Hoisting device of cabin cleaning machine and using method

Abstract

The invention provides a cabin cleaning machine hoisting device and a using method, the cabin cleaning machine hoisting device comprises a guide part, a limiting part, a hoisting module and a hoisting head, the hoisting head is installed on a sling of the hoisting device, the hoisting module is installed on a cabin cleaning machine, the guide part and the limiting part are located above the hoisting module, and a certain angle is formed between the guide part and the limiting part; the guide part can prevent the lifting head or the sling from moving in the first direction within a certain range, the limiting part can prevent the lifting head or the sling from moving in the second direction within a certain range, and the intersection area of the guide part and the limiting part is located above the lifting module. And the butt joint with the hoisting module can be completed by moving downwards. Even if the lifting head and the sling swing or shake greatly in the moving process, the positions of the lifting head and the sling can be stably limited through the guide part, the lifting head and the sling do not need to be guided or intervened manually, and independent remote control butt joint is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of hoisting equipment, and particularly relates to a hoisting device for a cargo hold cleaner and a using method thereof. Background Art

[0002] When a coal ship berths at a port, a ship unloader or a portal crane is generally used for discharging. Limited by the flexibility of the grab of the ship unloader or the portal crane, there is a large amount of remaining coal in the cargo hold that cannot be grabbed. Taking a 20,000-ton coal ship as an example, after the bulk cargo ship is discharged by the ship unloader or the portal crane, about 1,000 tons of coal still remain in the cargo hold and cannot be directly transferred by the grab. Therefore, it is necessary to carry out cargo hold cleaning operations. At present, the mainstream method for cleaning and recovering residual coal relies on a cargo hold cleaner and combines with manual labor for cargo hold cleaning operations.

[0003] A cargo hold cleaner is a special device used for dry bulk cargo ship unloading operations, mainly solving the problem of cleaning residual cargo (such as coal and grain) at the bottom of the cargo hold that cannot be handled by tools such as grabs. The bulk cargo is concentrated at the bottom of the hatch by scraping, throwing, pushing, raking, etc., facilitating subsequent ship unloading operations. The cargo hold cleaner works at the bottom of a semi-closed cargo hold. Due to the influence of factors such as dust and temperature, some chemical raw materials will volatilize toxic gases, and the working environment is harsh. Therefore, the working environment inside the cargo hold is more dangerous, and it is necessary to minimize the number of staff inside the cargo hold. Even when the cargo hold cleaner is working, no staff is arranged inside the cargo hold. Thus, during cargo hold cleaning, a work mode of separating humans from machines is usually adopted.

[0004] Generally, a cargo hold cleaner needs to be transferred by equipment such as a crane or a hoist, so it is necessary to design a hoisting device. The hoisting device can achieve automatic locking and unlocking. Some large ships have a height difference of more than ten meters, so a very long hoisting rope is required. When the hoisting rope follows the horizontal movement of the hoist, due to the rapid change in the speed of the hoisting rope, it is very easy to swing, and then it is very difficult to determine the position of the end of the hoisting rope, making it very difficult for the hoisting device to dock. Especially when the hoisting rope is light in weight, the greater the speed change, the greater the swing. In addition, it is also very difficult to control the hoisting rope in strong wind weather. The hoisting rope will change its swinging position with the change of the wind direction, and it is very difficult to make the hoisting device achieve rapid docking without personnel assistance. However, if personnel are arranged to assist in docking, since a work mode of separating humans from machines needs to be adopted for cargo hold cleaning, there will be safety hazards when personnel work inside the cargo hold, and the transfer of some goods generates more dust, making the working environment even more harsh, and the risk coefficient of personnel working inside the cargo hold increases significantly.

[0005] The patent application with the Chinese patent publication number "CN117466125A" and the title "An Automatic Hoisting Device for a Loader for Bottom Cleaning of Ships" discloses a hoisting structure, which realizes docking through a lifting ring and a pin structure. In the attached drawings, the sling extends along different directions. In actual use, multiple cranes need to cooperate. If the speeds are not synchronized, tilting will occur. If only one crane is used, there is also the technical problem of sling swing. Even slight swing makes it very difficult to dock the lifting ring and the pin, unless the staff helps to calibrate the position.

[0006] The patent application with the Chinese patent publication number "CN116969212A" and the title "A Tank Cleaning Machine and a Tank Cleaning Operation System" discloses a lifting module and a guiding module. The guiding module guides the lifting head to align with the lifting module so that the lifting head can be automatically docked with the lifting module under the guidance. The guiding module is cone-shaped, including a plurality of rib rods arranged circumferentially and enclosing to form a cone shape, an annular top ring connected to the top ends of the rib rods, and an annular connecting plate connected to the bottom ends of the rib rods. Without auxiliary personnel, it is very difficult to complete the docking when the swing of the lifting head exceeds one meter. Summary of the Invention

[0007] The present application provides a tank cleaning machine hoisting device and a using method to solve the technical problem of large swing angle of the lifting head during the docking process of the hoisting device in the prior art.

