Walking mechanism for crane

Abstract

The invention belongs to the technical field of walking mechanisms, and particularly relates to a walking mechanism for a crane, the walking mechanism comprises a crane main body, a movable chassis located at the bottom of the crane main body and a pushing mechanism located in the movable chassis, the movable chassis comprises a supporting chassis and a movable chassis, and the supporting chassis is fixedly connected to the bottom of the crane main body; the two sides of the bottom of the movable bottom frame are movably connected with movable crawler belts, the pushing mechanism comprises a two-way lead screw, and the two-way lead screw is movably connected to the interior of the movable bottom frame. Through the folding mechanism, the two movable arms are controlled to move through the first hydraulic oil cylinder, folding and unfolding of the movable arms are achieved, through the pushing mechanism, the movable bottom frame is controlled to move downwards through the first motor, and switching of the crane body moving mechanism is achieved; the problem that a walking mechanism is difficult to move only through supporting wheels due to complex terrain is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of traveling mechanisms, in particular to a traveling mechanism for a crane. Background Art

[0002] The walking mechanism is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated using artificial intelligence technology. Its task is to assist or replace human work, such as in manufacturing, construction, or dangerous work.

[0003] In the prior art, a traveling mechanism for a crane, disclosed in Publication No. CN115583296A, is provided. This application provides a first power unit at the hip joint of each leg to control the vertical up and down swinging of the leg unit, thereby driving the vertical up and down movement of the casters. When encountering obstacles or depressions during movement, the up and down movement of the casters can effectively maintain the posture of the crane body. However, the following problems still exist: The above-mentioned walking mechanism can effectively keep the posture of the fuselage fixed through the up and down movement of the foot wheels. However, as the environment changes and the terrain becomes more complicated, it is difficult to move only by the support wheels. When moving using the support wheels, vibrations will be generated due to the bumpy road surface, affecting its movement stability.

[0004] Therefore, in order to solve the above problems, a traveling mechanism for a crane is proposed. Summary of the Invention

[0005] (1) Technical problems solved In order to address the shortcomings of the existing technology and solve the problems that the above-mentioned traveling mechanism is difficult to move only by supporting wheels due to complex terrain and the vibration generated by bumpy road surface affects its movement stability, a traveling mechanism for a crane is proposed.

[0006] (2) Technical solution To achieve the above-mentioned object, the present invention provides the following technical solution: a traveling mechanism for a crane, comprising a crane body, a mobile chassis located at the bottom of the crane body, and a propulsion mechanism located inside the mobile chassis, wherein the mobile chassis includes a supporting chassis and a movable chassis, the supporting chassis being fixedly connected to the bottom of the crane body, and movable crawlers being movably connected to both sides of the bottom of the movable chassis; The pushing mechanism includes a bidirectional screw rod, which is movably connected to the inside of the movable base frame. The right side of the bidirectional screw rod is fixedly connected to the output end of the first motor. Both sides of the outside of the bidirectional screw rod are threadedly connected to the screw rod slides, and both sides of the bottom of each screw rod slide are fixedly connected to the first movable sleeve block.

[0007] Preferably, the pushing mechanism also includes two first supporting slide bars, which are distributed and fixedly connected to the front and rear sides of the supporting base frame. Several groups of adjustment plates are provided on the front and rear sides of the bottom of the supporting base frame, and each group of the adjustment plates is provided with two, and each group of the adjustment plates is cross-arranged.

[0008] Preferably, the top of the uppermost adjustment plate is movably pin-connected to the first movable sleeve block, and the bottom of the lowermost adjustment plate is movably pin-connected to the second movable sleeve block. The two second movable sleeve blocks are internally slidably connected to the same second supporting slide rod, and the two second supporting slide rods are respectively fixedly connected to the front and rear sides of the movable base frame.

