Crane convenient to move

Abstract

The invention discloses a crane convenient to move, and belongs to the technical field of stacking equipment, the crane convenient to move comprises a moving mechanism, a lifting mechanism is arranged at the top of the moving mechanism, a translation mechanism is arranged in the lifting mechanism, and two fixing clamps are arranged on the two sides of one side of the translation mechanism; the fixing clamp comprises a U-shaped plate and two clamping assemblies, the two clamping assemblies are arranged on the inner walls of the front side and the rear side of the U-shaped plate correspondingly, two driving mechanisms are arranged on one side of the U-shaped plate, and pressurizing mechanisms are arranged in the driving mechanisms. The clamping system driven by the magnetorheological fluid is adopted, cooperative control of the pressure sensor, the electric push rod and the servo motor is combined, the clamping plate can be rapidly moved to approach goods in the initial clamping stage, the mode is automatically switched to a low-speed precise pressurization mode after contact, the clamping speed and the force control precision are both considered, and the clamping efficiency is improved. The linkage mechanism triggers the magnetic field curing effect through centrifugal force in the lifting process, the magnetorheological fluid is promoted to form a chain-shaped solid structure, and the risk of goods slipping is thoroughly eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of stacking equipment, and in particular to a mobile crane. Background Art

[0002] Traditional mobile cranes often use hydraulic or purely mechanical clamping devices. For example, the patent document with the authorization announcement number: CN114728745B discloses a stacking crane. In the stacking crane, the cover unit covering the lifting area (E) of the lifting part can be integrally installed on the side of the mast. The mast of the stacking crane has: a reinforcement part (D), which is arranged between a pair of side parts in the Y direction, extends toward the side opposite to the lifting surface in the lifting surface forming part and has a higher rigidity than the side part (C); and an adjustment part, which is arranged at a distance from the lifting surface forming part (A) in the X direction orthogonal to the Z direction and the Y direction, and is configured so that both ends are in contact with the reinforcement part (D) and the side part (C), and can be extended and retracted along the Y direction. There are significant limitations: First, the clamping force relies on a preset pressure threshold or operator experience, making it difficult to dynamically respond to the varying characteristics of the cargo. This can easily lead to loose clamping, causing slippage, or overtightening, damaging the cargo. Second, the clamping process lacks tiered speed control. Slow clamping affects operational efficiency, while fast clamping makes precise braking difficult, which can easily lead to collisions, especially when handling delicate objects. Furthermore, mechanical vibrations during the lifting process can easily cause micro-displacements in traditional clamping mechanisms, accumulating into loose gaps and creating the risk of falling objects.

[0003] While existing technologies have attempted to incorporate electronic clamping force feedback, they still haven't solved the problems of hydraulic response hysteresis and mechanical transmission backlash. For anti-loosening during lifting, most rely on rigid locking mechanisms or manual re-tightening, which not only increases equipment complexity but also fails to achieve dynamic, adaptive, real-time locking. Therefore, we propose a mobile crane to address this problem. Summary of the Invention

[0004] The object of the present invention is to provide a crane that is easy to move, so as to solve the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A mobile crane comprises: a mobile mechanism, a lifting mechanism is provided on the top of the mobile mechanism, a translation mechanism is provided inside the lifting mechanism, and two fixing clamps are provided on both sides of one side of the translation mechanism;

[0007] The fixing fixture includes: a U-shaped plate and two clamping components, the two clamping components are respectively arranged on the front and rear inner walls of the U-shaped plate, two sets of driving mechanisms are provided on one side of the U-shaped plate, a pressurizing mechanism is provided in the driving mechanism, the clamping mechanism includes: a sealing frame, a piston plate and a clamping plate, an electromagnet is provided in the sealing frame, the driving mechanism includes: a fixing box, a sealing plate and an electric push rod, and the pressurizing mechanism includes: a piston column, a screw and a servo motor.