[0008] According to the first aspect of the present application, a tank cleaning machine hoisting device is provided, including a guiding part, a limiting part, a lifting module, and a lifting head. The lifting head is installed on the sling of the hoisting device, the lifting module is installed on the tank cleaning machine, the guiding part and the limiting part are located above the lifting module, and the guiding part and the limiting part form a certain angle, so that the guiding part can prevent the lifting head or the sling from moving along the first direction within a certain range, and the limiting part can prevent the lifting head or the sling from moving along the second direction within a certain range. The intersection area of the guiding part and the limiting part is located above the lifting module, so that after the lifting head moves to the intersection area of the guiding part and the limiting part, it can complete the docking with the lifting module by moving downward.

[0009] Compared with the prior art, the tank cleaning machine hoisting device and the using method of the present application have the following beneficial effects: Even if the lifting head and the sling swing or shake significantly during movement, the guiding part can stably limit the positions of the lifting head and the sling. There is no need to manually guide or intervene in the lifting head and the sling. The lifting head and the sling first move along the second direction to the front of the guiding part, and then move along the first direction to approach the guiding part. During the approaching process, observe the positions of the lifting head and the sling relative to the guiding part, and adjust the moving speeds in the first direction and the second direction until the lifting head or the sling contacts the guiding part. At this time, the guiding part can limit the swinging of the lifting head and the sling in the first direction. Then, move the lifting head along the second direction to the limiting part. After the lifting head and the sling are stable, move vertically downward to achieve docking with the lifting module, realizing independent remote control docking without auxiliary personnel.

[0010] In an implementable embodiment, the length of the guiding part is greater than the length of the limiting part. Both the first direction and the second direction are in the horizontal direction, the first direction is perpendicular to the second direction, and the second direction is the same as the advancing or retreating direction of the cleaning machine. The longer the guiding part is, the lower the requirements for the position of the lifting head are, which can enable the lifting head to achieve docking quickly and accurately.

[0011] In an implementable embodiment, the guiding part includes a fixed area and a moving area. The moving area is closer to the central axis of the lifting module than the fixed area. A buffer structure is provided between the fixed area and the moving area to reduce the impact on the fixed area. The buffer structure is an elastic structure and / or a damping structure to stabilize the lifting head. The lifting head and the sling have a certain mass and have a certain inertia during movement. Therefore, a buffer structure needs to be provided.

[0012] In an implementable embodiment, a guiding wheel is provided in the moving area, and a rotating belt is provided on the guiding wheel. The rotating shaft of the guiding wheel is in the vertical direction so that the rotating belt rotates in the horizontal direction. Thus, the resistance when the lifting head moves along the second direction is smaller, and the wear of the sling and the guiding part can also be avoided.

[0013] In an implementable embodiment, rollers are provided in the limiting part, and the rotating shafts of the rollers are in the horizontal direction. This design can reduce the wear of the limiting part and the sling.

[0014] In an implementable embodiment, a first trigger switch is provided in the guiding part so that when the lifting head or the sling moves to contact the guiding part, the first trigger switch can be manually or automatically triggered. After the first trigger switch is triggered, the cleaning machine can move in the direction opposite to the second direction. A second trigger switch is provided in the limiting part so that when the lifting head or the sling moves to contact the limiting part, the second trigger switch can be manually or automatically triggered. After the second trigger switch is triggered, the cleaning machine can stop moving. Since the first direction and the second direction may not be parallel to the axial direction of the crane movement, the crane may not be able to move along the first direction or the second direction. Therefore, the guiding part is installed on the cleaning machine. The cleaning machine is provided with a power structure that can be remotely controlled to move, and the advancing direction or the retreating direction of the cleaning machine can be set in the second direction. In this way, rapid docking can be achieved by moving the cleaning machine, improving the docking efficiency.

[0015] In an implementable embodiment, the docking portion provided at the docking position between the lower end of the lifting head and the lifting module is spherical or fusiform. The docking portion being spherical or fusiform can prevent the lifting head from getting stuck with other structures during the up-and-down movement. Since it is remotely controlled, if it gets stuck, the crane moving the lifting head may cause damage to the stuck position, so this needs to be avoided. The docking portion being spherical allows the lifting head to rotate relative to the lifting module. When the center of gravity changes due to changes in the fuel quantity of the cargo cleaner or the position of some structures, the inclination angle of the cargo cleaner can be rotated to adjust the position of the center of gravity, so that the sling above the lifting head is more evenly stressed, avoiding uneven stress on the sling from affecting the lifting speed and making the lifting more stable.