[0009] Preferably, the four corners of the crane body are connected with folding mechanisms, each of the folding mechanisms includes a first movable arm, the first movable arm is movably connected to the crane body, the bottom of the first movable arm is movably connected to the second movable arm, and a first hydraulic cylinder is movably connected between the first movable arm and the second movable arm.

[0010] Preferably, a lifting mechanism is connected to the left and right sides of the interior of the crane body, and the lifting mechanism includes a second hydraulic cylinder, which is fixedly connected to the crane body, and an extended end of the second hydraulic cylinder is fixedly connected to a movable rack, and the top of the movable rack is meshed with a support gear, and a fixed shaft is fixedly connected to the interior of the support gear.

[0011] Preferably, the top of the second movable arm is connected to a rotating mechanism, and the rotating mechanism includes a rotating base, and the rotating base is movably connected to the second movable arm. The left side of the rotating base is fixedly connected to the second motor, and the output end of the second motor is fixedly connected to the first gear through a shaft. The right side of the first gear is meshed with the second gear, and the interior of the second gear is fixedly connected to a spherical shaft.

[0012] Preferably, the bottom of the rotating mechanism is connected to a shock-absorbing mechanism, and the shock-absorbing mechanism includes a shock-absorbing base, which is fixedly connected to the bottom of the spherical shaft. Slide grooves are provided on the left and right sides of the shock-absorbing base. The shock-absorbing base is slidably connected to the guide rod through the two slide grooves, and the bottoms of the two guide rods are fixedly connected to the shock-absorbing plate.

[0013] Preferably, a plurality of dampers are fixedly connected between the shock absorbing base and the shock absorbing plate, a damping spring is sleeved below the outer wall of each damper, and the shock absorbing base is elastically connected to the shock absorbing plate through the damping spring.

[0014] Preferably, the bottom of the shock absorbing mechanism is connected to a brake mechanism, and the brake mechanism includes a fixed base, the fixed base is fixedly connected to the bottom of the shock absorbing plate, the rear of the fixed base is slidably connected to a connecting rod, a guide tooth groove is provided in front of the connecting rod, and a fixed gear is meshed and connected in front of the guide tooth groove, the interior of the fixed gear is fixedly connected to a drive shaft, the left side of the drive shaft is fixedly connected to the output end of the third motor, the connecting rod is movably connected to the movable plate, and the movable plate is movably connected to the left and right sides of the fixed base.

[0015] Preferably, the brake mechanism also includes two brake lines, one end of the two brake lines are fixedly connected to the left and right sides of the drive shaft respectively, the other end of each brake line is fixedly connected to the pull rod, each pull rod is slidably connected to the movable plate, the outside of each pull rod is sleeved with a support spring, each pull rod is elastically connected to the movable plate through the support spring, the two pull rods are fixedly connected to the opposite sides with brake pads, and the bottom of the fixed base is movably connected to a support wheel.

[0016] (3) Beneficial effects Compared with the prior art, the present invention provides a traveling mechanism for a crane, which has the following beneficial effects: 1. The present invention uses a folding mechanism to control the movement of two movable arms using a first hydraulic cylinder, thereby realizing the folding and unfolding of the movable arms. Through a pushing mechanism, the first motor is used to control the downward movement of the movable underframe, thereby realizing the switching of the crane main body moving mechanism, solving the problem that the walking mechanism is difficult to move only by supporting wheels due to complex terrain. 2. The present invention uses a rotating mechanism to control the second gear to drive the rotation of the spherical shaft using a second motor, thereby adjusting the moving direction of the crane body. The shock-absorbing mechanism uses a damper and a damping spring to cooperate to reduce the force generated by vibration and jitter, thereby solving the problem of the stability of its movement being affected by vibration generated by bumpy roads. 3. The present invention uses a brake mechanism and a third motor to control the brake pads to come into contact with the support wheels, thereby fixing the support wheels. The lifting mechanism uses a second hydraulic cylinder to control the rotation and lifting of the movable arms on both sides, thereby achieving climbing of the crane body steps and solving the problem of the crane body slipping due to tire movement when climbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2It is a schematic diagram of the three-dimensional structure of the mobile chassis of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the lifting mechanism of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the rotating mechanism of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the shock absorbing mechanism of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the brake mechanism of the present invention; Figure 7 This invention Figure 2 A schematic diagram of the partially enlarged structure at center A; Figure 8 This invention Figure 6 A schematic diagram of the partially enlarged structure at point B in the middle; Figure 9 This invention Figure 6 Schematic diagram of the partially enlarged structure at point C in the middle.

