjustment plate, the first-level adjustment plate is fixedly connected to the base platform, and the lower surface of the first-level adjustment plate is provided with a first-level slide rail, a first-level slider and a first-level lead screw; the first-level slider is slidably connected to the first-level slide rail; A hand wheel is provided at the end of the primary lead screw.

[0007] Furthermore, the secondary adjustment assembly includes a secondary adjustment plate, a secondary lead screw, a secondary adjustment motor, a secondary slide rail and a secondary slider; the secondary adjustment plate is fixedly connected to the primary slider to achieve sliding of the secondary adjustment in the X direction; The secondary adjustment plate is also threadedly connected to the primary lead screw, and the secondary adjustment plate is driven to move by rotating the hand wheel; The lower surface of the secondary adjustment plate is provided with a secondary lead screw, a secondary adjustment motor and a secondary slide rail, the secondary lead screw is connected to the output end of the secondary adjustment motor; and a secondary slide block is provided on the secondary slide rail.

[0008] Further, the locking assembly includes a locking integrated plate, a locking frame, a locking cylinder and a locking pin; The locking integrated plate is mounted on the secondary slider; the locking frame is mounted on the lower surface of the locking integrated plate; the locking cylinder is mounted on the locking integrated plate through the cylinder mounting frame, and the locking pin is connected to the output end of the locking cylinder; the locking pin cooperates with the locking frame to achieve locking of the frame; The top of the frame is provided with a lifting ring corresponding to the locking pin.

[0009] Furthermore, the locking frame includes a first frame and a second frame that are symmetrically arranged, and the first frame and the second frame are each provided with two holes, which are divided into an upper hole and a lower hole; The locking pin includes an upper pin and a lower pin, both of which are mounted to a pin connecting plate, and the pin connecting plate is also connected to the output end of the locking cylinder; The locking cylinder works to achieve simultaneous movement of the upper and lower pins; The upper pin is used to be inserted into the two upper holes, and the lower pin is used to be inserted into the two lower holes; and the lower pin is also used to pass through the lifting ring of the frame to achieve matching.

[0010] Furthermore, a No. 1 detection sensor is provided on the No. 2 frame, and the No. 1 detection sensor is installed to the No. 2 frame through a bracket, and the No. 1 detection sensor is used to detect the lower pin passing through the No. 2 frame; The locking integrated board is provided with a second detection sensor, which is mounted to the locking integrated board through a bracket, and is used to detect the position of the upper pin; The length of the upper pin is greater than that of the lower pin, the lower pin is separated from the first frame and the second frame, and the upper pin is at least still in the upper hole of the first frame.

[0011] Furthermore, a limit detection component is provided on the primary adjustment plate, and the limit detection component is used to limit the secondary adjustment plate and perform offset detection; The limit detection assembly includes a detection slider, a fixing bolt, a centering bolt, a limit plate and a centering detection sensor; The first-level adjustment plate is provided with a sliding groove, and the detection slider is installed in the sliding groove; A No. 1 oblong hole is provided in the sliding groove, and the centering bolt passes through the threaded detection slider, the No. 1 oblong hole and the limiting hole of the limiting plate in sequence, and the limiting plate is connected to the secondary adjustment plate to achieve the limiting of the No. 2 adjustment plate; The detection slider is provided with two No. 2 oblong holes, and fixing bolts are passed through the two No. 2 oblong holes and connected with the first-level adjustment plate bolts, thereby fixing the detection slider relative to the first-level adjustment plate; A top screw frame is provided on both sides of the detection slider, and the top screw frame is provided with a top screw body. The top screw bodies on both sides are in contact with the detection slider to further fix the detection slider; The centering detection sensor is mounted to the primary adjustment plate via a centering mounting frame, and the centering mounting frame is provided with an oblong hole to enable adjustment; The centering detection sensor corresponds to the centering bolt.