[0016] In an implementable embodiment, the lifting module is provided with claws, a locking ring, and a telescopic platform. There are multiple claws, which are circumferentially and evenly installed on the telescopic platform. The claws are provided with docking surfaces that match the docking portion of the lifting head. The claws are installed on the telescopic platform in a manner that can rotate relative to the telescopic platform. When the claws rotate to the closed position, they can be inserted into the locking ring. The telescopic platform is driven by a driving device to achieve telescoping. When the telescopic platform extends to the first position, the claws can be inserted into the locking ring and the locking ring restricts the rotation of the claws. When the telescopic platform contracts to the second position, the claws can rotate relative to the telescopic platform. The locking ring can lock the angle of the claws so that the lifting head is fixed together with the claws, and the lifting head can move up and down synchronously with the claws. An axial abutting surface is provided on the telescopic platform or the claws to achieve synchronous movement with the lifting head.

[0017] In an implementable embodiment, the locking ring is circular and is provided with an inner ring surface and a lower end surface. The claws are provided with a longitudinal outer end surface and a transverse upper end surface. The transverse upper end surface is adjacent to the longitudinal outer end surface and is located below the longitudinal outer end surface. When the claws are inserted into the locking ring, the inner ring surface restricts the radial movement of the longitudinal outer end surface and the lower end surface restricts the axial upward movement of the transverse upper end surface. Such a design does not require a separately provided structure that abuts against the claws or the telescopic platform, and the synchronous up-and-down movement is directly achieved through the claws.

[0018] According to the second aspect of the present application, a method for using a loading and unloading device of a cargo hold cleaner is provided. Using the above-mentioned loading and unloading device of the cargo hold cleaner, first, install the lifting head of the loading and unloading device of the cargo hold cleaner on the sling of the crane, and install other structures of the loading and unloading device of the cargo hold cleaner except the lifting head at the top of the center of gravity of the cargo hold cleaner; secondly, use the crane to move the lifting head to a position higher than the lifting module and at least a part of the lifting head structure is lower than the guiding part, and use a camera, a sensor or a positioning system to move the lifting head to the contact position with the guiding part and manually or automatically trigger the first trigger switch; thirdly, after the first trigger switch is triggered, the cargo hold cleaner can move in the direction opposite to the second direction, and when the lifting head moves to the contact position with the limiting part, the second trigger switch can be manually or automatically triggered, and after the second trigger switch is triggered, the cargo hold cleaner can stop moving; then, use the crane to lower the height of the lifting head to the docking position with the lifting module, and the claw is provided with a docking surface to dock with the docking part of the lifting head; finally, use the telescopic platform to insert the claw into the locking ring, so that the inner ring surface restricts the radial movement of the longitudinal outer end surface and the lower end surface restricts the axial upward movement of the transverse upper end surface.

[0019] Therefore, during the hoisting process of the cargo hold cleaner, remote control can be fully realized, and docking can be completed without the assistance of staff. Even if there is strong wind or large swing caused by rapid movement, docking can be accurately completed.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By referring to the drawings and reading the following detailed description, the above and other objects, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, wherein: In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0022] Figure 1 Shows the schematic diagram of the composition structure of the loading and unloading device of the cargo hold cleaner in the embodiment of the present application; Figure 2 Shows Figure 1 The partial enlarged schematic diagram at A in Figure 3 Shows Figure 1 The partial enlarged schematic diagram at B in Figure 4 Shows the schematic diagram of the lifting head of the loading and unloading device of the cargo hold cleaner in the embodiment of the present application; Figure 5 Shows the installation schematic diagram of the claw of the lifting module of the loading and unloading device of the cargo hold cleaner in the embodiment of the present application; Figure 6The schematic diagram of the claw of the loading and unloading device of the cleaning machine according to the embodiment of the present application is shown; Figure 7 The top view schematic diagram of the position where the lifting head or sling of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves into contact with the guiding part and triggers the first trigger switch is shown; Figure 8 The three-dimensional schematic diagram of the position where the lifting head or sling of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves into contact with the guiding part and triggers the first trigger switch is shown; Figure 9 The top view schematic diagram of the position where the lifting head or sling of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves into contact with the limiting part or the connecting part and triggers the second trigger switch is shown; Figure 10 The three-dimensional schematic diagram of the position where the lifting head or sling of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves into contact with the limiting part or the connecting part and triggers the second trigger switch is shown; Figure 11 The three-dimensional schematic diagram of the position where the lifting head of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves downward to dock with the lifting module is shown; Figure 12 The front view schematic diagram of the position where the lifting head of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves downward to dock with the lifting module is shown; Figure 13 Shown is Figure 12 The half-sectional schematic diagram at the A-A position in Figure 14 The front view schematic diagram of the position where the telescopic platform of the loading and unloading device of the cleaning machine according to the embodiment of the present application moves upward and the claw inserts into the locking ring is shown; Figure 15 Shown is Figure 14 The half-sectional schematic diagram at the B-B position in Figure 16 The front view schematic diagram of the position where the lifting head of the loading and unloading device of the cleaning machine according to the embodiment of the present application is about to disengage from or insert into the claw is shown; Figure 17 Shown is Figure 16 The half-sectional schematic diagram at the C-C position in Figure 18 The composition structure schematic diagram of the loading and unloading device of the cleaning machine according to another embodiment of the present application is shown; Figure 19 The schematic diagram of the lifting head of the loading and unloading device of the cleaning machine according to another embodiment of the present application is shown.

