Charging bucket crane and hoisting method thereof

Abstract

The invention belongs to the technical field of cranes, and particularly relates to a charging bucket crane and a hoisting method thereof. The crane comprises a cart end beam, a main beam arranged on the cart end beam in a sliding mode through a first running mechanism, a crane trolley arranged on the main beam, a lifting device installed on the crane trolley, an anti-swing lifting appliance hoisted on the lifting device through a steel wire rope and at least one anti-swing mechanism arranged between the crane trolley and the anti-swing lifting appliance. The anti-swing mechanism comprises an anti-swing shaft installed on the lower end face of the movable frame body and an anti-swing hole fixedly formed in the upper end face of the anti-swing lifting appliance. When the horizontal carrying operation of the charging bucket is carried out, the lifting device drives the anti-swing lifting appliance to ascend until the anti-swing shaft is inserted into the corresponding anti-swing hole. According to the anti-swing lifting appliance, the anti-swing shafts are accurately inserted into the corresponding anti-swing holes, so that rigid connection between the anti-swing lifting appliance and the crane carriage in the horizontal direction is realized, shaking of the charging bucket in the horizontal direction in the lifting process is effectively inhibited, and the stability of lifting and carrying is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cranes, and particularly relates to a material tank crane and a hoisting method thereof. BACKGROUND

[0002] As an indispensable large-scale equipment in industrial production, the material tank is mainly used for the storage and transfer of various materials, and its structure is usually designed as a symmetrical polygon to balance the capacity and stability. Due to the large size, high self-weight and heavy load, the material tank often needs to be hoisted by a lifting device in actual application. Although the chain hook type crane widely used at present can realize the basic hoisting function, the inherent swing characteristics of the flexible chain make it difficult to effectively suppress the sway of the material tank during hoisting, resulting in a serious lack of stability, which not only affects the carrying accuracy and efficiency, but also brings significant safety hazards.

[0003] On the one hand, the violent sway increases the risk of collision between the material tank and the surrounding equipment or structure, which may cause equipment damage or even production accidents;

[0004] On the other hand, for the material tank containing powdery, granular or liquid materials, such unstable motion state is prone to cause the materials to spill out during the sway, resulting in material waste, environmental pollution and increased cleaning cost. In the case of flammable, explosive or toxic materials, the spilled materials may trigger fire, explosion or poisoning accidents. Therefore, the existing chain hook lifting method has obvious limitations in the application of material tank carrying. SUMMARY

[0005] The purpose of the present application is to overcome the defects of the existing chain hook type lifting method, which has a serious lack of stability and brings great safety hazards. The present application provides a material tank crane and a hoisting method thereof, which fundamentally suppresses the sway and ensures the safety, stability and efficiency of the material tank carrying.

[0006] The technical solution adopted by the present application to solve its technical problems is:

[0007] As a first aspect, the present application provides a material tank crane, which comprises a lifting frame, a cross beam slidingly mounted on the lifting frame, a lifting trolley and a first running mechanism provided on the cross beam, a hoisting device mounted on the lifting trolley, an anti-sway lifting tool hoisted on the hoisting device through a steel wire rope, and at least one anti-sway mechanism provided between the lifting trolley and the anti-sway lifting tool;

[0008] The lifting trolley comprises a moving frame body, a second running mechanism mounted on the moving frame body, and a wire fixing device for fixing the steel wire rope; the first running mechanism drives the moving frame body to move in the y-axis direction, and the second running mechanism drives the moving frame body to move in the x-axis direction;

[0009] The anti-shaking mechanism comprises an anti-shaking shaft installed on the lower end surface of the moving frame body and an anti-shaking hole fixedly arranged on the upper end surface of the anti-shaking lifting device; when the horizontal direction of the material tank is transported, the anti-shaking shaft is inserted into the corresponding anti-shaking hole.

[0010] Specifically, the anti-shaking mechanism comprises two anti-shaking mechanisms arranged at the diagonal positions of the moving frame body.

[0011] Specifically, the anti-shaking hole comprises a horn-shaped butt joint part and a vertical anti-shaking hole; the anti-shaking shaft is fixedly arranged on a conical mounting seat of the moving frame body, a vertical anti-shaking part fixedly arranged in the conical mounting seat and a tip matching part fixedly arranged at the end of the vertical anti-shaking part; the tip matching part is matched and butt jointed with the horn-shaped butt joint part.