[0008] Preferably, a push plate is fixedly installed between the piston plate and the clamping plate, the piston plate is slidably installed in the sealing box, the piston plate divides the sealing box into a first cavity and a second cavity, the sealing plate is slidably installed in the fixed box, the sealing plate divides the fixed box into a left cavity and a right cavity, a connecting pipe is connected between the right cavity and the first cavity, the right cavity, the first cavity and the connecting pipe are all filled with magnetorheological fluid, a first pressure sensor is fixedly installed on one side of the sealing plate, a pressure plate is fixedly installed on the other end of the first pressure sensor, the electric push rod is fixedly installed on one side of the fixed box, the output end of the electric push rod is fixedly connected to the pressure plate, and the fixed box is fixedly installed on the outside of the U-shaped plate.

[0009] Preferably, a rotating claw is fixedly mounted on the output shaft of the servo motor, a linkage disk is fixedly mounted on one end of the screw, the linkage disk is slidably mounted in the rotating claw, a U-shaped rod is fixedly mounted on one side of the sealing plate, the screw is rotatably mounted in the U-shaped rod, a driving plate is slidably sleeved on the outer side of the U-shaped rod, the driving plate is threadedly sleeved on the outer side of the screw, a second pressure sensor is fixedly mounted between the driving plate and the piston column, a plurality of pins are integrally formed at one end of the piston column, the pins are movably inserted in the driving plate, a limiting plate is integrally formed at the other end of the piston column, the servo motor is fixedly mounted on one side of the fixed box, and the piston column is slidingly and sealingly connected to the sealing plate.

[0010] Preferably, the moving mechanism includes: a base, a moving seat and a first screw rod, the top of the base is fixedly mounted with a first drive motor, a guide rail and a positioning plate, one end of the first screw rod is fixedly mounted on the output shaft of the first drive motor, the other end of the first screw rod is rotatably mounted in the positioning plate, the moving seat is threadedly sleeved on the outside of the first screw rod, and the moving seat is slidably sleeved on the outside of the guide rail, brackets are fixedly mounted on both sides of the moving seat, a plurality of support wheels are rotatably mounted in the brackets, trapezoidal plates are fixedly mounted on both sides of the base, and the support wheels roll and abut against the top of the trapezoidal plates.

[0011] Preferably, the lifting mechanism includes: a lifting frame, a fixed frame, a second screw rod and a second drive motor, the fixed frame is fixedly mounted on the top of the movable seat, the lifting frame is slidably mounted in the fixed frame, the second screw rod is threadedly mounted in the lifting frame, the second screw rod is rotatably mounted in the fixed frame, the top end of the second screw rod is fixedly mounted on the output shaft of the second drive motor, and the second drive motor is fixedly mounted on the top of the fixed frame.

[0012] Preferably, the translation mechanism includes: a third drive motor, a third screw rod, a slide rail and a translation plate. The third drive motor and the slide rail are fixedly installed in the lifting frame. One end of the third screw rod is fixedly installed on the output shaft of the third drive motor. The translation plate is slidably sleeved on the outside of the slide rail, and the translation plate is threadedly sleeved on the outside of the third screw rod. Horizontal plates are fixedly installed on the front and rear sides of the translation plate, and the other end of the horizontal plate is fixedly connected to the corresponding fixed box.

[0013] The cam is fixedly mounted on the lifting frame, and the rear end of the cam is fixedly mounted on the lifting frame, and the cam is fixedly mounted on the lifting frame, and the rear end of the cam is fixedly mounted on the lifting frame.

[0014] Two fixed pulleys are rotatably mounted in the rotating frame, and the pull rope is wound around the outer sides of the corresponding fixed pulleys.

[0015] Preferably, a controller is fixedly installed on the top of the fixed frame, a guide plate and a rack are fixedly installed inside the fixed frame, the lifting frame is slidably sleeved on the outside of the guide plate, a gear is fixedly installed on the outside of the linkage shaft, and the gear and the rack are meshed with each other.

[0016] The beneficial effects of the present invention are:

[0017] 1. In the present invention, the crane that is easy to move is configured to start a first drive motor, a second drive motor, and a third drive motor. The first drive motor drives the first screw to rotate, and the first screw drives the moving seat to move forward and backward through a thread transmission with the moving seat. The second drive motor drives the second screw to rotate and drives the lifting frame to move up and down through a thread cooperation with the lifting frame. The third drive motor drives the third screw to rotate and drives the translation plate to move left and right through a thread transmission with the translation plate, thereby realizing three-directional movement control of the fixed fixture.