[0018] In the figure: 1. Crane body; 2. Mobile chassis; 201. Support chassis; 202. Movable chassis; 203. Movable crawler; 3. Propelling mechanism; 301. Bidirectional screw; 302. First motor; 303. Screw slide; 304. First movable sleeve; 305. First support slide; 306. Adjustment plate; 307. Second movable sleeve; 308. Second support slide; 4. Folding mechanism; 401. First movable arm; 402. First hydraulic cylinder; 403. Second movable arm; 5. Lifting mechanism; 501. Second hydraulic cylinder; 502. Movable rack; 503. Support gear; 5 04. Fixed shaft; 6. Rotating mechanism; 601. Rotating base; 602. Second motor; 603. First gear; 604. Second gear; 7. Shock-absorbing mechanism; 701. Shock-absorbing base; 702. Guide rod; 703. Shock-absorbing plate; 704. Damper 705; Damping spring; 8. Braking mechanism; 801. Fixed base; 802. Connecting rod; 803. Guide tooth groove; 804. Fixed gear; 805. Drive shaft; 806. Third motor; 807. Movable plate; 808. Brake line; 809. Pull rod; 8010. Support spring; 8011. Brake pad; 9. Support wheel. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] Specific examples are given below.

[0021] See also Figures 1-9 The present invention provides a traveling mechanism for a crane, comprising a crane body 1, a mobile chassis 2 located at the bottom of the crane body 1, and a pushing mechanism 3 located inside the mobile chassis 2. The four corners of the crane body 1 are connected to folding mechanisms 4, the left and right sides of the interior of the crane body 1 are connected to lifting mechanisms 5, the top of the second movable arm 403 is connected to a rotating mechanism 6, the bottom of the rotating mechanism 6 is connected to a shock absorbing mechanism 7, the bottom of the shock absorbing mechanism 7 is connected to a brake mechanism 8, and the bottom of the fixed base 801 is movably connected to a support wheel 9.

[0022] like Figure 1 、 Figure 2 and Figure 7 As shown, the mobile chassis 2 includes a supporting base 201 and a movable base 202. The supporting base 201 is fixedly connected to the bottom of the crane body 1, and both sides of the bottom of the movable base 202 are movably connected to the movable crawler 203; the pushing mechanism 3 includes a bidirectional screw rod 301, which is movably connected to the inside of the movable base 202, and the right side of the bidirectional screw rod 301 is fixedly connected to the output end of the first motor 302. Both sides of the outside of the bidirectional screw rod 301 are threadedly connected to the screw rod slide 303, and both sides of the bottom of each screw rod slide 303 are fixedly connected to the first movable sleeve block 304. The pushing mechanism 3 also includes two first supporting slides 305. The two first support slides 305 are distributed and fixedly connected to the front and rear sides of the support base 201. Several groups of adjustment plates 306 are provided on the front and rear sides of the bottom of the support base 201. Each group of adjustment plates 306 is provided with two, and each group of adjustment plates 306 is cross-arranged. The top of the uppermost adjustment plate 306 is movably pin-connected with the first movable sleeve block 304, and the bottom of the lowermost adjustment plate 306 is movably pin-connected with the second movable sleeve block 307. The internal sliding connection of the two second movable sleeve blocks 307 is the same second support slide 308, and the two second support slides 308 are respectively fixedly connected to the front and rear sides inside the movable base 202.