[0012] Specifically, the anti-shaking lifting device comprises a lifting seat, at least two pulleys installed on the upper end surface of the lifting seat, at least one set of electric clamps installed on the lower end surface of the lifting seat and a lifting hook mechanism;

[0013] The electric clamp comprises two clamp jaw assemblies installed on the lower end surface of the lifting seat and a double-output motor; the double-output motor drives the two clamp jaw assemblies to open and close synchronously through a transmission assembly.

[0014] Specifically, the clamp jaw assembly comprises a mounting bracket fixedly arranged on the lifting seat, a clamp jaw slidably arranged on the mounting bracket through a sliding module and an outer limit switch and an inner limit switch arranged on the mounting bracket; the outer limit switch and the inner limit switch are adjustable in position on the mounting bracket and are used for limiting the opening and clamping distance of the clamp jaw assembly.

[0015] The transmission assembly comprises a lead screw coaxially arranged with the output shaft of the double-output motor and a nut seat slidably matched with the lead screw; the clamp jaw is fixedly connected with the nut seat.

[0016] Specifically, the wire fixing device comprises two fixing seats installed on the moving frame body, a pin rod penetrating between the two fixing seats and a steel wire rope fixing mechanism penetrating the pin rod; the steel wire rope fixing mechanism penetrates the moving frame body in the z-axis direction;

[0017] The steel wire rope fixing mechanism comprises a lifting ring screw rod penetrating the moving frame body, a wedge-shaped joint installed at the bottom end of the lifting ring screw rod, a nut adjusting piece matched with the lifting ring screw rod and arranged on the upper side of the pin rod and a self-lubricating bearing arranged on the upper side of the pin rod; the lifting ring screw rod rotates along its own axis through the self-lubricating bearing and swings along with the pin rod;

[0018] One end of the steel wire rope is arranged on the lifting device, and the other end is arranged on the wedge joint through the pulley.

[0019] Specifically, the wedge joint comprises a circular ring connector arranged at the end of the sling screw rod, a wedge-shaped part mounted on the circular ring connector, and a steel wire rope fixing part mounted on the wedge-shaped part, the steel wire rope being fixed in the steel wire rope fixing part, and a steel wire rope fixing clamp being arranged on the steel wire rope fixing part to prevent the steel wire rope from sliding off.

[0020] Specifically, two groups of the anti-sway lifting device are arranged in parallel, and the pulley is provided with four pulleys, which are respectively located at the four corners of the lifting seat.

[0021] The lifting device comprises a double-out rope drum, and one end of each of the two steel wire ropes is fixed at the middle position of the double-out rope drum, and the other end of each of the two steel wire ropes is fixed on the corresponding steel wire rope fixing mechanism after passing through the two pulleys on the same side of the lifting seat.

[0022] Specifically, the control system comprises:

[0023] An inclination instrument is installed on the lifting seat to monitor the inclination angle of the lifting seat in real time.

[0024] A lifting device position detection module is installed on the anti-sway lifting device to monitor the position information of the anti-sway lifting device in the x-axis, y-axis and z-axis directions in real time.

[0025] A rope disorder detection module is installed on the lifting device to monitor the tension state of the steel wire rope in real time.

[0026] A clamping limit is arranged on the contact surface of any one of the clamping jaws and the tank, an outer grabber limit and an inner grabber limit are arranged on the mounting frame, an outer collision limit is installed on the outer side of the clamping jaw, a pair of shot limits are installed at the middle position of the clamping jaw, and a lower collision limit is arranged at the bottom of the clamping jaw; the clamping limit is used to detect whether the clamping jaw has clamped the fixed lifting point of the tank, the outer grabber limit and the inner grabber limit are adjustable in position on the mounting frame, and are used to limit the opening and clamping distance of the clamping jaw assembly; the pair of shot limits are used to detect the collision risk caused by position error under abnormal conditions, and the outer collision limit or the lower collision limit is used to avoid the collision risk caused by misoperation.

[0027] Two encoders are arranged on the two groups of anti-sway lifting devices respectively to collect the positions of the corresponding current clamping jaws in real time.

[0028] A control unit is used to acquire the position and limit information of the clamping jaw assembly and output instructions.