[0018] 2. In the present invention, the mobile crane drives the sealing plate to slide in the fixed box by starting the electric push rod, so that the magnetorheological fluid in the second cavity flows into the first cavity in the sealing box through the connecting pipe and pushes the piston plate to move. At this time, the piston plate drives the piston column to move synchronously, and then drives the two clamping plates to approach each other through the push plate to achieve the clamping of the goods. When the clamping plates contact the goods, the first pressure sensor senses a small amount of pressure value, and the controller controls the electric push rod to stop running and controls the servo motor to start. The servo motor drives the rotating claw to rotate, and drives the screw through the cooperation with the linkage disk. The screw rotates synchronously, and the screw drives the piston column to slide in the sealing plate through the threaded transmission with the driving plate, thereby further squeezing the magnetorheological fluid in the right cavity and slowly entering the first cavity to squeeze the piston plate, thereby increasing the clamping force of the clamping plate on the goods. The clamping force is monitored by the second pressure sensor and the first pressure sensor, and when the preset value is reached, the servo motor is controlled to stop running, thereby completing the clamping work. In this way, the clamping plate can be controlled to move quickly when it is not in contact with the goods, thereby increasing the clamping speed, and can be controlled to move slowly after contacting the goods, thereby achieving precise control of the clamping force;

[0019] 3. In the present invention, the crane is easy to move. When the lifting frame is lifting, it drives the linkage shaft and the gear to move up and down. The rack drives the gear and the linkage shaft to rotate by meshing with the gear, and drives the U-shaped frame and the rotating frame to rotate, and the counterweight plate is thrown outward under the action of centrifugal force. Then, the sliding seat is pulled backward by the pull rope, and then the moving plate and the abutment plate are driven backward by the cooperation with the connecting shaft. When the abutment plate contacts the touch button, the electromagnet is energized to generate magnetism, and the magnetic particles in the magnetorheological fluid are Polarization occurs under the action of a magnetic field, and the magnetic domains inside the particles are aligned along the direction of the magnetic field, turning each particle into a magnetic dipole. Adjacent particles generate a strong attraction due to the anisotropy of their magnetic poles, and the force far exceeds the perturbation force of Brownian motion. Driven by the magnetic attraction, the polarized particles adsorb each other along the direction of the magnetic lines of force, connecting end to end to form a chain structure. Multiple chains are further bundled into a columnar or mesh structure. This structure wraps the carrier liquid in the mesh gaps, limiting its fluidity, thereby preventing the clamping plate from loosening during lifting and lowering, ensuring that the goods do not fall off during lifting and lowering.

[0020] 4. In the present invention, the mobile crane realizes precise three-dimensional positioning of the fixed fixture through a three-axis screw transmission mechanism, significantly improving the cargo handling efficiency. It adopts a clamping system driven by magnetorheological fluid, combined with the coordinated control of pressure sensors, electric push rods, and servo motors. It can quickly move the clamping plate close to the cargo in the initial clamping stage, and automatically switch to a slow and precise pressurization mode after contact, taking into account the clamping speed and force control accuracy. The linkage mechanism triggers the magnetic field solidification effect through centrifugal force during the lifting process, prompting the magnetorheological fluid to form a chain-like solid structure, completely eliminating the risk of cargo slipping, and ensuring the safety and stability of high-altitude handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of a mobile crane proposed by the present invention;

[0022] Figure 2 This is a schematic cross-sectional view of a mobile crane proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the mobile mechanism proposed in the present invention;

[0024] Figure 4 This is a schematic diagram of a partial three-dimensional structure of a mobile crane proposed by the present invention;

[0025] Figure 5 This is a schematic diagram of a partial three-dimensional structure of a mobile crane proposed by the present invention from another perspective;

[0026] Figure 6 This is a schematic diagram of a top-down cross-sectional structure of a mobile crane proposed by the present invention;

[0027] Figure 7 for Figure 6 A partial enlarged view of part A;

[0028] Figure 8 This is a schematic diagram of the three-dimensional structure of the fixing frame proposed by the present invention;

[0029] Figure 9 This is a schematic cross-sectional view of the fixing fixture proposed in the present invention;

[0030] Figure 10 for Figure 9 A partial enlarged view of part B;

[0031] Figure 11 This is a schematic diagram of a partial three-dimensional structure of the pressurizing mechanism proposed in the present invention;

[0032] Figure 12This is an exploded three-dimensional structural diagram of the rotating claw, linkage disk and screw proposed in the present invention;

[0033] Figure 13 This is a schematic diagram of the three-dimensional structure of the linkage mechanism proposed in the present invention;

[0034] Figure 14 This is a schematic cross-sectional structural diagram of the linkage mechanism proposed in the present invention.