[0012] Furthermore, two symmetrical L-shaped top plates are provided on the secondary adjustment plate, and two symmetrical L-shaped anti-dropout plates are provided under the secondary adjustment plate. The L-shaped top plates can be in contact and cooperate with the limit plates of the limit detection assembly; the two L-shaped anti-dropout plates are bent inward, and limit pins are provided at both ends of each L-shaped anti-dropout plate, and an anti-dropout area is formed between the two L-shaped anti-dropout plates and the limit pins.

[0013] The frame transmission equipment also includes a truss, a crane assembly, a telescopic arm mechanism, and a shuttle bus; The overhead crane assembly is mounted on the truss and can travel on the truss; the grabbing sling is connected to the overhead crane assembly through a telescopic arm mechanism, and the shuttle can travel at the lower station of the truss to load and transport the frame; The truss is also equipped with a door opening and closing mechanism. After the door is opened, the hoisting device performs the grabbing or completion operation of the frame and closes the door after completion.

[0014] Compared with the prior art, the four-pin grabbing sling and frame transmission equipment described in the present invention have the following beneficial effects: (1) The four-pin grabbing sling and frame transmission equipment described in the present invention realizes the automatic turnover of the rail vehicle bogie frame, realizes the automatic completion of the bogie, and is interconnected with the workshop-level information management system. Through control and position detection, the automatic completion of the bogie is realized, which reduces manual operations and improves work efficiency; (2) The four-pin grabbing sling and frame transmission equipment described in the present invention can accurately locate the position of the frame and then perform lifting. The grabbing sling is designed based on the structure of the frame itself to complete the lifting operation quickly and stably.

[0015] (3) The four-pin grabbing sling and frame transmission equipment described in the present invention is designed with an L-shaped anti-drop plate. If an accidental drop occurs, the locking integrated plate will fall into the anti-drop area, which can effectively deal with the situation and avoid equipment damage and safety problems. The truss door opening and closing mechanism can realize the top protection of non-working stations to ensure the safety of the bogie completion operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 A schematic diagram of a four-pin grabbing sling according to an embodiment of the present invention; Figure 2 An enlarged schematic diagram of the grabbing assembly according to an embodiment of the present invention Figure 1 ; Figure 3 An enlarged schematic diagram of the grabbing assembly according to an embodiment of the present invention Figure 1 ; Figure 4 A schematic diagram of a locking pin according to an embodiment of the present invention; Figure 5 It is an enlarged schematic diagram of the primary adjustment plate according to an embodiment of the present invention; Figure 6 A schematic diagram of a secondary adjustment plate according to an embodiment of the present invention; Figure 7 Schematic diagram of the limit detection component according to the embodiment of the present invention Figure 1 ; Figure 8 Schematic diagram of the limit detection component according to the embodiment of the present invention Figure 2 ; Fig. 9 It is a schematic diagram of a four-pin grabbing sling and frame transmission equipment described in an embodiment of the present invention.

[0018] Description of reference numerals: 1. Basic platform; 2. Grabbing assembly; 21. First-level adjustment assembly; 211. First-level adjustment plate; 2111. No. 1 oblong hole; 212. First-level slide rail; 213. First-level slider; 214. First-level lead screw; 215. Hand wheel; 22. Second-level adjustment assembly; 221. Second-level adjustment plate; 2211. L-shaped top plate; 2212. L-shaped anti-slip plate; 222. Second-level lead screw; 223. Second-level adjustment motor; 224. Second-level slide rail; 225. Second-level slider; 23. Locking assembly; 231. Locking integrated board; 232. Locking frame; 2321. No. 1 frame ; 2322, frame No. 2; 2323, upper hole; 2324, lower hole; 233, locking cylinder; 234, locking pin; 2341, upper pin; 2342, lower pin; 2343, pin connecting plate; 24, limit detection assembly; 241, detection slider; 2411, oblong hole No. 2; 242, fixing bolt; 243, centering bolt; 244, limit plate; 2441, limit hole; 245, top screw body; 246, centering mounting frame; 3, frame; 31, lifting ring; 4, truss; 5, overhead crane assembly; 6, telescopic arm mechanism; 7, door opening and closing mechanism. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0020] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0021] A four-pin grab spreader, such as Figure 1-Figure 8 As shown, it includes a basic platform 1 and a grabbing assembly 2; the grabbing assembly 2 is installed to the four corners of the basic platform 1; the grabbing assembly 2 is used to lock the frame 3 to realize the lifting of the frame 3.

