A stowing machine hoisting device and its usage method

Abstract

The present application provides a hoisting device for a cargo hold cleaner and a using method. The hoisting device for the cargo hold cleaner includes a guiding part, a limiting part, a hoisting module and a lifting head. The lifting head is installed on the sling of the hoisting device, the hoisting module is installed on the cargo hold cleaner, the guiding part and the limiting part are located above the hoisting 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 hoisting 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 hoisting module by moving downward. Even if the lifting head and the sling swing or shake greatly during the movement, the guiding part can be used to stably limit the positions of the lifting head and the sling, without manual guidance or intervention for the lifting head and the sling, realizing independent remote control docking.

Description

Technical Field

[0001] This 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 carrier is discharged by the ship unloader or the portal crane, about 1,000 tons of coal still remains in the cargo hold and cannot be directly transferred by the grab. Therefore, it is necessary to carry out cargo hold cleaning operations. Currently, 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 and other methods, 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 crane, 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. It is 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. It is very difficult to quickly dock the hoisting device without personnel assistance. However, if personnel are arranged to assist in docking, due to the work mode of separating humans from machines in cargo hold cleaning, there will be potential safety hazards for personnel working inside the cargo hold, and the transfer of some goods generates more dust, making the working environment even more harsh, and the risk coefficient for 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 Ship Bottom Tank Cleaning" discloses a hoisting structure that realizes docking through a lifting ring and a pin structure. In the attached drawings, the suspension ropes extend in 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 the suspension rope swinging. Even a slight swing makes it very difficult for the lifting ring and the pin to be docked, 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 in the shape of a conical cylinder, including a plurality of rib rods arranged circumferentially and enclosing to form a conical cylinder, 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 lifting head sways more than one meter. Summary of the Invention

[0007] The present application provides a hoisting device for a tank cleaning machine and a using method thereof to solve the technical problem of large swinging 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 hoisting device for a tank cleaning machine is provided, including a guiding part, a limiting part, a lifting module and a lifting head. The lifting head is installed on the suspension rope 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 suspension rope from moving along the first direction within a certain range, and the limiting part can prevent the lifting head or the suspension rope 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 hoisting device for a tank cleaning machine and the using method thereof in the present application have the following beneficial effects:

[0010] Even if the hanging head and the suspension cable swing or shake significantly during movement, the guiding part can stably limit the positions of the hanging head and the suspension cable. There is no need to manually guide or intervene in the hanging head and the suspension cable. The hanging head and the suspension cable 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 hanging head and the suspension cable relative to the guiding part, and adjust the moving speeds in the first direction and the second direction until the hanging head or the suspension cable contacts the guiding part. At this time, the guiding part can limit the swinging of the hanging head and the suspension cable in the first direction. Then, move the hanging head along the second direction to the limiting part. After the hanging head and the suspension cable are stable, move vertically downward to achieve docking with the lifting module, realizing independent remote control docking without auxiliary personnel.

[0011] 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 hanging head are, which can enable the hanging head to achieve docking quickly and accurately.

[0012] 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 received by the fixed area. The buffer structure is an elastic structure and / or a damping structure to stabilize the hanging head. The hanging head and the suspension cable have a certain mass and have a certain inertia during movement, so a buffer structure needs to be provided.

[0013] 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 axis of the guiding wheel is in the vertical direction, so that the rotating belt rotates in the horizontal direction. Thus, the resistance received by the hanging head during movement along the second direction is smaller, and the wear of the suspension cable and the guiding part can also be avoided.

[0014] In an implementable embodiment, rollers are provided in the limiting part, and the rotating axes of the rollers are in the horizontal direction. This design can reduce the wear of the limiting part and the suspension cable.

[0015] In an implementable embodiment, a first trigger switch is provided in the guiding part, so that when the hanging head or the suspension cable 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 hanging head or the suspension cable 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. 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.

[0016] In an implementable embodiment, the docking part provided at the docking position between the lower end of the lifting head and the lifting module is spherical or fusiform. The docking part 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 part being spherical enables 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 lifting ropes above the lifting head are more evenly stressed, avoiding uneven stress on the lifting ropes from affecting the lifting speed and making the lifting more stable.

[0017] 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 part 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. By providing an axial abutting surface on the telescopic platform or the claws, synchronous movement with the lifting head can be achieved.

[0018] 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. With such a design, there is no need to separately provide a structure that abuts against the claws or the telescopic platform, and synchronous up and down movement can be directly achieved through the claws.