[0035] In the figure: 1. moving mechanism; 101. base; 102. first driving motor; 103. first screw rod; 104. moving seat; 105. bracket; 106. supporting wheel; 107. trapezoidal plate; 108. guide rail; 2. lifting mechanism; 201. fixed frame; 202. second driving motor; 203. second screw rod; 204. lifting frame; 205. guide plate; 3. translation mechanism; 301. third driving motor; 302. third screw rod; 303. translation plate; 304. slide rail; 305. cross plate; 4. driving mechanism; 401. fixed box; 4011. right cavity; 402. sealing plate; 403. first pressure sensor; 404. pressure plate; 405. electric push rod; 5. clamping assembly; 501. sealing box; 5011. first cavity; 50 2. Connecting pipe; 503. Electromagnet; 504. Piston plate; 505. Push plate; 506. Clamping plate; 6. Pressurizing mechanism; 601. Servo motor; 602. Rotating claw; 603. Linkage disk; 604. Screw; 605. Drive plate; 606. Second pressure sensor; 607. Piston column; 608. U-shaped rod; 7. Linkage mechanism; 701. Linkage shaft; 702. U-shaped frame; 703. Sliding seat; 704. Rotating frame; 705. Counterweight plate; 706. Compression spring; 707. Fixed pulley; 708. Pull rope; 709. Return spring; 710. Connecting shaft; 711. Moving plate; 712. Abutment disk; 713. Limit rod; 714. Fixed plate; 715. Touch button; 8. U-shaped plate; 9. Rack; 10. Gear; 11. Controller DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] Reference Figures 1-14 A crane that is easy to move includes: a moving mechanism 1, a lifting mechanism 2 is provided on the top of the moving mechanism 1, a translation mechanism 3 is provided inside the lifting mechanism 2, and two fixing clamps are provided on both sides of one side of the translation mechanism 3;

[0038] The fixing fixture includes: a U-shaped plate 8 and two clamping components 5, the two clamping components 5 are respectively arranged on the front and rear inner walls of the U-shaped plate 8, two sets of driving mechanisms 4 are provided on one side of the U-shaped plate 8, and a pressurizing mechanism 6 is provided in the driving mechanism 4. The clamping mechanism includes: a sealing frame, a piston plate 504 and a clamping plate 506, and an electromagnet 503 is provided in the sealing frame. The driving mechanism 4 includes: a fixing box 401, a sealing plate 402 and an electric push rod 405, and the pressurizing mechanism 6 includes: a piston column 607, a screw 604 and a servo motor 601.

[0039] In this embodiment, a push plate 505 is fixedly installed between the piston plate 504 and the clamping plate 506, and the piston plate 504 is slidably installed in the sealing box 501. The piston plate 504 divides the sealing box 501 into a first cavity 5011 and a second cavity. The sealing plate 402 is slidably installed in the fixed box 401. The sealing plate 402 divides the fixed box 401 into a left cavity and a right cavity 4011. A connecting pipe 502 is connected between the right cavity 4011 and the first cavity 5011. The right cavity 4011, the first cavity 5011 and the connecting pipe 502 are all filled with magnetorheological fluid. A first pressure sensor 403 is fixedly installed on one side of the sealing plate 402, and a pressure plate 404 is fixedly installed on the other end of the first pressure sensor 403. The electric push rod 405 is fixedly installed on one side of the fixed box 401, and the output end of the electric push rod 405 is fixedly connected to the pressure plate 404. The fixed box 401 is fixedly installed on the outside of the U-shaped plate 8.