[0022] Preferably, the grabbing assembly 2 comprises a primary adjustment assembly 21, a secondary adjustment assembly 22 and a locking assembly 23; the first adjustment assembly is fixedly mounted to the base platform 1; The secondary adjustment component 22 is connected and matched with the primary adjustment component 21, and the locking component 23 is connected and matched with the secondary adjustment component; The first-level adjustment component 21 can realize adjustment in the X direction; The secondary adjustment component 22 can realize adjustment in the Y direction; The locking assembly 23 can achieve locking of the frame.

[0023] Preferably, the primary adjustment assembly 21 includes a primary adjustment plate 211, which is fixedly connected to the base platform 1, and a primary slide rail 212, a primary slider 213 and a primary lead screw 214 are provided on the lower surface of the primary adjustment plate 211; the primary slider 213 is slidably connected to the primary slide rail 212; A hand wheel 215 is provided at the end of the primary lead screw 214 .

[0024] Preferably, the secondary adjustment assembly 22 includes a secondary adjustment plate 221, a secondary lead screw 222, a secondary adjustment motor 223, a secondary slide rail 224 and a secondary slider 225; the secondary adjustment plate 221 is fixedly connected to the primary slider 213 to achieve the sliding of the secondary adjustment in the X direction; the secondary adjustment plate 221 is also threadedly connected to the primary lead screw 214, and the hand wheel 215 is rotated to drive the secondary adjustment plate 221 to move; The lower surface of the secondary adjustment plate 221 is provided with a secondary lead screw 222 , a secondary adjustment motor 223 and a secondary slide rail 224 . The secondary lead screw 222 is connected to the output end of the secondary adjustment motor 223 . The secondary slide rail 224 is provided with a secondary slider 225 .

[0025] Preferably, the locking assembly 23 includes a locking integrated plate 231, a locking frame 232, a locking cylinder 233 and a locking pin 234; The locking integrated plate 231 is mounted to the secondary slider 225; the secondary adjustment motor 223 works under the control of the controller to control the movement of the locking integrated plate 231; The locking frame 232 is mounted to the lower surface of the locking integrated plate 231; the locking cylinder 233 is mounted to the locking integrated plate 231 through the cylinder mounting frame, and the locking pin 234 is connected to the output end of the locking cylinder 233; the locking pin 234 cooperates with the locking frame 232 to achieve locking of the frame 3; A lifting ring 31 corresponding to the locking pin 234 is provided on the top of the frame 3 .

[0026] Preferably, the locking frame 232 includes a first frame 2321 and a second frame 2322 that are symmetrically arranged, and the first frame 2321 and the second frame 2322 are each provided with two holes, which are divided into an upper hole 2323 and a lower hole 2324; The locking pin 234 includes an upper pin 2341 and a lower pin 2342, both of which are mounted to a pin connecting plate 2343, and the pin connecting plate 2343 is also connected to the output end of the locking cylinder 233; The locking cylinder 233 works to achieve simultaneous movement of the upper pin 2341 and the lower pin 2342; The upper pin 2341 is used to be inserted into the two upper holes 2323, and the lower pin 2342 is used to be inserted into the two lower holes 2324; and the lower pin 2342 is also used to pass through the lifting ring 31 of the frame to achieve lifting cooperation.

[0027] Preferably, the No. 1 detection sensor is provided on the No. 2 frame 2322, and the No. 1 detection sensor is installed on the No. 2 frame 2322 through a bracket, and the No. 1 detection sensor is used to detect the lower pin 2342 passing through the No. 2 frame 2322; when the lower pin 2342 touches the No. 1 detection sensor, the No. 1 detection sensor sends a signal to the controller, and the controller controls the locking cylinder 233 to stop working, thereby completing the cooperation with the lifting ring 31; The locking integrated board 231 is provided with a second detection sensor, which is mounted to the locking integrated board 231 through a bracket, and is used to detect the position of the upper pin 2341; When the lifting is completed and the locking pin 234 needs to be opened, the controller controls the locking cylinder 233 to work, and the upper pin 2341 and the lower pin 2342 work at the same time. When the upper pin 2341 contacts the second detection sensor, it proves that the lower pin 2342 has been completely pulled out of the lifting ring 31. At this time, the controller controls the locking cylinder 233 to stop working; the lifting device and the frame 3 are separated; The length of the upper pin 2341 is greater than that of the lower pin 2342 . The lower pin 2342 is separated from the first frame 2321 and the second frame 2322 . The upper pin 2341 is at least still in the upper hole 2323 of the first frame 2321 .