[0019] According to the second aspect of the present application, a method for using a stevedore crane lifting device is provided. Using the above stevedore crane lifting device, first, install the lifting head of the stevedore crane lifting device on the sling of the crane, and install other structures of the stevedore crane lifting device except the lifting head at the top of the center of gravity of the stevedore crane; 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 stevedore crane 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 stevedore crane 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.

[0020] Therefore, during the lifting process of the stevedore crane, remote control can be fully realized, and docking can be completed without the assistance of staff. Even if there is strong wind or large swings caused by rapid movement, docking can be accurately completed.

[0021] 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

[0022] By referring to the accompanying 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:

[0023] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0024] Figure 1 Shows the schematic diagram of the composition structure of the stevedore crane lifting device according to the embodiment of the present application;

[0025] Figure 2 Shows Figure 1 The partial enlarged schematic diagram at A in

[0026] Figure 3 Shows Figure 1 The partial enlarged schematic diagram at B in

[0027] Figure 4 Shows the schematic diagram of the lifting head of the stevedore crane lifting device according to the embodiment of the present application;

[0028] Figure 5Shows the installation schematic diagram of the claw of the lifting module of the hold cleaning machine hoisting device according to the embodiment of the present application;

[0029] Figure 6 Shows the schematic diagram of the claw of the hold cleaning machine hoisting device according to the embodiment of the present application;

[0030] Figure 7 Shows the top view schematic diagram of the position where the lifting head or sling of the hold cleaning machine hoisting device touches the guiding part and triggers the first trigger switch;

[0031] Figure 8 Shows the three-dimensional schematic diagram of the position where the lifting head or sling of the hold cleaning machine hoisting device touches the guiding part and triggers the first trigger switch;

[0032] Figure 9 Shows the top view schematic diagram of the position where the lifting head or sling of the hold cleaning machine hoisting device touches the limiting part or connecting part and triggers the second trigger switch;

[0033] Figure 10 Shows the three-dimensional schematic diagram of the position where the lifting head or sling of the hold cleaning machine hoisting device touches the limiting part or connecting part and triggers the second trigger switch;

[0034] Figure 11 Shows the three-dimensional schematic diagram of the position where the lifting head of the hold cleaning machine hoisting device moves downward to dock with the lifting module;

[0035] Figure 12 Shows the front view schematic diagram of the position where the lifting head of the hold cleaning machine hoisting device moves downward to dock with the lifting module;

[0036] Figure 13 Shows Figure 12 The half-sectional view at the A-A position in

[0037] Figure 14 Shows the front view schematic diagram of the telescopic platform of the hold cleaning machine hoisting device moving upward to the position where the claw is inserted into the locking ring;

[0038] Figure 15 Shows Figure 14 The half-sectional view at the B-B position in

[0039] Figure 16 Shows the front view schematic diagram of the position where the lifting head of the hold cleaning machine hoisting device is about to disengage from or insert into the claw;

[0040] Figure 17 Shows Figure 16 The half-sectional view at the C-C position in

[0041] Figure 18 Shows the schematic diagram of the composition structure of the lifting device of the hold cleaning machine according to another embodiment of the present application;

[0042] Figure 19 Shows the schematic diagram of the lifting head of the lifting device of the hold cleaning machine according to another embodiment of the present application.

[0043] Explanation of the reference numerals in the figure:

[0044] X, the first direction; Y, the second direction; Z, the third direction;

[0045] 1. Guide part; 11. Fixed area; 12. Moving area; 13. Buffer structure; 14. Guide plate; 15. Guide wheel; 16. Rotating belt;

[0046] 2. Limiting part; 21. Roller; 211. Rolling wheel; 22. Guide rod; 23. Connecting part; 24. Travel switch; 25. Flexible roller;

[0047] 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;

[0048] 4. Lifting head; 41. Suspension cable; 42. Docking part; 43. Lifting hole; 44. Suspension buckle. Detailed implementation manners

[0049] 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 in conjunction with 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 the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0050] Such as Figure 1 and Figure 4As shown in the figure, a stowing machine hoisting device includes a guiding part 1, a limiting part 2, a hoisting module 3 and a lifting head 4. The lifting head 4 is installed on the sling 41 of the hoisting device, and the hoisting module 3 is installed on the stowing machine. The guiding part 1 and the limiting part 2 are located above the hoisting module 3. The guiding part 1 and the limiting part 2 form a certain angle, so that the guiding part 1 can prevent the lifting head 4 or the sling 41 from moving along the first direction within a certain range, and the limiting part 2 can prevent the lifting head 4 or the sling 41 from moving along the second direction within a certain range. The intersection area of the guiding part 1 and the limiting part 2 is located above the hoisting module 3, so that after the lifting head 4 moves to the intersection area of the guiding part 1 and the limiting part 2, it can be docked with the hoisting module 3 by moving downward.