[0023] Explanation of the reference numerals in the figure: X, the first direction; Y, the second direction; Z, the third direction; 1, guiding part; 11, fixed area; 12, moving area; 13, buffer structure; 14, guiding plate; 15, guiding wheel; 16, rotating belt; 2. Limiting part; 21. Roller; 211. Rolling wheel; 22. Guide rod; 23. Connecting part; 24. Travel switch; 25. Flexible roller; 3. Lifting module; 30. Mounting hole; 31. Claw; 311. Guide inclined plane; 312. Longitudinal outer end face; 313. Transverse upper end face; 314. Docking face; 315. Protrusion; 316. Shaft hole; 317. Base; 32. Locking ring; 321. Inner ring face; 322. Lower end face; 33. Telescopic platform; 331. Support column; 332. Pressure sensor; 34. Return spring; 35. Hydraulic cylinder; 351. Telescopic rod; 36. Guide fixing plate; 37. Upper mounting plate; 38. Lower mounting plate; 39. Connecting column; 4. Suspension head; 41. Suspension cable; 42. Docking part; 43. Suspension hole; 44. Suspension buckle. Specific embodiments

[0024] To make the objectives, features, and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0025] As Figure 1 and Figure 4 shown, a stevedore crane lifting device includes a guiding part 1, a limiting part 2, a lifting module 3, and a suspension head 4. The suspension head 4 is installed on the suspension cable 41 of the lifting device, the lifting module 3 is installed on the stevedore crane, the guiding part 1 and the limiting part 2 are located above the lifting module 3, and the guiding part 1 and the limiting part 2 form a certain angle, so that the guiding part 1 can prevent the suspension head 4 or the suspension cable 41 from moving in the first direction within a certain range, and the limiting part 2 can prevent the suspension head 4 or the suspension cable 41 from moving in the second direction within a certain range. The intersection area of the guiding part 1 and the limiting part 2 is located above the lifting module 3, so that after the suspension head 4 moves to the intersection area of the guiding part 1 and the limiting part 2, it can be docked with the lifting module 3 by moving downward.

[0026] The stevedore crane can be a remotely controlled pusher, excavator, or other large equipment weighing several tons, as long as it can transfer or transport goods. Different goods have different characteristics and require different stevedore cranes, but different stevedore cranes can use the stevedore crane lifting device of the present application to achieve remote unmanned assisted lifting. The lifting device is a crane or other lifting mechanical equipment that completes equipment transfer through the suspension cable 41. The stevedore crane can be provided with multiple cameras and sensors to assist in docking the stevedore crane lifting device.

[0027] Embodiment 1: As Figure 1As shown, in one embodiment, the length of the guiding portion 1 is greater than the length of the limiting portion 2. Both the first direction and the second direction are in the horizontal direction, the first direction is perpendicular to the second direction, and the second direction is the same as the advancing or retreating direction of the bunker cleaner. The bunker cleaner can complete the movement of the lifting head relative to the lifting module 3 by advancing or retreating.

[0028] In each figure, the X-axis direction is the first direction, the Y-axis direction is the second direction, and the Z-axis is the third direction. In actual use, the Z-axis is upward, opposite to the direction of gravity. The first direction and the second direction are usually on the horizontal plane.

[0029] In one embodiment, the first direction and the second direction may not be perpendicular. When the first direction and the second direction form an obtuse angle, the position of the lifting head 4 can be better restricted. When the first direction and the second direction form an acute angle, the lifting head 4 can move up and down better. The angle between the first direction and the second direction cannot be too large or too small, and it is recommended to be controlled within the range of 50 - 130 degrees. When the first direction and the second direction are perpendicular, the performance is balanced.