[0028] The purpose of this arrangement is to allow the upper pin 2341 to always cooperate with the locking frame 232 during work, and the upper hole 2323 of the locking frame 232 always provides a linear guide function for the upper pin 2341; when the lower pin 2342 is separated from the lifting ring 31, it can also ensure that there is cooperation between the upper pin 2341 and the locking frame 232, thereby improving the stability of the lifting.

[0029] Preferably, a limit detection component 24 is provided on the first-level adjustment plate 211, and the limit detection component 24 is used to limit the second-level adjustment plate 221 and perform offset detection; the second-level adjustment plate 221 is controlled by a handwheel 215, because the second adjustment plate does not need to be adjusted frequently during use, it is controlled by the handwheel 215, but once an offset occurs, it will affect the overall lifting effect, so how to detect the offset is a problem that needs to be solved.

[0030] The limit detection assembly 24 includes a detection slider 241, a fixing bolt 242, a centering bolt 243, a limit plate 244 and a centering detection sensor; The first-level adjustment plate 211 is provided with a sliding groove, and the detection slider 241 is installed in the sliding groove, so that the detection slider 241 can move within the range of the sliding groove; A first oblong hole 2111 is provided in the sliding groove, and the centering bolt 243 passes through the threaded detection slider 241, the first oblong hole 2111 and the limiting hole 2441 of the limiting plate 244 in sequence, and the limiting plate 244 is connected to the secondary adjustment plate 221 to limit the second adjustment plate; The centering bolt 243 is inserted into the limiting hole 2441 to limit the movement of the secondary adjustment plate 221; However, during operation, the secondary adjustment plate 221 may inevitably move in the axial direction due to shaking, collision, etc. At this time, the limit plate 244 will drive the centering bolt 243 to move, and the centering bolt 243 will drive the detection slider 241 to move; the centering detection sensor for detecting the centering bolt 243 will send the information of the movement to the controller, and the controller will issue an alarm; The detection slider 241 is provided with two second oblong holes 2411, and the fixing bolts 242 pass through the two second oblong holes 2411 and are bolted to the primary adjustment plate 211, thereby fixing the detection slider 241 relative to the primary adjustment plate 211; A top screw frame is provided on both sides of the detection slider 241, and a top screw body 245 is provided on the top screw frame. The top screw bodies 245 on both sides are in contact with the detection slider 241 to further fix the detection slider 241. The function of the fixing bolt 242 and the top screw body 245 is to ensure that the detection slider 241 does not move. However, when the force applied is greater than the fixing force of the detection slider 241, the detection slider 241 will also move. The limit detection component 24 is used to perform early warning detection of this situation.

[0031] The centering detection sensor is mounted to the primary adjustment plate 211 via a centering mounting bracket 246 , and the centering mounting bracket 246 is provided with an oblong hole to enable adjustment; The centering detection sensor corresponds to the centering bolt 243 .