[0051] The stowing machine can be a large device such as a remotely controlled pusher or excavator, weighing several tons, and can transfer or transport goods. Different goods have different characteristics and require different stowing machines, but different stowing machines can use the stowing machine hoisting device of the present application to achieve remote unmanned assisted hoisting. The hoisting device is a crane or other hoisting machinery and equipment that completes the transfer of equipment through the sling 41. The stowing machine can be provided with multiple cameras and sensors to assist in docking the stowing machine hoisting device.

[0052] Embodiment 1:

[0053] As Figure 1 shown, in an embodiment, the length of the guiding part 1 is greater than the length of the limiting part 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 stowing machine. The stowing machine can move forward or backward to complete the movement of the lifting head relative to the hoisting module 3.

[0054] 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.

[0055] In an 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.

[0056] As Figure 1 、 Figure 2 and Figure 4As 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 than 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 structure made of materials such as a hydraulic structure and rubber. When the lifting head 4 or the sling 41 moves to the guiding portion 1 and contacts the moving area 12, deceleration can be achieved through the moving area 12 to reduce the sway of the lifting head 4.

[0057] 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 guiding plate 14 is connected to the fixed area 11 above, and the lower part of the guiding plate 14 is in a conical structure, which can guide the lifting head 4 to dock with the lifting module 3. The guiding plate 14 is bent by a certain arc to reduce the impact generated by the lifting head 4.

[0058] As Figure 1 and Figure 2 As shown, the moving area 12 is provided with a guiding wheel 15. A rotating belt 16 is provided on the guiding wheel 15. The rotating axis 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.

[0059] As Figure 1 and Figure 3 As shown, in one embodiment, the limiting portion 2 is provided with a roller 21. The rotating axis of the roller 21 is in the horizontal direction and is perpendicular to the second direction. Below the limiting portion 2, a plurality of guiding rods 22 are provided to guide the lifting head 4 to dock with the lifting module 3. The guiding rods 22 can also be replaced by the guiding plate 14, but the guiding rods 22 have better supporting performance for the limiting portion 2. The limiting portion 2 and the guiding portion 1 are connected by an arc-shaped connecting portion 23. The connecting portion 23 is provided with a plurality of rolling wheels 211 so that the rolling wheels 211 can be arranged in an arc. The connecting portion 23 is provided with guiding rods 22 to realize the connection with the lifting module 3. The limiting portion 2 and the guiding portion 1 can be directly connected, or the connecting portion 23 can be regarded as a part of the limiting portion 2.

[0060] In some embodiments, the limiting portion 2 and the guiding portion 1 can be directly connected at a right angle. In some embodiments, the connecting portion 23 is an elastic structure and a damping structure. The limiting portion 2 and the guiding portion 1 are connected through the connecting portion 23, and the connecting portion 23 can buffer the impact on the guiding portion 1. The horizontal length of the guiding portion 1 is designed to be 1 meter - 3 meters, and the horizontal length of the limiting portion 2 is controlled to be 0.5 meter to 1 meter.

[0061] As Figure 1 and Figure 2As 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 cargo cleaner can move in the opposite direction of 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 cargo cleaner can stop moving. The first trigger switch and the second trigger switch can be travel switches 24 or sensor-triggered switches. Multiple travel switches 24 can be provided and triggered by moving through 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 acting 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 the camera and manually operates, or anticipates the operation in advance.

[0062] As Figure 4 shown, the docking part 42 provided at the docking position between 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 be used to 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.

[0063] As Figure 1 and Figure 13 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 installed together through fasteners. Guide rods 22 and curved guiding plates 14 can be welded on the guiding fixed plate 36. The upper mounting plate 37 is welded to the lower mounting plate 38 through the connecting column 39. The lower mounting plate 38 can be installed on the cargo cleaner through fasteners. Through holes are provided at the centers of the guiding fixed plate 36 and the upper mounting plate 37 such that at least part of the structure of the lifting head 4 can be inserted into the through holes.