[0040] In this embodiment, a rotating claw 602 is fixedly installed on the output shaft of the servo motor 601, and a linkage disk 603 is fixedly installed on one end of the screw 604. The linkage disk 603 is slidably installed in the rotating claw 602. A U-shaped rod 608 is fixedly installed on one side of the sealing plate 402, and the screw 604 is rotatably installed in the U-shaped rod 608. The outer side of the U-shaped rod 608 is slidably sleeved with a driving plate 605, and the driving plate 605 is threadedly sleeved on the outer side of the screw 604. A second pressure sensor 606 is fixedly installed between the driving plate 605 and the piston column 607. One end of the piston column 607 is integrally formed with multiple pins, which are movably inserted in the driving plate 605. The other end of the piston column 607 is integrally formed with a limiting plate. The servo motor 601 is fixedly installed on one side of the fixed box 401, and the piston column 607 is slidingly and sealedly connected in the sealing plate 402.

[0041] In this embodiment, the moving mechanism 1 includes: a base 101, a moving seat 104 and a first screw rod 103. The top of the base 101 is fixedly installed with a first drive motor 102, a guide rail 108 and a positioning plate. One end of the first screw rod 103 is fixedly installed on the output shaft of the first drive motor 102, and the other end of the first screw rod 103 is rotatably installed in the positioning plate. The moving seat 104 is threadedly sleeved on the outside of the first screw rod 103, and the moving seat 104 is slidably sleeved on the outside of the guide rail 108. Both sides of the moving seat 104 are fixedly installed with brackets 105, and multiple support wheels 106 are rotatably installed in the brackets 105. Trapezoidal plates 107 are fixedly installed on both sides of the base 101, and the support wheels 106 roll against the top of the trapezoidal plate 107.

[0042] In this embodiment, the lifting mechanism 2 includes: a lifting frame 204, a fixed frame 201, a second screw rod 203 and a second drive motor 202. The fixed frame 201 is fixedly installed on the top of the movable seat 104, the lifting frame 204 is slidably installed in the fixed frame 201, the second screw rod 203 is threadedly installed in the lifting frame 204, the second screw rod 203 is rotatably installed in the fixed frame 201, the top end of the second screw rod 203 is fixedly installed on the output shaft of the second drive motor 202, and the second drive motor 202 is fixedly installed on the top of the fixed frame 201.

[0043] In this embodiment, the translation mechanism 3 includes: a third drive motor 301, a third screw rod 302, a slide rail 304 and a translation plate 303. The third drive motor 301 and the slide rail 304 are both fixedly installed in the lifting frame 204. One end of the third screw rod 302 is fixedly installed on the output shaft of the third drive motor 301. The translation plate 303 is slidably sleeved on the outside of the slide rail 304, and the translation plate 303 is threadedly sleeved on the outside of the third screw rod 302. The front and rear sides of the translation plate 303 are fixedly installed with horizontal plates 305, and the other end of the horizontal plate 305 is fixedly connected to the corresponding fixed box 401.

[0044] In this embodiment, a linkage mechanism 7 is provided on the rear side of the lifting frame 204. The linkage mechanism 7 includes: a linkage shaft 701, a fixed plate 714, a touch button 715, a movable plate 711, a linkage shaft 701 and a sliding seat 703. The linkage shaft 701 is rotatably mounted in the lifting frame 204, the fixed plate 714 is fixedly mounted in the lifting frame 204, the touch button 715 is fixedly mounted on the front side of the fixed plate 714, the rear end of the linkage shaft 701 is fixedly mounted with a U-shaped frame 702, the rear end of the U-shaped frame 702 is fixedly mounted with a rotating frame 704, and the outer side of the rotating frame 704 is slidably sleeved with two counterweight plates 705, and the two counterweight plates 705 are away from each other. A compression spring 706 is fixedly installed on each side, and the other end of the compression spring 706 is fixedly connected to the rotating frame 704. A pull rope 708 is fixedly installed on the other side of the counterweight plate 705. A return spring 709 is fixedly installed on one side of the rotating frame 704. The other ends of the return spring 709 and the pull rope 708 are fixedly connected to the sliding seat 703. An abutment disk 712 is fixedly installed on one side of the movable plate 711, and a connecting shaft 710 is fixedly installed on the other side of the movable plate 711. The other end of the connecting shaft 710 is rotatably installed in the sliding seat 703. A limiting rod 713 is fixedly installed on the front side of the fixed plate 714, and the sliding seat 703 is slidably sleeved on the outer side of the limiting rod 713.