[0030] As Figure 1 、 Figure 2 and Figure 4 As shown, in one embodiment, the guiding portion 1 includes a fixed area 11 and a moving area 12. The moving area 12 is closer to the central axis of the lifting module 3 relative to the fixed area 11. A buffer structure 13 is provided between the fixed area 11 and the moving area 12 to reduce the impact on the fixed area 11. The buffer structure 13 is an elastic structure and / or a damping structure. The elastic structure is a spring or other elastic material, and the damping structure can be a hydraulic structure or a structure made of materials such as rubber. When the lifting head 4 or the lifting cable 41 moves to the guiding portion 1, it contacts the moving area 12, and deceleration can be achieved through the moving area 12 to reduce the sway of the lifting head 4.

[0031] As Figure 1 and Figure 13 As shown, in one embodiment, a guiding plate 14 with a curved surface is provided below the fixed area 11. The upper part of the guiding plate 14 is connected to the fixed area 11, and the lower part of the guiding plate 14 has a conical structure, which can guide the lifting head 4 to dock with the lifting module 3. The guiding plate 14 is bent with a certain curvature to reduce the impact generated by the lifting head 4.

[0032] As Figure 1 and Figure 2 As shown, the moving area 12 is provided with a guiding wheel 15, and a rotating belt 16 is provided on the guiding wheel 15. The rotating shaft of the guiding wheel 15 is in the vertical direction, that is, the third direction, so that the rotating belt 16 rotates in the horizontal direction.

[0033] As Figure 1 and Figure 3As shown, in one embodiment, the limiting part 2 is provided with a roller 21. The rotation axis of the roller 21 is in the horizontal direction and perpendicular to the second direction. Below the limiting part 2, there are multiple guide rods 22 which can guide the lifting head 4 to dock with the lifting module 3. The guide rods 22 can also be replaced by a guide plate 14, but the guide rods 22 have better supporting performance for the limiting part 2. The limiting part 2 and the guiding part 1 are connected by an arc-shaped connecting part 23. The connecting part 23 is provided with multiple rolling wheels 211 such that the rolling wheels 211 can be arranged in an arc. The connecting part 23 is provided with guide rods 22 to realize the connection with the lifting module 3. The limiting part 2 and the guiding part 1 can be directly connected, or the connecting part 23 can be regarded as a part of the limiting part 2.

[0034] In some embodiments, the limiting part 2 and the guiding part 1 can be directly connected at a right angle. In some embodiments, the connecting part 23 is an elastic structure and a damping structure. The limiting part 2 and the guiding part 1 are connected through the connecting part 23, and the connecting part 23 can buffer the impact received by the guiding part 1. The horizontal length of the guiding part 1 is designed to be between 1 meter and 3 meters, and the horizontal length of the limiting part 2 is controlled between 0.5 meter and 1 meter.

[0035] As Figure 1 and Figure 2 shown, in one embodiment, the guiding part 1 is provided with a first trigger switch such that when the lifting head 4 or the sling 41 moves into contact with the guiding part 1, the first trigger switch can be automatically triggered. After the first trigger switch is triggered, the cleaning machine can move in the direction opposite to the second direction. The limiting part 2 is provided with a second trigger switch such that when the lifting head 4 or the sling 41 moves into contact with the limiting part 2, the second trigger switch can be automatically triggered. After the second trigger switch is triggered, the cleaning machine can stop moving. The first trigger switch and the second trigger switch can be a travel switch 24 or a sensor-triggered switch. Multiple travel switches 24 can be provided and triggered by moving in the moving area 12 or by the force on the roller 21. The sensor can be a torque sensor, that is, the switch can be triggered when the force exceeds a certain range. The torque sensor can be arranged between the guiding part 1 and the limiting part 2, and the force received by the guiding part 1 can be displayed on the torque sensor. The first trigger switch and the second trigger switch can also be manually triggered, that is, the operator checks the position of the lifting head 4 through a camera and manually operates, or anticipates the operation in advance.

[0036] As Figure 4 shown, the docking part 42 provided at the docking place of the lower end of the lifting head 4 and the lifting module 3 is spherical. At least four lifting holes 43 are provided at the upper end of the lifting head 4. The lifting holes 43 can install D-shaped lifting buckles 44. The lifting buckles 44 can be fixedly arranged on the sling 41, and multiple slings 41 can also improve the stability of the lifting head 4.

[0037] As Figure 1 and Figure 13As shown, in one embodiment, the lifting module 3 includes a guiding fixed plate 36, an upper mounting plate 37, a lower mounting plate 38, and a connecting column 39. The guiding fixed plate 36 and the upper mounting plate 37 are of matching sizes and are mounted together by fasteners. The guiding rod 22 and the curved guiding plate 14 can be welded to the guiding fixed plate 36. The upper mounting plate 37 is welded to the lower mounting plate 38 through the connecting column 39, and the lower mounting plate 38 can be mounted on the hold cleaning machine by fasteners. Through holes are provided at the centers of the guiding fixed plate 36 and the upper mounting plate 37 so that at least part of the structure of the lifting head 4 can be inserted into the through holes.