[0023] Through the above scheme: the first motor 302 starts to drive the bidirectional screw 301 to rotate, and under the action of the thread, the screw slides 303 on both sides are pushed to drive the first movable sleeve block 304 to move toward each other along the first support slide 305, so that the two adjustment plates 306 are close to each other, thereby pushing the movable base frame 202 to move downward, driving the movable crawler 203 to contact the ground, and the movable arms on the four sides are folded under the action of the folding mechanism 4, thereby completing the switching of the mobile mechanism.

[0024] like Figure 1 and Figure 3As shown, each folding mechanism 4 includes a first movable arm 401, which is movably connected to the crane body 1, and a second movable arm 403 is movably connected to the bottom of the first movable arm 401. A first hydraulic cylinder 402 is movably connected between the first movable arm 401 and the second movable arm 403. The lifting mechanism 5 includes a second hydraulic cylinder 501, which is fixedly connected to the crane body 1, and a movable rack 502 is fixedly connected to the extended end of the second hydraulic cylinder 501. The top of the movable rack 502 is meshed with a support gear 503, and the interior of the support gear 503 is fixedly connected to a fixed shaft 504.

[0025] Through the above scheme: the first hydraulic cylinder 402 is started to push the first movable arm 401 and the second movable arm 403 to open, and the second hydraulic cylinder 501 is started to push the movable rack 502 to slide. Since the movable rack 502 is engaged with the support gear 503, the fixed shaft 504 is pushed under the meshing action of the gears to drive the movable arms on both sides to rotate and lift, so as to facilitate climbing the stairs.

[0026] like Figure 1 and Figure 4 As shown, the rotating mechanism 6 includes a rotating base 601, which is movably connected to the second movable arm 403. The left side of the rotating base 601 is fixedly connected to the second motor 602. The output end of the second motor 602 is fixedly connected to the first gear 603 through a shaft. The right side of the first gear 603 is meshed with the second gear 604, and the interior of the second gear 604 is fixedly connected to a spherical shaft.

[0027] Through the above solution: the second motor 602 is started, driving the first gear 603 to rotate. Since the first gear 603 and the second gear 604 are engaged, under the meshing action of the gears, the spherical shaft is pushed to drive the support wheel 9 to rotate, so as to adjust the moving direction of the crane body 1.

[0028] like Figure 1 and Figure 5 As shown, the shock absorbing mechanism 7 includes a shock absorbing base 701, which is fixedly connected to the bottom of the spherical shaft. Slide grooves are provided on the left and right sides of the shock absorbing base 701. The shock absorbing base 701 is slidably connected to the guide rod 702 through the two slide grooves. The bottoms of the two guide rods 702 are fixedly connected to the shock absorbing plate 703. Several dampers 704 are fixedly connected between the shock absorbing base 701 and the shock absorbing plate 703. A damping spring 705 is sleeved on the lower part of the outer wall of each damper 704. The shock absorbing base 701 is elastically connected to the shock absorbing plate 703 through the damping spring 705.

[0029] Through the above scheme: when the crane body 1 is vibrated, the force generated by the vibration acts on the damper 704. Since the shock-absorbing base 701 is elastically connected to the shock-absorbing plate 703 through the damping spring 705, the damper 704 cooperates with the elastic force of the damping spring 705 to weaken the force generated by the vibration.

[0030] like Figure 1 、 Figure 3 、 Figure 6 、 Figure 8 and Figure 9 As shown, the brake mechanism 8 includes a fixed base 801, which is fixedly connected to the bottom of the shock absorbing plate 703, and a connecting rod 802 is slidably connected to the rear of the fixed base 801. A guide tooth groove 803 is provided in front of the connecting rod 802, and a fixed gear 804 is meshed and connected in front of the guide tooth groove 803. The interior of the fixed gear 804 is fixedly connected to a driving shaft 805, and the left side of the driving shaft 805 is fixedly connected to the output end of the third motor 806. The connecting rod 802 is movably connected to the movable plate 807, and the movable plate 807 is connected to the fixed The left and right sides of the base 801 are movably connected, and the brake mechanism 8 also includes two brake lines 808, one end of the two brake lines 808 is fixedly connected to the left and right sides of the drive shaft 805 respectively, and the other end of each brake line 808 is fixedly connected to the pull rod 809, each pull rod 809 is slidingly connected to the movable plate 807, and the outside of each pull rod 809 is sleeved with a support spring 8010, and each pull rod 809 is elastically connected to the movable plate 807 through the support spring 8010, and the brake pads 8011 are fixedly connected to the opposite sides of the two pull rods 809.

