Cable-stayed stabilization lifting appliance device and hoisting transshipment equipment

Abstract

The invention provides a cable-stayed anti-rolling lifting appliance device and hoisting and transshipping equipment, and relates to the technical field of hoisting and transshipping equipment. The cable-stayed anti-rolling lifting appliance device comprises a sliding rack, a transition frame, a transverse moving rack and a lifting beam body, a leveling telescopic driving part is hinged to the sliding rack, a rotating mechanism is installed on the transition frame, a first sliding telescopic driving part is installed on a sliding groove, and the first sliding telescopic driving part can drive the sliding rack to slide relative to the rotating mechanism; hoisting mechanisms are arranged on the two opposite sides of the transition frame, pulley assemblies are arranged on the two opposite sides of the transverse moving rack, the lifting rope bypasses the pulley assemblies to be connected with the transition frame, a visual positioning mechanism is arranged on the transition frame, the second sliding telescopic driving piece can drive the lifting beam body to slide relative to the transverse moving rack, and telescopic lifting beams are arranged at the two opposite ends of the lifting beam body. A cross beam is arranged at the end of the telescopic hanging beam, and soft hanging belts are arranged at the two ends of the cross beam. The cable-stayed stabilization lifting appliance device can reduce transverse shaking when a soft lifting belt stays a lifted object in a cable-stayed mode.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting and transferring equipment, and in particular to an oblique pull and anti-sway sling device and lifting and transferring equipment. Background Art

[0002] A sling is a device used to lift heavy objects in a lifting machine. The most commonly used slings for lifting finished objects are hooks and slings, and others include lifting rings, lifting suction cups, clamps, and forks. They are widely used in the lifting and hoisting industry, but the existing combined slings for cranes still have many shortcomings.

[0003] When lifting and reloading equipment uses a soft sling to connect the hoisted object, due to the lateral horizontal force component in the oblique state of the soft sling, the horizontal force component of multiple groups of soft slings is not easy to achieve zero value, resulting in the object being lifted in the precise lifting occasion to sway laterally along the direction of the horizontal force component of the soft sling when it leaves the load-bearing surface, which has an adverse effect on the safety and precise positioning of the object being lifted. Therefore, it is necessary to design an oblique pull anti-sway sling device that can reduce the lateral shaking of the soft sling when the object is being lifted. Summary of the invention

[0004] In view of the above problems in the prior art, the present application proposes an oblique anti-sway sling device and a lifting and transferring equipment, which can reduce the lateral shaking when a soft sling obliquely pulls a hoisted object.

[0005] One aspect of the present invention provides an oblique tension and anti-sway sling device, the oblique tension and anti-sway sling device comprising a sliding frame, a transition frame, a transverse frame and a sling beam body, the sliding frame being capable of rotating around a first horizontal direction and being hinged on a lifting arm of a lifting and transporting device, and a leveling telescopic driving member being hinged on the sliding frame, the telescopic end of the leveling telescopic driving member being capable of being hinged to the lifting arm of the lifting and transporting device, and the leveling telescopic driving member being capable of driving the sliding frame to rotate around the first horizontal direction;

[0006] The transition frame is provided with a slewing mechanism, the slewing mechanism is provided with a slide groove extending along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the sliding frame is provided with a slide rail, the slide rail is slidably installed in the slide groove, and a first sliding telescopic driving member is installed on the slide groove, the telescopic end of the first sliding telescopic driving member is hinged to the sliding frame, and the first sliding telescopic driving member can drive the sliding frame to slide relative to the slewing mechanism;

[0007] The transition frame is provided with a hoisting mechanism on opposite sides, a hoisting rope is wound on the hoisting mechanism, a pulley assembly is provided on opposite sides of the transverse frame, the hoisting rope passes through the pulley assembly and is connected to the transition frame, and a visual positioning mechanism is provided on the transition frame, and the visual positioning mechanism is used to identify and locate the position and posture of the hoisted object;

[0008] Guide rails extending along a first horizontal direction are provided on opposite sides of the hanging beam body, the transverse moving frame is slidably mounted on the guide rails, and a second sliding telescopic driving member is mounted on the hanging beam body, a telescopic end of the second sliding telescopic driving member is hinged to the transverse moving frame, and the second sliding telescopic driving member can drive the hanging beam body to slide relative to the transverse moving frame;

[0009] Telescopic beams are provided at the opposite ends of the beam body, cross beams are provided at the ends of the telescopic beams, and soft slings are provided at both ends of the cross beams. The visual positioning mechanism identifies and locates the position and posture of the suspended object, controls the leveling telescopic drive component, the slewing mechanism, the first sliding telescopic drive component, the hoisting mechanism, the second sliding telescopic drive component and the telescopic beam, so as to adjust the position of the soft sling relative to the suspended object.