[0029] As a second aspect, the application provides a hoisting method of a ladle crane, which adopts the ladle crane as described above, and comprises the following steps:

[0030] Obtain data information collected by the tilt angle instrument, the outer grabber limit, the inner grabber limit and the opposite emission limit;

[0031] Adjust the positions of the outer grabber limit and the inner grabber limit according to the size of the ladle to be hoisted and the data information obtained above;

[0032] Obtain position information of the anti-sway hanger in the x-axis, y-axis and z-axis directions;

[0033] Start the first running mechanism or / and the second running mechanism to move the trolley to the upper side of the ladle to be hoisted according to the position information obtained above; the first running mechanism and the second running mechanism are not started synchronously;

[0034] Start the hoisting device to pay out the wire rope and drop the anti-sway hanger to the clamping position;

[0035] Start the electric clamp to clamp the ladle to be hoisted;

[0036] After the clamping is completed, the hoisting device is reeled in, that is, the anti-sway hanger is moved vertically upward through the wire rope until the anti-sway shaft at the lower end surface of the moving frame body is inserted into the anti-sway hole fixedly arranged at the upper end surface of the anti-sway hanger;

[0037] Start the first running mechanism and the second running mechanism to move the ladle to the specified position, and the hoisting device is paid out, that is, the anti-sway hanger is moved vertically downward and placed in the placement position, and the hoisting is completed.

[0038] Specifically, when the tilt angle instrument detects that the hoisting seat is not horizontal, the control unit sends an alarm signal and cuts off all actions of the hoisting trolley, the hoisting device and the anti-sway hanger;

[0039] When any of the claw assemblies triggers the corresponding clamping limit, it is determined that the clamping is in place, and the hoisting device is allowed to hoist;

[0040] When the grabber limit is triggered, the anti-sway hanger cannot be opened or closed;

[0041] When the rope disorder detection module detects the rope disorder state, the hoisting device can only pay out the wire rope; when the rope disorder detection module detects the rope feeding state, the hoisting device can only reel in the wire rope.

[0042] The ladle crane and the hoisting method thereof have the following beneficial effects:

[0043] The anti-shaking shaft at the lower end surface of the moving frame body of the trolley is inserted into the anti-shaking hole at the upper end surface of the anti-shaking lifting tool, and the anti-shaking lifting tool is rigidly connected between the trolley in the horizontal direction when the horizontal moving operation of the material tank is performed, so that the material tank does not shake in the horizontal direction under the rigid cooperation of the anti-shaking shaft and the anti-shaking hole when moving in the horizontal direction.

[0044] Compared with the traditional chain hook method, the double-output motor driven jaw structure is adopted in the scheme, the gripping is more firm, the control is more accurate, and the stability of the whole lifting system is further enhanced. The design fundamentally eliminates the swinging phenomenon of the material tank during horizontal movement, not only avoids the material spilling and safety risks caused by shaking, but also significantly improves the safety and operation efficiency of the handling process, and is especially suitable for industrial lifting scenes with high stability and reliability requirements.

[0045] The lifting method of the present application first performs vertical lifting of the material tank by the anti-shaking lifting tool, and lifts the anti-shaking lifting tool under the driving of the lifting device until the anti-shaking shaft and the anti-shaking hole are rigidly matched in the horizontal direction to form a stable connection. In this state, the control system can immediately perform asynchronous horizontal handling operation in the x-axis and y-axis directions, and stably lower the material tank through the lifting device after reaching the position. The whole process from lifting, translation to final landing, the material tank is always in a controlled stable state, without the waiting step for shaking to stop in the traditional way, realizing continuous, efficient and non-shaking lifting operation, and significantly improving the stability, safety and operation efficiency of the handling process. BRIEF DESCRIPTION OF DRAWINGS

[0046] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0047] Figure 1 is a structural schematic diagram of the material tank crane in the first embodiment of the present application.

[0048] Figure 2 is a connection diagram of the trolley and the anti-shaking lifting tool in the present application.

[0049] Figure 3 is a structural schematic diagram of the anti-shaking mechanism in the first embodiment of the present application.

[0050] Figure 4 is a front view of the anti-shaking lifting tool in the first embodiment of the present application.

[0051] Figure 5 is Figure 4 the left view.

[0052] Figure 6 is Figure 4is a perspective view of the electric clamp.

[0053] Figure 7 is a structural schematic diagram of the electric clamp in embodiment one of the application.

[0054] Figure 8 is a perspective view of the electric clamp. Figure 7

[0055] Figure 9 is a front view of the wire fixing device in embodiment one of the application.

[0056] Figure 10 is a left side partial sectional view of the wire fixing device in embodiment one of the application.

[0057] Figure 11 is a partial structural schematic diagram of the wire fixing device in embodiment one of the application.

[0058] Figure 12 is a control system block diagram of embodiment two of the application.

[0059] Figure 13 is a hoisting method flow chart in embodiment three of the application.