[0031] Through the above scheme: the third motor 806 is started, driving the drive shaft 805 to rotate, thereby causing the fixed gear 804 to rotate together. Under the meshing action of the gears, the connecting rod 802 is pushed to drive the movable plate 807 to move downward. At the same time, the brake line 808 is released. Since the pull rod 809 is elastically connected to the movable plate 807 through the support spring 8010, under the elastic force of the support spring 8010, the brake pad 8011 is pushed to contact the support wheel 9.

[0032] Working principle: In actual use, first, through the folding mechanism 4, the first hydraulic cylinder 402 is used to control the two movable arms to fold, and through the pushing mechanism 3, the first motor 302 is used to control the adjustment plates 306 on both sides to move closer to each other, pushing the movable base frame 202 downward to complete the switching of the moving mechanism. Secondly, through the rotating mechanism 6, the second motor 602 is used to control the second gear 604 to drive the spherical shaft to rotate, thereby adjusting the moving direction of the crane body 1. Through the lifting mechanism 5, the second hydraulic cylinder 501 is used to push the fixed shaft 504 to drive the movable arms on both sides to rotate and lift, and the crane body 1 climbs the steps. Finally, through the shock absorbing mechanism 7, the damper 704 and the damping spring 705 are cooperated to weaken the force generated by the vibration and jitter. Through the brake mechanism 8, the third motor 806 is used to control the drive shaft 805 to drive the fixed gear 804 to rotate, thereby moving the movable plate 807 and pushing the brake pad 8011 to contact the support wheel 9.

[0033] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A traveling mechanism for a crane, comprising a crane body (1), a mobile chassis (2) located at the bottom of the crane body (1), and a propulsion mechanism (3) located inside the mobile chassis (2), characterized in that: The mobile chassis (2) comprises a supporting base frame (201) and a movable base frame (202), wherein the supporting base frame (201) is fixedly connected to the bottom of the crane body (1), and both sides of the bottom of the movable base frame (202) are movably connected to movable crawlers (203); The pushing mechanism (3) comprises a bidirectional screw rod (301), the bidirectional screw rod (301) being movably connected to the inside of the movable base frame (202), the right side of the bidirectional screw rod (301) being fixedly connected to the output end of the first motor (302), both sides of the outside of the bidirectional screw rod (301) being threadedly connected to screw rod slides (303), and both sides of the bottom of each screw rod slide (303) being fixedly connected to a first movable sleeve block (304).

2. The traveling mechanism for a crane according to claim 1, characterized in that: The pushing mechanism (3) further comprises two first supporting slide bars (305), the two first supporting slide bars (305) being distributed and fixedly connected to the front and rear sides of the supporting base frame (201), and a plurality of groups of adjustment plates (306) are provided on the front and rear sides of the bottom of the supporting base frame (201), each group of the adjustment plates (306) being provided with two, and each group of the adjustment plates (306) being cross-arranged.

3. The traveling mechanism for a crane according to claim 2, characterized in that: The top of the uppermost adjustment plate (306) is movably pin-connected to the first movable sleeve (304), and the bottom of the lowermost adjustment plate (306) is movably pin-connected to the second movable sleeve (307). The two second movable sleeves (307) are internally slidably connected to the same second supporting slide bar (308), and the two second supporting slide bars (308) are respectively fixedly connected to the front and rear sides of the interior of the movable base frame (202).