[0010] As a further improvement of the above technical solution:

[0011] The above-mentioned oblique tension and anti-sway hanger device, further, a guiding telescopic assembly is provided on the lower surface of the transition frame, the telescopic end of the guiding telescopic assembly is conical, and a positioning groove is provided on the upper surface of the transverse frame, and the telescopic end of the guiding telescopic assembly can extend into the positioning groove to fix the transverse frame relative to the transition frame.

[0012] The above-mentioned oblique-tension anti-sway sling device further has additional sling beams hinged at both ends of the crossbeam, and the lower surface of the additional sling beam is provided with a sling ring, and the soft sling can be hung on the sling ring.

[0013] The above-mentioned oblique-tension anti-sway hanger device further has the visual positioning mechanism provided on both sides of the transition frame.

[0014] The above-mentioned oblique-tension anti-sway sling device, further, the visual positioning mechanism is a binocular camera.

[0015] Another aspect of the present invention provides a lifting and transferring equipment, which includes a boom and an oblique tension and anti-sway sling device as described above, wherein the sliding frame is hingedly connected to the boom of the lifting and transferring equipment around a first horizontal direction, and the telescopic end of the leveling telescopic drive component is hingedly connected to the boom of the lifting and transferring equipment.

[0016] The above technical features can be combined in various suitable ways or replaced by equivalent technical features as long as the purpose of the present invention can be achieved.

[0017] The oblique anti-sway sling device and lifting and transferring equipment provided by the present invention have at least the following beneficial effects compared with the prior art: during lifting, the visual positioning mechanism identifies and locates the position and posture of the lifted object, and the electro-hydraulic control system of the lifting and transferring equipment inputs the position and posture information of the lifted object identified and located by the visual positioning mechanism into the oblique anti-sway sling device and the mechanical calculation model of the lifted object, and then controls the leveling telescopic drive member, the slewing mechanism, the first sliding telescopic drive member, the hoisting mechanism, the second sliding telescopic drive member and the telescopic beam to adjust the position of the soft sling relative to the lifted object, ensure that the horizontal component force and resultant force value of the soft sling is close to zero, and realize that the lateral shaking momentum of the lifted object when it leaves the load-bearing device is close to zero, thereby ensuring the safe transportation of the lifted object.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0021] Figure 1 The schematic diagram of the structure of the oblique-tension anti-sway hanger device provided by an embodiment of the present invention is shown.

[0022] In the drawings, like reference numerals are used for like parts. The drawings are not necessarily to scale.

[0023] Description of reference numerals:

[0024] 100- oblique tension anti-sway hoist device, 110- sliding frame, 111- leveling telescopic drive member, 112- slide rail, 120- transition frame, 121- slewing mechanism, 122- slide groove, 123- first sliding telescopic drive member, 124- hoisting mechanism, 125- lifting rope, 126- guiding telescopic assembly, 130- transverse frame, 131- pulley assembly, 132- visual positioning mechanism, 140- lifting beam body, 141- guide rail, 142- second sliding telescopic drive member, 143- telescopic lifting beam, 144- soft lifting belt, 145- additional lifting beam, 146- lifting ring. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] The embodiment of the present invention provides an oblique sling device 100 which can reduce the lateral sway when a soft sling obliquely pulls a suspended object.

[0032] See also Figure 1 The oblique tension and anti-sway sling device 100 provided by the embodiment of the present invention comprises a sliding frame 110, a transition frame 120, a transverse frame 130 and a beam body 140. The sliding frame 110 can rotate around a first horizontal direction and is hinged on the boom of the lifting and transporting equipment. A leveling telescopic driving member 111 is hinged on the sliding frame 110. The telescopic end of the leveling telescopic driving member 111 can be hinged to the boom of the lifting and transporting equipment. The leveling telescopic driving member 111 can drive the sliding frame 110 to rotate around the first horizontal direction.

[0033] A rotating mechanism 121 is installed on the transition frame 120, and a slide groove 122 extending along a second horizontal direction is provided on the rotating mechanism 121, and the second horizontal direction is perpendicular to the first horizontal direction. A slide rail 112 is provided on the sliding frame 110, and the slide rail 112 is slidably installed in the slide groove 122, and a first sliding telescopic driving member 123 is installed on the slide groove 122, and the telescopic end of the first sliding telescopic driving member 123 is hinged to the sliding frame 110, and the first sliding telescopic driving member 123 can drive the sliding frame 110 to slide relative to the rotating mechanism 121.