[0032] Preferably, two symmetrical L-shaped top plates 2211 are provided on the secondary adjustment plate 221, and two symmetrical L-shaped anti-slip plates 2212 are provided under the secondary adjustment plate 221, and the L-shaped top plates 2211 can be in contact with the limit plate 244 of the limit detection assembly 24; The two L-shaped anti-slip plates are bent inwardly, and limit pins are provided at both ends of each L-shaped anti-slip plate, and an anti-slip area is formed between the two L-shaped anti-slip plates and the limit pins. The locking integrated plate 231 of the locking assembly 23 is used to prevent the sliding block or the sliding rail from falling off. This design can improve the safety of the lifting device during operation. If an accidental fall occurs, the locking integrated plate falls into the anti-falling area, which can effectively prevent equipment damage and ensure safety issues. The frame 3 transmission equipment also includes a truss 4, a crane assembly 5, a telescopic arm mechanism 6, and a shuttle bus; the crane assembly 5 is installed on the truss 4 and can travel on the truss 4; the grabbing sling is connected to the crane assembly 5 through the telescopic arm mechanism 6, and the shuttle bus can travel at the lower station of the truss 4 to load and transport the frame 3; The truss 4 is also provided with a door opening and closing mechanism 7. After the door is opened, the sling performs the grabbing or completion operation of the frame 3 and closes the door after completion.

[0033] The frame transmission equipment is mainly used for the automatic turnover of rail vehicle bogie frames, realizes the automatic completion of the bogie, and interconnects with the workshop-level information management system to realize the automatic completion operation of the bogie through control and position detection.

[0034] The steps are as follows: 1) Manually move the shuttle bus to dock with its positioning device and reach the designated location; 2) Automatically scan the framework identification; 3) Personnel evacuate to a safe area and press the button to confirm the material removal; 4) The spreader automatically descends, and when it is at a set distance from the frame, it slowly descends to the lifting position; 5) The sling locking assembly is closed and the frame is locked; 6) The hoist is raised to the highest point, and the overhead crane moves to the waiting position, waiting for the conveying instruction from the production line; 7) The overhead crane receives the conveying signal and automatically moves to the required work position. The opening and closing device opens and the hoist descends; 8) The hoist stops after it descends to a given distance from the wheelset (given by the adjustment station). The wheelset positioning and adjustment device detects the position of the frame. The wheelset positioning device automatically corrects the horizontal relative position between the wheelset and the frame. The hoist then continues to be installed and begins to slowly descend for pre-assembly with the wheelset to ensure the docking stability between the frame and the wheelset.

[0035] 9) After the wheelset is docked with the frame, the hoist is lifted to the highest point (the opening and closing device is closed), and the intelligent overhead crane returns to the loading station to prepare for the next cycle of operation.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A four-pin grabbing sling, characterized in that: It includes a basic platform and a grabbing assembly; the grabbing assembly is installed at the four corners of the basic platform; the grabbing assembly is used to lock the frame to realize the hoisting of the frame.

2. A four-pin grabbing sling according to claim 1, characterized in that: The grabbing assembly includes a primary adjustment assembly, a secondary adjustment assembly and a locking assembly; the first adjustment assembly is fixedly mounted to the base platform; The secondary adjustment assembly is connected and matched with the primary adjustment assembly, and the locking assembly is connected and matched with the secondary adjustment assembly; The first-level adjustment component can realize adjustment in the X direction; The secondary adjustment component can realize adjustment in the Y direction; The locking assembly can achieve locking of the frame.

3. A four-pin grabbing sling according to claim 2, characterized in that: The first-level adjustment assembly includes a first-level adjustment plate, which is fixedly connected to the base platform, and the lower surface of the first-level adjustment plate is provided with a first-level slide rail, a first-level slider and a first-level lead screw; the first-level slider is slidably connected to the first-level slide rail; A hand wheel is provided at the end of the primary lead screw.

4. A four-pin grabbing sling according to claim 2, characterized in that: The secondary adjustment assembly includes a secondary adjustment plate, a secondary lead screw, a secondary adjustment motor, a secondary slide rail and a secondary slider; the secondary adjustment plate is fixedly connected to the primary slider to achieve sliding of the secondary adjustment in the X direction; The secondary adjustment plate is also threadedly connected to the primary lead screw, and the secondary adjustment plate is driven to move by rotating the hand wheel; The lower surface of the secondary adjustment plate is provided with a secondary lead screw, a secondary adjustment motor and a secondary slide rail, the secondary lead screw is connected to the output end of the secondary adjustment motor; and a secondary slide block is provided on the secondary slide rail.