[0045] Two fixed pulleys 707 are rotatably mounted in the rotating frame 704 , and a pull rope 708 is wound around the outer sides of the corresponding fixed pulleys 707 .

[0046] In this embodiment, a controller 11 is fixedly installed on the top of the fixed frame 201, a guide plate 205 and a rack 9 are fixedly installed inside the fixed frame 201, the lifting frame 204 is slidably sleeved on the outside of the guide plate 205, and a gear 10 is fixedly installed on the outside of the linkage shaft 701, and the gear 10 and the rack 9 are engaged with each other.

[0047] In this embodiment, when in use, by starting the first drive motor 102, the second drive motor 202 and the third drive motor 301, the first drive motor 102 drives the first screw rod 103 to rotate, and the first screw rod 103 drives the movable base 104 to move forward and backward through the thread transmission with the movable base 104, the second drive motor 202 drives the second screw rod 203 to rotate, and drives the lifting frame 204 to move up and down through the thread cooperation with the lifting frame 204, the third drive motor 301 drives the third screw rod 302 to rotate, and drives the translation plate 303 to move left and right through the thread transmission with the translation plate 303, thereby realizing three-directional movement control of the fixed fixture;

[0048] By starting the electric push rod 405, the sealing plate 402 is driven to slide in the fixed box 401, so that the magnetorheological fluid in the second cavity flows into the first cavity 5011 in the sealing box 501 through the connecting pipe 502, and pushes the piston plate 504 to move. At this time, the piston plate 504 drives the piston column 607 to move synchronously, and then drives the two clamping plates 506 to move closer to each other through the push plate 505 to clamp the goods. When the clamping plates 506 contact the goods, the first pressure sensor 403 senses a small amount of pressure value, and controls the electric push rod 405 to stop running through the controller 11, and controls the servo motor 601 to start. The servo motor 601 drives the rotating claw 602 to rotate, and drives the screw 604 through the cooperation with the linkage disk 603. The screw 604 rotates synchronously, and the piston rod 607 is driven to slide in the sealing plate 402 through the threaded transmission with the driving plate 605, thereby further squeezing the magnetorheological fluid in the right cavity 4011 and slowly entering the first cavity 5011 to squeeze the piston plate 504, thereby increasing the clamping force of the clamping plate 506 on the goods. The clamping force is monitored by the second pressure sensor 606 and the first pressure sensor 403, and when the preset value is reached, the servo motor 601 is controlled to stop running, thereby completing the clamping work. In this way, the clamping plate 506 can be controlled to move quickly when it is not in contact with the goods, thereby increasing the clamping speed, and can be controlled to move slowly after contacting the goods, thereby achieving precise control of the clamping force.

[0049] When the lifting frame 204 is lifting, it drives the linkage shaft 701 and the gear 10 to move up and down. The rack 9 drives the gear 10 and the linkage shaft 701 to rotate by meshing with the gear 10, and drives the U-shaped frame 702 and the rotating frame 704 to rotate, and causes the counterweight plate 705 to be thrown outward under the action of centrifugal force. Then, the sliding seat 703 is pulled backward by the pull rope 708, and then the moving plate 711 and the abutment plate 712 are driven to move backward by the cooperation with the connecting shaft 710. When the abutment plate 712 contacts the touch button 715, the electromagnet 503 is energized to generate a magnetic The magnetic particles in the magnetorheological fluid are polarized under the action of the magnetic field, and the magnetic domains inside the particles are arranged along the direction of the magnetic field, so that each particle becomes a magnetic dipole. The adjacent particles have a strong attraction due to the anisotropy of the magnetic poles, and the force is much greater than the disturbance force of Brownian motion. Driven by the magnetic attraction, the polarized particles adsorb each other along the direction of the magnetic lines of force, and form a chain structure by connecting end to end. Multiple chains are further bundled into a columnar or mesh structure. This structure wraps the carrier liquid in the grid gap, restricting its fluidity, thereby avoiding the loosening of the clamping plate 506 during the lifting process, and ensuring that the goods do not fall off during the lifting process.