[0060] In the figure: 1, trolley, 11, moving frame body, 12, second running mechanism, 13, wire fixing device, 131, fixed seat, 132, pin rod, 133, steel wire rope fixing mechanism, 1331, lifting ring screw rod, 1332, wedge joint, 13321, circular ring connecting piece, 13322, wedge piece, 13323, steel wire rope fixing piece, 13324, rotating bolt, 13325, steel wire rope fixing clamp, 1333, nut adjusting piece, 1334, self-lubricating bearing, 134, first washer, 135, second washer, 136, thread, 2, lifting device, 3, steel wire rope, 4, anti-sway lifting appliance, 41, hoisting seat, 42, pulley, 43, electric clamp, 431, clamping jaw assembly, 4311, mounting frame, 4312, sliding module, 4313, clamping jaw, 4314, outer limit switch, 4315, inner limit switch, 432, double-output motor, 433, transmission assembly, 4331, lead screw, 4332, nut seat, 44, lifting hook mechanism, 45, cable storage drum, 5, anti-sway mechanism, 51, anti-sway shaft, 511, conical mounting seat, 512, vertical anti-sway part, 513, tip matching part, 52, anti-sway hole, 521, horn-shaped butt joint part, 522, vertical anti-sway hole, 6, control system, 61, inclinometer, 62, lifting appliance position detection module, 63, tangled rope detection module, 64, clamping limit, 65, gripper limit, 66, control unit, 67, outer collision limit, 68, beam limit, 69, lower collision limit, 610, encoder, 7, tank, 8, cross beam, 9, first running mechanism. DETAILED DESCRIPTION ​

[0061] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0062] Example 1

[0063] like Figures 1-11 The embodiment of a material tank crane of the present invention shown includes a lifting frame, a crossbeam slidably mounted on the lifting frame, a lifting trolley 1 and a first running mechanism 9 mounted on the crossbeam, a lifting device 2 mounted on the lifting trolley 1, an anti-sway device 4 suspended on the lifting device 2 by a wire rope 3, and at least one anti-sway mechanism 5 disposed between the lifting trolley 1 and the anti-sway device 4. Specifically, the lifting trolley 1 includes a movable frame 11, a second running mechanism 12 mounted on the movable frame 11, and a wire fixing device 13 for fixing the wire rope 3; the first running mechanism 9 drives the movable frame 11 to move in the y-axis direction, and the second running mechanism 12 drives the movable frame 11 to move in the x-axis direction. The anti-sway mechanism 5 includes an anti-sway shaft 51 mounted on the lower end face of the movable frame 11 and an anti-sway hole 52 fixedly mounted on the upper end face of the anti-sway device 4; when the material tank 7 is transported horizontally, the anti-sway shaft 51 is inserted into the corresponding anti-sway hole 52.

[0064] This invention features an anti-sway shaft 51 on the lower end face of the moving frame 11 of the lifting trolley 1 and an anti-sway hole 52 fixedly installed on the upper end face of the anti-sway lifting device 4. During the handling of the material tank 7, by precisely inserting the anti-sway shaft 51 into the corresponding anti-sway hole 52, a rigid connection is achieved between the anti-sway lifting device 4 and the lifting trolley 1 in the horizontal direction. Therefore, during horizontal movement, the material tank 7 will not sway horizontally due to the rigid cooperation of the anti-sway shaft 51 and the anti-sway hole 52. This structure effectively suppresses horizontal swaying during lifting and greatly improves operational stability.

[0065] In a preferred embodiment, the anti-sway mechanism 5 in this embodiment includes two anti-sway mechanisms 5, which are arranged diagonally across the movable frame 11, as detailed below. Figure 6 .

[0066] It needs to be further explained that, such as Figures 2 to 4 As shown, in this embodiment, the anti-sway hole 52 includes a flared docking portion 521 and a vertical anti-sway hole 522; the anti-sway shaft 51 is fixed to a conical mounting base 511 on the movable frame 11, a vertical anti-sway portion 512 is fixedly installed inside the conical mounting base 511, and a pointed fitting portion 513 is fixedly disposed at the end of the vertical anti-sway portion 512; the pointed fitting portion 513 engages with the flared docking portion 521. The flared docking portion 521 and the pointed fitting portion 513 facilitate precise docking between the anti-sway shaft 51 and the anti-sway hole 52.