5. A four-pin grabbing sling according to claim 4, characterized in that: The locking assembly comprises a locking integrated plate, a locking frame, a locking cylinder and a locking pin; The locking integrated plate is mounted on the secondary slider; the locking frame is mounted on the lower surface of the locking integrated plate; the locking cylinder is mounted on the locking integrated plate through the cylinder mounting frame, and the locking pin is connected to the output end of the locking cylinder; the locking pin cooperates with the locking frame to achieve locking of the frame; The top of the frame is provided with a lifting ring corresponding to the locking pin.

6. A four-pin grabbing sling according to claim 5, characterized in that: The locking frame includes a first frame and a second frame which are symmetrically arranged, and each of the first frame and the second frame is provided with two holes, which are divided into an upper hole and a lower hole; The locking pin includes an upper pin and a lower pin, both of which are mounted to a pin connecting plate, and the pin connecting plate is also connected to the output end of the locking cylinder; The locking cylinder works to achieve simultaneous movement of the upper and lower pins; The upper pin is used to be inserted into the two upper holes, and the lower pin is used to be inserted into the two lower holes; and the lower pin is also used to pass through the lifting ring of the frame to achieve matching.

7. A four-pin grabbing sling according to claim 6, characterized in that: The No. 2 frame is provided with a No. 1 detection sensor, which is mounted to the No. 2 frame through a bracket, and the No. 1 detection sensor is used to detect the lower pin passing through the No. 2 frame; The locking integrated board is provided with a second detection sensor, which is mounted to the locking integrated board through a bracket, and is used to detect the position of the upper pin; The length of the upper pin is greater than that of the lower pin, the lower pin is separated from the first frame and the second frame, and the upper pin is at least still in the upper hole of the first frame.

8. A four-pin grabbing sling according to claim 3, characterized in that: The first-level adjustment plate is provided with a limit detection component, and the limit detection component is used to limit the second-level adjustment plate and perform offset detection; The limit detection assembly includes a detection slider, a fixing bolt, a centering bolt, a limit plate and a centering detection sensor; The first-level adjustment plate is provided with a sliding groove, and the detection slider is installed in the sliding groove; A No. 1 oblong hole is provided in the sliding groove, and the centering bolt passes through the threaded detection slider, the No. 1 oblong hole and the limiting hole of the limiting plate in sequence, and the limiting plate is connected to the secondary adjustment plate to achieve the limiting of the No. 2 adjustment plate; The detection slider is provided with two No. 2 oblong holes, and fixing bolts are passed through the two No. 2 oblong holes and connected with the first-level adjustment plate bolts, thereby fixing the detection slider relative to the first-level adjustment plate; A top screw frame is provided on both sides of the detection slider, and the top screw frame is provided with a top screw body. The top screw bodies on both sides are in contact with the detection slider to further fix the detection slider; The centering detection sensor is mounted to the primary adjustment plate via a centering mounting frame, and the centering mounting frame is provided with an oblong hole to enable adjustment; The centering detection sensor corresponds to the centering bolt.

9. A four-pin grabbing sling according to claim 8, characterized in that: Two symmetrical L-shaped top plates are provided on the secondary adjustment plate, and two symmetrical L-shaped anti-dropout plates are provided under the secondary adjustment plate. The L-shaped top plates can be in contact and cooperate with the limit plates of the limit detection assembly; the two L-shaped anti-dropout plates are bent inwardly, and limit pins are provided at both ends of each L-shaped anti-dropout plate, and an anti-dropout area is formed between the two L-shaped anti-dropout plates and the limit pins.

10. A frame transmission device, comprising a four-pin grabbing sling according to any one of claims 1 to 9, characterized in that: It also includes trusses, overhead crane components, telescopic arm mechanisms, and shuttle buses; The overhead crane assembly is mounted on the truss and can travel on the truss; the grabbing sling is connected to the overhead crane assembly through a telescopic arm mechanism, and the shuttle can travel at the lower station of the truss to load and transport the frame; The truss is also equipped with a door opening and closing mechanism. After the door is opened, the hoisting device performs the grabbing or completion operation of the frame and closes the door after completion.

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