[0034] A hoisting mechanism 124 is provided on opposite sides of the transition frame 120, and a lifting rope 125 is wound around the hoisting mechanism 124. A pulley assembly 131 is provided on opposite sides of the transverse frame 130, and the lifting rope 125 passes around the pulley assembly 131 and is connected to the transition frame 120. A visual positioning mechanism 132 is provided on the transition frame 120, and the visual positioning mechanism 132 is used to identify and locate the position and posture of the suspended object.

[0035] Guide rails 141 extending along the first horizontal direction are provided on opposite sides of the hanging beam body 140, and the transverse moving frame 130 is slidably installed on the guide rails 141. A second sliding telescopic driving component 142 is installed on the hanging beam body 140, and the telescopic end of the second sliding telescopic driving component 142 is hinged to the transverse moving frame 130. The second sliding telescopic driving component 142 can drive the hanging beam body 140 to slide relative to the transverse moving frame 130.

[0036] Telescopic beams 143 are provided at the opposite ends of the beam body 140, cross beams are provided at the ends of the telescopic beams 143, and soft slings 144 are provided at both ends of the cross beams. The visual positioning mechanism 132 identifies and locates the position and posture of the suspended object, controls the leveling telescopic drive member 111, the rotating mechanism 121, the first sliding telescopic drive member 123, the hoisting mechanism 124, the second sliding telescopic drive member 142 and the telescopic beam 143, so as to adjust the position of the soft sling 144 relative to the suspended object.

[0037] During hoisting, the visual positioning mechanism 132 identifies and locates the position and posture of the hoisted object. The electro-hydraulic control system of the lifting and transporting equipment inputs the position and posture information of the hoisted object identified and located by the visual positioning mechanism 132 into the oblique tension and anti-sway hoist device 100 and the mechanical calculation model of the hoisted object, and then controls the leveling telescopic drive member 111, the rotating mechanism 121, the first sliding telescopic drive member 123, the hoisting mechanism 124, the second sliding telescopic drive member 142 and the telescopic beam 143 to adjust the position of the soft sling 144 relative to the hoisted object, ensure that the horizontal component force and resultant force value of the soft sling 144 is close to zero, and realize that the lateral shaking momentum of the hoisted object when it leaves the load-bearing device is close to zero, thereby ensuring the safe transportation of the hoisted object.

[0038] By controlling the rotation angle of the hoisting mechanisms 124 on both sides, the vertical lifting of the suspension beam assembly consisting of the transverse moving frame 130, the suspension beam body 140, the telescopic suspension beam 143 and the additional suspension beam 145 can be achieved, and the inclination angle of the suspension beam assembly can be adjusted by controlling the different rotation angles of the hoists on both sides.

[0039] A first sliding telescopic driving member 123 is arranged between the sliding frame 110 and the rotating mechanism 121. The first sliding telescopic driving member 123 can drive the sliding frame 110 to slide relative to the rotating mechanism 121, and has an automatic deflection compensation function to eliminate the adverse effects of the deflection deformation of the boom under load on the sling and the hanging parts.

[0040] The oblique tension anti-sway sling device 100 provided in the embodiment of the present invention is further described in detail. Figure 1 A guiding telescopic assembly 126 is provided on the lower surface of the transition frame 120, and the telescopic end of the guiding telescopic assembly 126 is conical. A positioning groove is provided on the upper surface of the transverse moving frame 130, and the telescopic end of the guiding telescopic assembly 126 can extend into the positioning groove to fix the transverse moving frame 130 relative to the transition frame 120, thereby realizing the switching of the rigid and flexible postures of the sling device during the transfer process.

[0041] The oblique tension anti-sway sling device 100 provided in the embodiment of the present invention is further described in detail. Figure 1 , both ends of the crossbeam are hinged with additional hanging beams 145, and the lower surface of the additional hanging beams 145 is provided with lifting rings 146, and the soft hanging belt 144 can be hung on the lifting rings 146. The soft hanging belts 144 provided at both ends of the crossbeam are used to lift objects of smaller size, and the soft hanging belts 144 are in an oblique state at this time; when lifting objects of larger size, the additional hanging beams 145 rotate relative to the two ends of the crossbeam until the additional hanging beams 145 and the crossbeam extend in the same direction, and the lifting rings 146 on the lower surface of the additional hanging beams 145 are connected to the soft hanging belts 144 through the pins, and the soft hanging belts 144 are in an oblique state at this time. In the non-working state, the additional hanging beams 145 rotate around the pins and are retracted to the two ends of the crossbeam to meet the transportation requirements.

[0042] In this embodiment, a visual positioning mechanism 132 is provided on both sides of the transition frame 120. The visual positioning mechanism 132 is a binocular camera. The binocular camera can accurately identify the spatial posture of the target on the hoisted object relative to the camera, and send the spatial posture parameters of the hoisted object to the electro-hydraulic control system of the hoisting system.