[0050] The crane design proposed in this invention is particularly well-suited for aisle stacking scenarios. A three-axis lead screw drive enables millimeter-level three-dimensional positioning of the fork in narrow aisles, meeting the precise access requirements of high-density warehousing. Its magnetorheological fluid clamping system utilizes "fast and slow dual-mode control." The clamping plate 506 initially approaches the cargo at high speed to reduce idle travel time. Upon contact, it automatically switches to a servo motor 601 for precise pressure application, effectively resolving the efficiency-accuracy tradeoff caused by the stacker's frequent clamping. Simultaneously, the linkage mechanism 7 uses the lifting action to trigger centrifugal force, driving the magnetic field to solidify the magnetorheological fluid into a chain-like solid structure. This completely eliminates the risk of cargo slippage during high-level operations, significantly improving the operational safety and storage density adaptability of high-bay warehouses.

[0051] The above describes in detail the mobile crane provided by the present invention. Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is intended only to facilitate understanding of the method and core concepts of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications fall within the scope of protection of the claims.

Claims

1. A mobile crane, characterized in that: include: A moving mechanism (1), wherein a lifting mechanism (2) is provided on the top of the moving mechanism (1), a translation mechanism (3) is provided inside the lifting mechanism (2), and two fixing fixtures are provided on both sides of one side of the translation mechanism (3); The fixing fixture comprises: a U-shaped plate (8) and two clamping assemblies (5), the two clamping assemblies (5) are respectively arranged on the front and rear inner walls of the U-shaped plate (8), two sets of driving mechanisms (4) are arranged on one side of the U-shaped plate (8), a pressurizing mechanism (6) is arranged in the driving mechanism (4), the clamping mechanism comprises: a sealing frame, a piston plate (504) and a clamping plate (506), an electromagnet (503) is arranged in the sealing frame, the driving mechanism (4) comprises: a fixing box (401), a sealing plate (402) and an electric push rod (405), and the pressurizing mechanism (6) comprises: a piston column (607), a screw (604) and a servo motor (601).

2. The mobile crane according to claim 1, characterized in that: A push plate (505) is fixedly installed between the piston plate (504) and the clamping plate (506). The piston plate (504) is slidably installed in the sealing box (501). The piston plate (504) divides the sealing box (501) into a first cavity (5011) and a second cavity. The sealing plate (402) is slidably installed in the fixed box (401). The sealing plate (402) divides the fixed box (401) into a left cavity and a right cavity (4011). A connecting pipe ( 502), the right cavity (4011), the first cavity (5011) and the connecting pipe (502) are all filled with magnetorheological fluid, a first pressure sensor (403) is fixedly mounted on one side of the sealing plate (402), a pressure plate (404) is fixedly mounted on the other end of the first pressure sensor (403), the electric push rod (405) is fixedly mounted on one side of the fixed box (401), the output end of the electric push rod (405) is fixedly connected to the pressure plate (404), and the fixed box (401) is fixedly mounted on the outside of the U-shaped plate (8).

3. The mobile crane according to claim 1, characterized in that: A rotating claw (602) is fixedly mounted on the output shaft of the servo motor (601), a linkage disk (603) is fixedly mounted on one end of the screw rod (604), and the linkage disk (603) is slidably mounted in the rotating claw (602), a U-shaped rod (608) is fixedly mounted on one side of the sealing plate (402), the screw rod (604) is rotatably mounted in the U-shaped rod (608), and a driving plate (605) is slidably sleeved on the outer side of the U-shaped rod (608), and the driving plate (605) is threadedly sleeved. A second pressure sensor (606) is fixedly installed between the drive plate (605) and the piston column (607) and is connected to the outer side of the screw (604). One end of the piston column (607) is integrally formed with a plurality of latches, which are movably plugged into the drive plate (605). The other end of the piston column (607) is integrally formed with a limit plate. The servo motor (601) is fixedly installed on one side of the fixed box (401), and the piston column (607) is slidingly sealed and connected to the sealing plate (402).