[0064] As Figure 5 、 Figure 6 and Figure 13As shown, in one embodiment, the lifting module 3 is further provided with a claw 31, a locking ring 32 and a telescopic platform 33. There are multiple claws 31 which are circumferentially and evenly installed on the telescopic platform 33. The claw 31 is provided with a docking surface 314 which matches the docking part 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 installed 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, it can insert the claw 31 into the locking ring 32 and the locking ring 32 restricts the rotation of the claw 31. 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. There is a through hole in 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. There is a support column 331 in the center of the telescopic platform 33. The support column 331 is provided with a pressure sensor 332. 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 design is complex. A return spring 34 can be arranged 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 affected by external forces, it can rely on the return spring 34 to rotate to the closed position. The upper end of the claw 31 is provided with a guiding inclined surface 311. 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. The locking ring 32 can also be fixed on the connecting column 39. There is a shaft hole 316 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.

[0065] As Figure 5 , Figure 6 and Figure 13 shown, in one embodiment, the locking ring 32 is circular and is provided with an inner ring surface 321 and a lower end surface 322. The 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 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.

[0066] Embodiment 2:

[0067] A method for using a lifting device of a cargo cleaning machine, using the lifting device of the cargo cleaning machine in Embodiment 1. First, install the lifting head 4 of the lifting device of the cargo cleaning machine on the sling 41 of the crane, and install other structures of the lifting device of the cargo cleaning machine except the lifting head 4 at the top of the center of gravity of the cargo cleaning machine.

[0068] Secondly, as shown in Figure 7 and Figure 8 , use the crane to move the lifting head 4 to a position higher than the lifting module 3 and at least a part of the lifting head 4 is lower than the guiding part 1, and use a camera, a sensor or a 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.

[0069] Thirdly, as shown in Figure 9 and Figure 10 , after the first trigger switch is triggered, the cargo cleaning machine can move in the direction opposite to the second direction, so that the lifting head 4 can be relatively moved to contact the limiting part 2 and manually or automatically trigger the second trigger switch. After the second trigger switch is triggered, the cargo cleaning machine can stop moving; a connecting part 23 is arranged 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 cargo cleaning machine can stop moving; to ensure safety, the movement and stop of the cargo cleaning machine can be intervened by manual remote control. Usually, it is more convenient and fast to directly control through the program.

[0070] After that, as shown in Figure 11 , Figure 12 and Figure 13 , 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 of 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.

[0071] Finally, as shown in Figure 14 and Figure 15 , use the telescopic platform 33 to insert the claw 31 into the locking ring 32, 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 cleaning machine upward. During the lifting process, the cargo cleaning machine has a large mass, so a force can be generated between the claw 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 lifting process of the cargo cleaning machine, the claw 31 and the lifting head 4 will not fall off accidentally, and the lifting is safer.

[0072] When the cleaning machine 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 shown in Figure 13 shown, use the telescopic rod 351 to lower the claw 31 and the lifting head 4. At this time, the claw 31 is not locked and can rotate relative to the lifting head 4. As shown in Figure 16 and Figure 17 shown, move the lifting head 4 upward. The lifting head 4 can expand the claw 31. After the lifting head 4 leaves the claw 31, the claw 31 is reset by the return spring 34. When hoisting again later, the spherical docking part 42 of the lifting head 4 can expand the claw 31 and then insert it into the position matching the claw 31.

[0073] Embodiment 3:

[0074] As shown in Figure 18 shown, in an embodiment, the connecting part 23 is provided with a flexible roller 25. The flexible roller 25 is curved 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 outer side of the claw 31. The return spring 34 is arranged between the protrusion 315 and the telescopic platform 33. The claw 31 is reset by the return elasticity. In an embodiment, the limiting part 2 and the guiding part 1 can adopt a symmetrical design to form a V-shaped structure.

[0075] As shown in Figure 19 shown, the docking part 42 of the lifting head 4 is fusiform. Therefore, the inner docking surface 314 of the claw 31 also needs to be designed in a shape matching the fusiform.

[0076] It should be understood that various forms of the processes shown above can be used, reordering, adding or deleting steps. For example, the steps described 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.

[0077] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of this application, "a plurality" means two or more unless otherwise specifically defined.

[0078] As described above, it is only the specific implementation manner 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 all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

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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