[0038] As Figure 5 , Figure 6 and Figure 13 As shown, in one embodiment, the lifting module 3 is further provided with a claw 31, a locking ring 32, and a telescopic platform 33. A plurality of claws 31 are provided and are circumferentially and evenly arranged on the telescopic platform 33. The claw 31 is provided with a docking surface 314 that matches the docking portion 42 of the lifting head 4. The docking surface 314 of the claw 31 is a part of a spherical surface. The claw 31 is mounted on the telescopic platform 33 in a manner that can rotate relative to the telescopic platform 33. When the claw 31 rotates to the closed position, it can be inserted into the locking ring 32. The telescopic platform 33 is driven by a driving device to achieve telescoping. When the telescopic platform 33 extends to the first position, the claw 31 can be inserted into the locking ring 32 and the rotation of the claw 31 is restricted by the locking ring 32. When the telescopic platform 33 contracts to the second position, the claw 31 can rotate relative to the telescopic platform 33. The driving device is a hydraulic cylinder 35. One end of the hydraulic cylinder 35 is fixed to the lower mounting plate 38. The hydraulic cylinder 35 is provided with a telescopic rod 351. A through hole is provided at the center of the lower mounting plate 38 to facilitate the telescopic rod 351 to pass through. The telescopic platform 33 is fixed on the telescopic rod 351. A support column 331 is provided at the center of the telescopic platform 33. A pressure sensor 332 is provided on the support column 331. When the pressure is detected by the pressure sensor 332, the lifting head 4 has moved to the docking position with the claw 31. The rotation of the claw 31 can be achieved by a reduction motor, a cylinder, or a hydraulic structure, but the driving structure is complex. A return spring 34 can be provided between adjacent claws 31. The return spring 34 is installed on the side wall of the claw 31 through the mounting hole 30. When the claw 31 is not subjected to an external force, it can rely on the return spring 34 to rotate to the closed position. A guiding inclined surface 311 is provided at the upper end of the claw 31. When the lifting head 4 moves downward and contacts the guiding inclined surface 311, the claw 31 can be opened. When the lifting head 4 reaches the docking position with the claw 31, the claw 31 rotates to the closed position under the action of the return spring 34. The locking ring 32 can be welded to the upper mounting plate 37 and form an integral structure with the upper mounting plate 37, or the locking ring 32 can also be fixed on the connecting column 39. A shaft hole 316 is provided below the claw 31. The telescopic platform 33 is provided with a base 317. The base 317 is provided with a mounting shaft passing through the shaft hole 316 to restrict the rotation of the claw 31.

[0039] As Figure 5 , Figure 6 and Figure 13As shown, in one embodiment, the locking ring 32 is circular and has an inner ring surface 321 and a lower end surface 322. The claw 31 has a longitudinal outer end surface 312 and a transverse upper end surface 313. The transverse upper end surface 313 is adjacent to the longitudinal outer end surface 312 and is located below the longitudinal outer end surface 312. When the claw 31 is inserted into the locking ring 32, the inner ring surface 321 restricts the radial movement of the longitudinal outer end surface 312, and the lower end surface 322 restricts the axial upward movement of the transverse upper end surface 313. The inner ring surface 321 can be designed with a taper angle of less than 5° to facilitate the insertion of the claw 31.

[0040] Example 2: A method for using a stevedore machine hoisting device. Using the stevedore machine hoisting device of Example 1, first install the lifting head 4 of the stevedore machine hoisting device onto the sling 41 of the crane, and install the other structures of the stevedore machine hoisting device except the lifting head 4 at the top of the center of gravity of the stevedore machine.

[0041] Secondly, as Figure 7 and Figure 8 shown, use the crane to move the lifting head 4 to a position higher than the lifting module 3 and at least part of the structure of the lifting head 4 is lower than the guiding part 1. Use a camera, sensor or positioning system to move the lifting head 4 to the contact position with the guiding part 1 and manually or automatically trigger the first trigger switch; in some embodiments, it is also possible to trigger the first trigger switch when the sling 41 contacts the guiding part 1, but it is necessary to ensure that the lifting head 4 is higher than the lifting module 3.