4. The traveling mechanism for a crane according to claim 1, characterized in that: The four corners of the crane body (1) are connected to folding mechanisms (4), each of the folding mechanisms (4) comprises a first movable arm (401), the first movable arm (401) is movably connected to the crane body (1), the bottom of the first movable arm (401) is movably connected to a second movable arm (403), and a first hydraulic cylinder (402) is movably connected between the first movable arm (401) and the second movable arm (403).

5. The traveling mechanism for a crane according to claim 1, characterized in that: The left and right sides of the interior of the crane body (1) are both connected to a lifting mechanism (5), and the lifting mechanism (5) includes a second hydraulic cylinder (501), the second hydraulic cylinder (501) is fixedly connected to the crane body (1), an extended end of the second hydraulic cylinder (501) is fixedly connected to a movable rack (502), the top of the movable rack (502) is meshedly connected to a support gear (503), and the interior of the support gear (503) is fixedly connected to a fixed shaft (504).

6. The traveling mechanism for a crane according to claim 1, characterized in that: The top of the second movable arm (403) is connected to a rotating mechanism (6), and the rotating mechanism (6) includes a rotating base (601), the rotating base (601) is movably connected to the second movable arm (403), the left side of the interior of the rotating base (601) is fixedly connected to a second motor (602), the output end of the second motor (602) is fixedly connected to the first gear (603) via a shaft, the right side of the first gear (603) is meshed with a second gear (604), and the interior of the second gear (604) is fixedly connected to a spherical shaft.

7. The traveling mechanism for a crane according to claim 1, characterized in that: The bottom of the rotating mechanism (6) is connected to a shock absorbing mechanism (7), and the shock absorbing mechanism (7) includes a shock absorbing base (701), and the shock absorbing base (701) is fixedly connected to the bottom of the spherical shaft. Slide grooves are provided on the left and right sides of the shock absorbing base (701), and the shock absorbing base (701) is slidably connected to the guide rod (702) through the two slide grooves. The bottoms of the two guide rods (702) are fixedly connected to the shock absorbing plate (703).

8. The traveling mechanism for a crane according to claim 7, characterized in that: A plurality of dampers (704) are fixedly connected between the shock-absorbing base (701) and the shock-absorbing plate (703), a damping spring (705) is sleeved below the outer wall of each damper (704), and the shock-absorbing base (701) is elastically connected to the shock-absorbing plate (703) via the damping spring (705).

9. The traveling mechanism for a crane according to claim 1, characterized in that: The bottom of the shock absorbing mechanism (7) is connected to a brake mechanism (8), and the brake mechanism (8) includes a fixed base (801), the fixed base (801) is fixedly connected to the bottom of the shock absorbing plate (703), the rear of the fixed base (801) is slidably connected to a connecting rod (802), the front of the connecting rod (802) is provided with a guide tooth groove (803), the front of the guide tooth groove (803) is meshed with a fixed gear (804), the interior of the fixed gear (804) is fixedly connected to a drive shaft (805), the left side of the drive shaft (805) is fixedly connected to the output end of the third motor (806), the connecting rod (802) is movably connected to the movable plate (807), and the movable plate (807) is movably connected to the left and right sides of the fixed base (801).

10. The traveling mechanism for a crane according to claim 9, characterized in that: The brake mechanism (8) further comprises two brake lines (808), one end of each of the two brake lines (808) being fixedly connected to the left and right sides of the drive shaft (805), respectively, the other end of each of the brake lines (808) being fixedly connected to a pull rod (809), each of the pull rods (809) being slidably connected to the movable plate (807), the outer portion of each of the pull rods (809) being sleeved with a support spring (8010), each of the pull rods (809) being elastically connected to the movable plate (807) via the support spring (8010), a brake pad (8011) being fixedly connected to the opposite sides of the two pull rods (809), and a support wheel (9) being movably connected to the bottom of the fixed base (801).

Images