[0043] The embodiment of the present invention further provides a lifting and refueling equipment, which includes a boom and an oblique anti-sway sling device 100 as provided in any of the above embodiments, wherein a sliding frame 110 is hingedly connected to the boom of the lifting and refueling equipment by rotating around a first horizontal direction, and a telescopic end of a leveling telescopic driving member 111 is hingedly connected to the boom of the lifting and refueling equipment. The specific structure of the oblique anti-sway sling device 100 refers to the above embodiments, and since the present lifting and refueling equipment adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

Claims

1. An oblique tension anti-sway sling device, characterized in that: The oblique tension and anti-sway sling device (100) comprises a sliding frame (110), a transition frame (120), a transverse frame (130) and a sling beam body (140); the sliding frame (110) is hingedly connected to the boom of the lifting and transporting equipment and can rotate around a first horizontal direction; a leveling telescopic driving member (111) is hingedly connected to the sliding frame (110); the telescopic end of the leveling telescopic driving member (111) can be hingedly connected to the boom of the lifting and transporting equipment; and the leveling telescopic driving member (111) can drive the sliding frame (110) to rotate around the first horizontal direction; The transition frame (120) is provided with a slewing mechanism (121), the slewing mechanism (121) is provided with a slide groove (122) extending along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the sliding frame (110) is provided with a slide rail (112), the slide rail (112) is slidably installed in the slide groove (122), and a first sliding telescopic driving member (123) is installed on the slide groove (122), the telescopic end of the first sliding telescopic driving member (123) is hinged to the sliding frame (110), and the first sliding telescopic driving member (123) can drive the sliding frame (110) to slide relative to the slewing mechanism (121); The transition frame (120) is provided with a hoisting mechanism (124) on opposite sides, and a lifting rope (125) is wound around the hoisting mechanism (124). The transverse moving frame (130) is provided with a pulley assembly (131) on opposite sides, and the lifting rope (125) passes around the pulley assembly (131) and is connected to the transition frame (120). The transition frame (120) is provided with a visual positioning mechanism (132), and the visual positioning mechanism (132) is used to identify and locate the position and posture of the suspended object. Guide rails (141) extending along a first horizontal direction are provided on opposite sides of the hanging beam body (140); the transverse moving frame (130) is slidably mounted on the guide rails (141); and a second sliding telescopic driving member (142) is mounted on the hanging beam body (140); the telescopic end of the second sliding telescopic driving member (142) is hinged to the transverse moving frame (130); the second sliding telescopic driving member (142) can drive the hanging beam body (140) to slide relative to the transverse moving frame (130); Telescopic beams (143) are provided at opposite ends of the beam body (140), cross beams are provided at the ends of the telescopic beams (143), and soft slings (144) are provided at both ends of the cross beam. The visual positioning mechanism (132) identifies and locates the position and posture of the suspended object, controls the leveling telescopic drive component (111), the rotating mechanism (121), the first sliding telescopic drive component (123), the hoisting mechanism (124), the second sliding telescopic drive component (142) and the telescopic beam (143), so as to adjust the position of the soft sling (144) relative to the suspended object.

2. The oblique tension anti-sway hanger device according to claim 1, characterized in that: The lower surface of the transition frame (120) is provided with a guiding telescopic assembly (126), the telescopic end of the guiding telescopic assembly (126) is conical, and the upper surface of the transverse moving frame (130) is provided with a positioning groove, and the telescopic end of the guiding telescopic assembly (126) can extend into the positioning groove to achieve the fixation of the transverse moving frame (130) relative to the transition frame (120).

3. The oblique tension anti-sway hanger device according to claim 1, characterized in that: Additional suspension beams (145) are hingedly connected at both ends of the crossbeam. A suspension ring (146) is provided on the lower surface of the additional suspension beam (145). The soft suspension belt (144) can be suspended on the suspension ring (146).

4. The oblique tension and anti-sway hanger device according to claim 1, characterized in that: The visual positioning mechanism (132) is provided on both sides of the transition frame (120).

5. The oblique tension and anti-sway hanger device according to claim 4, characterized in that: The visual positioning mechanism (132) is a binocular camera.

6. A lifting and transferring equipment, characterized in that: The lifting and transferring equipment comprises a boom and an oblique tension and anti-sway sling device (100) as described in any one of claims 1 to 5, the sliding frame (110) is hinged on the boom of the lifting and transferring equipment and is rotatable around a first horizontal direction, and the telescopic end of the leveling telescopic drive member (111) is hinged to the boom of the lifting and transferring equipment.

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