[0042] Thirdly, as Figure 9 and Figure 10 shown, after the first trigger switch is triggered, the stevedore machine can move in the direction opposite to the second direction, so that the lifting head 4 can be relatively moved to the contact position with the limiting part 2 and manually or automatically trigger the second trigger switch. After the second trigger switch is triggered, the stevedore machine can stop moving; a connecting part 23 is provided between the limiting part 2 and the guiding part 1, and when the lifting head 4 contacts the connecting part 23, the second trigger switch can also be manually or automatically triggered. After the second trigger switch is triggered, the stevedore machine can stop moving; to ensure safety, the movement and stop of the stevedore machine can be intervened by manual remote control. Usually, it is more convenient and fast to directly control through a program.

[0043] After that, as Figure 11 、 Figure 12 and Figure 13 shown, use the crane to lower the height of the lifting head 4 to the docking position with the lifting module 3, and the docking surface 314 provided on the claw 31 is docked with the docking part 42 of the lifting head 4; the pressure sensor 332 on the support column 331 can also detect the pressure information to confirm the docking state, and then perform the next operation after docking in place.

[0044] Finally, as Figure 14 and Figure 15As shown in the figure, the jaw 31 is inserted into the locking ring 32 by using the telescopic platform 33, so that the inner ring surface 321 restricts the radial movement of the longitudinal outer end surface 312, and the lower end surface 322 restricts the axial upward movement of the transverse upper end surface 313. At this time, the crane can lift the cargo hold cleaner upward. During the lifting process, the cargo hold cleaner has a large mass. Therefore, a force can be generated between the jaw 31 and the locking ring 32. At this time, even if the telescopic rod 351 of the hydraulic cylinder 35 moves downward, a resistance will be generated, far exceeding the load range of the hydraulic cylinder 35. Therefore, during the hoisting process of the cargo hold cleaner, the jaw 31 and the lifting head 4 will not fall off due to an accident, and the hoisting is safer.

[0045] When the cargo hold cleaner is hoisted to the designated position, the lifting head 4 needs to be separated from the lifting module 3. At this time, the crane needs to lower the lifting head 4 so that the sling 41 is in a slack state, as Figure 13 shown. The jaw 31 and the lifting head 4 are lowered by using the telescopic rod 351. At this time, the jaw 31 is not locked and can rotate relative to the lifting head 4, as Figure 16 and Figure 17 shown. The lifting head 4 is moved upward, and the lifting head 4 can expand the jaw 31. After the lifting head 4 leaves the jaw 31, the jaw 31 is reset by the return spring 34. When hoisting again later, the spherical docking part 42 of the lifting head 4 expands the jaw 31 and can be inserted into the position matching the jaw 31.

[0046] Embodiment 3: As Figure 18 shown, in one embodiment, the connecting part 23 is provided with a flexible roller 25. The flexible roller 25 is bent in an arc shape and both ends are fixed on the roller 21 and can roll. In this way, when the lifting head 4 moves to the connecting part 23, it not only has a buffering effect but also can move up and down. The moving area 12 is provided with a guide wheel 15. When the lifting head 4 moves to the guiding part 1, it directly contacts the guide wheel 15 and moves along the rolling direction of the guide wheel 15. A protrusion 315 is provided on the outside of the jaw 31, and the return spring 34 is arranged between the protrusion 315 and the telescopic platform 33. The jaw 31 is reset by relying on the reset elasticity. In one embodiment, the limiting part 2 and the guiding part 1 can adopt a symmetrical design to form a V-shaped structure.

[0047] As Figure 19 shown, the docking part 42 of the lifting head 4 is in a shuttle shape. Therefore, the inner docking surface 314 of the jaw 31 also needs to be designed in a shape matching the shuttle shape.

[0048] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0050] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

Claims

1. A tank cleaning machine hoisting device, characterized in that: The invention comprises a guide portion (1), a limit portion (2), a lifting module (3) and a lifting head (4), wherein the lifting head (4) is mounted on a lifting rope (41) of a lifting device, and the lifting module (3) is mounted on a tank cleaning machine. The guide portion (1) and the limit portion (2) are located above the lifting module (3), and the guide portion (1) and the limit portion (2) form a certain angle, so that the guide portion (1) can prevent the lifting head (4) or the lifting rope (41) from moving in a first direction, and the limit portion (2) prevents the lifting head (4) or the lifting rope (41) from moving in a second direction. The intersection area of ​​the guide portion (1) and the limit portion (2) is located above the lifting module (3), so that after the lifting head (4) moves to the intersection area of ​​the guide portion (1) and the limit portion (2), it moves downward to complete docking with the lifting module (3).

2. The tank cleaning machine hoisting device according to claim 1, characterized in that: The length of the guide portion (1) is greater than the length of the limiting portion (2), the first direction and the second direction are both located in the horizontal direction, the first direction is perpendicular to the second direction, and the second direction is the same as the forward or backward direction of the tank cleaning machine.