4. The mobile crane according to claim 1, characterized in that: The mobile mechanism (1) comprises: a base (101), a moving seat (104) and a first screw rod (103); a first drive motor (102), a guide rail (108) and a positioning plate are fixedly installed on the top of the base (101); one end of the first screw rod (103) is fixedly installed on the output shaft of the first drive motor (102); the other end of the first screw rod (103) is rotatably installed in the positioning plate; the moving seat (104) is threadedly sleeved on the outside of the first screw rod (103), and the moving seat (104) is slidably sleeved on the outside of the guide rail (108); brackets (105) are fixedly installed on both sides of the moving seat (104); a plurality of support wheels (106) are rotatably installed in the brackets (105); trapezoidal plates (107) are fixedly installed on both sides of the base (101); and the support wheels (106) roll and abut against the top of the trapezoidal plates (107).

5. The mobile crane according to claim 1, characterized in that: The lifting mechanism (2) comprises: a lifting frame (204), a fixed frame (201), a second screw rod (203) and a second drive motor (202); the fixed frame (201) is fixedly mounted on the top of the movable seat (104); the lifting frame (204) is slidably mounted in the fixed frame (201); the second screw rod (203) is threadedly mounted in the lifting frame (204); the second screw rod (203) is rotatably mounted in the fixed frame (201); the top end of the second screw rod (203) is fixedly mounted on the output shaft of the second drive motor (202); and the second drive motor (202) is fixedly mounted on the top of the fixed frame (201).

6. The mobile crane according to claim 5, characterized in that: The translation mechanism (3) comprises: a third drive motor (301), a third screw rod (302), a slide rail (304) and a translation plate (303); the third drive motor (301) and the slide rail (304) are both fixedly mounted in the lifting frame (204); one end of the third screw rod (302) is fixedly mounted on the output shaft of the third drive motor (301); the translation plate (303) is slidably sleeved on the outside of the slide rail (304); and the translation plate (303) is threadedly sleeved on the outside of the third screw rod (302); and transverse plates (305) are fixedly mounted on both the front and rear sides of the translation plate (303); and the other end of the transverse plate (305) is fixedly connected to the corresponding fixed box (401).

7. The mobile crane according to claim 6, characterized in that: A linkage mechanism (7) is provided at the rear side of the lifting frame (204), and the linkage mechanism (7) comprises: a linkage shaft (701), a fixed plate (714), a touch button (715), a movable plate (711), a linkage shaft (701) and a sliding seat (703). The linkage shaft (701) is rotatably mounted in the lifting frame (204), the fixed plate (714) is fixedly mounted in the lifting frame (204), the touch button (715) is fixedly mounted on the front side of the fixed plate (714), a U-shaped frame (702) is fixedly mounted at the rear end of the linkage shaft (701), a rotating frame (704) is fixedly mounted at the rear end of the U-shaped frame (702), and two counterweight plates (705) are slidably sleeved on the outer side of the rotating frame (704), and the two counterweight plates (705) are both slidably sleeved on the sides away from each other. A compression spring (706) is fixedly installed, and the other end of the compression spring (706) is fixedly connected to the rotating frame (704). A pull rope (708) is fixedly installed on the other side of the counterweight plate (705). A reset spring (709) is fixedly installed on one side of the rotating frame (704). The other ends of the reset spring (709) and the pull rope (708) are fixedly connected to the sliding seat (703). An abutment disk (712) is fixedly installed on one side of the movable plate (711). A connecting shaft (710) is fixedly installed on the other side of the movable plate (711). The other end of the connecting shaft (710) is rotatably installed in the sliding seat (703). A limiting rod (713) is fixedly installed on the front side of the fixed plate (714). The sliding seat (703) is slidably sleeved on the outer side of the limiting rod (713). Two fixed pulleys (707) are rotatably mounted in the rotating frame (704), and the pull rope (708) is wound around the outer sides of the corresponding fixed pulleys (707).

8. The mobile crane according to claim 7, characterized in that: A controller (11) is fixedly installed on the top of the fixed frame (201), a guide plate (205) and a rack (9) are fixedly installed inside the fixed frame (201), the lifting frame (204) is slidably sleeved on the outside of the guide plate (205), and a gear (10) is fixedly installed on the outside of the linkage shaft (701), and the gear (10) and the rack (9) are meshed with each other.

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