3. The tank cleaning machine hoisting device according to claim 2, characterized in that: The guide portion (1) comprises a fixed area (11) and a movable area (12); the movable area (12) is closer to the central axis of the lifting module (3) than the fixed area (11); and a buffer structure (13) is provided between the fixed area (11) and the movable area (12) so as to reduce the impact on the fixed area (11).

4. The tank cleaning machine hoisting device according to claim 3, characterized in that: The moving area (12) is provided with a guide wheel (15), and a rotating belt (16) is provided on the guide wheel (15). The rotating axis of the guide wheel (15) is located in the vertical direction so that the rotating belt (16) rotates in the horizontal direction.

5. The tank cleaning machine hoisting device according to claim 4, characterized in that: The limiting portion (2) is provided with a roller (21), and the rotation axis of the roller (21) is located in the horizontal direction.

6. The tank cleaning machine hoisting device according to any one of claims 2 to 5, characterized in that: The guide portion (1) is provided with a first trigger switch, so that when the lifting head (4) or the sling (41) moves to contact with the guide portion (1), the first trigger switch can be triggered manually or automatically, and after the first trigger switch is triggered, the tank cleaning machine can move in the direction opposite to the second direction, and the limiting portion (2) is provided with a second trigger switch, so that when the lifting head (4) or the sling (41) moves to contact with the limiting portion (2), the second trigger switch can be triggered manually or automatically, and after the second trigger switch is triggered, the tank cleaning machine can stop moving.

7. The tank cleaning machine hoisting device according to claim 6, characterized in that: The docking portion (42) provided at the docking position between the lower end of the lifting head (4) and the lifting module (3) is spherical or shuttle-shaped.

8. The tank cleaning machine hoisting device according to claim 7, characterized in that: The lifting module (3) is provided with a clamping claw (31), a locking ring (32) and a telescopic platform (33); the clamping claw (31) is provided with a plurality of clamping claws (31) and is evenly distributed circumferentially installed on the telescopic platform (33); the clamping claw (31) is provided with a docking surface (314) matching the docking portion (42) of the lifting head (4); the clamping claw (31) is installed on the telescopic platform (33) in a rotatable manner relative to the telescopic platform (33); the clamping claw (31) can be inserted into the locking ring (32) when it is rotated to a closed position; the telescopic platform (33) is driven to extend and retract by a driving device; when the telescopic platform (33) is extended to a first position, the clamping claw (31) can be inserted into the locking ring (32) and the rotation of the clamping claw (31) is limited by the locking ring (32); when the telescopic platform (33) is retracted to a second position, the clamping claw (31) can rotate relative to the telescopic platform (33).

9. The tank cleaning machine hoisting device according to claim 8, characterized in that: The locking ring (32) is in the shape of a ring and is provided with an inner ring surface (321) and a lower end surface (322); the clamping claw (31) is provided with a longitudinal outer end surface (312) and a transverse upper end surface (313); the transverse upper end surface (313) is adjacent to the longitudinal outer end surface (312) and is located below the longitudinal outer end surface (312); when the clamping claw (31) is inserted into the locking ring (32), the inner ring surface (321) limits the radial movement of the longitudinal outer end surface (312) and the lower end surface (322) limits the axial upward movement of the transverse upper end surface (313).

10. A method for using a tank cleaning machine hoisting device, using the tank cleaning machine hoisting device according to claim 9, characterized in that: First, the lifting head (4) of the tank cleaning machine lifting device is installed on the lifting rope (41) of the crane, and the other structures of the tank cleaning machine lifting device except the lifting head (4) are installed at the top of the center of gravity of the tank cleaning machine; Secondly, using a crane to move the lifting head (4) to a position higher than the lifting module (3) and at least a portion of the structure of the lifting head (4) is lower than the guide portion (1), using a camera, a sensor or a positioning system to move the lifting head (4) to a position in contact with the guide portion (1) and manually or automatically triggering a first trigger switch; Again, after the first trigger switch is triggered, the tank cleaning machine can move in the opposite direction of the second direction, and when the lifting head (4) moves to contact the limiting portion (2), the second trigger switch can be triggered manually or automatically, and after the second trigger switch is triggered, the tank cleaning machine can stop moving; Afterwards, a crane is used to lower the height of the lifting head (4) to a docking position with the lifting module (3); the claw (31) is provided with a docking surface (314) which docks with the docking portion (42) of the lifting head (4); Finally, the claw (31) is inserted into the locking ring (32) using the telescopic platform (33), so that the inner ring surface (321) limits the radial movement of the longitudinal outer end surface (312) and the lower end surface (322) limits the axial upward movement of the transverse upper end surface (313).

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