[0067] like Figure 4 As shown, the anti-sway lifting device 4 in this embodiment includes a lifting base 41, at least two pulleys 42 mounted on the upper surface of the lifting base 41, at least one set of electric clamps 43 mounted on the lower surface of the lifting base 41, and a hook mechanism 44. The electric clamps 43 include two gripper assemblies 431 mounted on the lower surface of the lifting base 41 and a dual-output motor 432; the dual-output motor 432 drives the two gripper assemblies 431 to open and close synchronously via a transmission assembly 433. This embodiment achieves fully automated gripping of the material tank 7 by setting an independent lifting base 41 and installing at least one set of electric clamps 43 on the lower surface of the lifting base 41. The electric clamps 43 include two gripper assemblies 431 and a dual-output motor 432, which synchronously drives the two gripper assemblies 431 to open and close, ensuring the synchronicity of the movement of the two gripper assemblies 431 in the set of electric clamps 43. This solves the problem of relying on manual operation and increasing labor costs in existing technologies, and ensures the stability of material handling.

[0068] The hook mechanism 44 includes a hook, which is installed at the middle position of the lower end face of the lifting base 41. The electric clamp 43 and the hook mechanism 44 can be used simultaneously or not. On the one hand, when the electric clamp 43 malfunctions or fails, the material tank 7 can be lifted by the hook mechanism 44. On the other hand, depending on the shape and requirements of the object being lifted, the electric clamp 43, the hook mechanism 44, or both can be used simultaneously to increase the applicability of the lifting operation. In this embodiment, the hook mechanism 44 is used to lift and install components or equipment during the installation phase of the material tank 7. During the handling of the material tank 7, when the gripper assembly 431 malfunctions, the hook mechanism 44 lifts the material tank 7, thus preventing the workshop from being unable to handle the material tank 7 under special circumstances. It should be understood that the hook mechanism 44 in this embodiment includes a hook, which is a hook commonly used by those skilled in the art. Its shape and size can be selected according to the specific application scenario. The specific structure of the hook will not be described in detail here.

[0069] As a preferred implementation method, such as Figure 7 and Figure 8As shown, the electric clamp 43 in the embodiment is provided in two groups, and the two groups of electric clamps 43 are arranged in parallel, and four jaw assemblies 431 are respectively installed at the four corners of the lower end surface of the lifting seat 41. The four jaw assemblies 431 arranged at the four corners of the lifting seat 41 can be used for synchronous grabbing of the tank 7 with four arc-shaped lifting lugs or pin shaft type lifting lugs or other lifting lugs, and ensure the stability and balance of the tank 7 grabbing. Specifically, the double-output motor 432 in the embodiment adopts a K-series three-in-one speed reducer motor, the jaw assembly 431 includes a mounting bracket 4311 fixedly installed on the lifting seat 41, a jaw 4313 slidably arranged on the mounting bracket 4311 through a sliding module 4312, and an outer limit switch 4314 and an inner limit switch 4315 arranged on the mounting bracket 4311, the outer limit switch 4314 and the inner limit switch 4315 are adjustable in position on the mounting bracket 4311, and are used to limit the opening and clamping distance of the jaw assembly 431. The transmission assembly 433 includes a lead screw 4331 coaxially arranged with the output shaft of the double-output motor 432, and a nut seat 4332 in sliding cooperation with the lead screw 4331, the jaw 4313 is fixedly connected with the nut seat 4332, the double-output motor 432 drives the lead screw 4331 to rotate, and the opening and closing of the two jaws 4313 is realized, and the grabbing of the tank 7 is realized.

[0070] As shown in Figure 8 The sliding module 4312 in the embodiment includes a guide rail arranged inside the mounting seat and a sliding block in sliding cooperation with the guide rail, and the nut seat 4332 is fixedly connected with the sliding block. It should be understood that the guide rail in the embodiment is arranged along the clamping direction of the jaw 4313, and the opening and closing action of the jaw 4313 is ensured to proceed normally.

[0071] Compared with the traditional chain hook method, the electric clamp 43 in the embodiment adopts the jaw 4313 structure driven by the double-output motor 432, which is more firm and more accurate in control, and further enhances the stability of the overall lifting system. This design fundamentally eliminates the swinging phenomenon of the tank 7 during horizontal movement, not only avoids the material spilling and safety risks caused by swinging, but also significantly improves the safety and operation efficiency of the handling process, and is particularly suitable for industrial lifting scenes with high stability and reliability requirements.

[0072] As shown in Figures 9 to 11As shown, the fixed line device 13 in the embodiment includes two fixed seats 131 mounted on the mobile frame body 11, a pin rod 132 passing between the two fixed seats 131, and a steel wire rope fixing mechanism 133 passing on the pin rod 132; the steel wire rope fixing mechanism 133 passes on the mobile frame body 11 in the z-axis direction. Among them, the steel wire rope fixing mechanism 133 includes a lifting eye screw 1331 passing on the mobile frame body 11, a wedge joint 1332 mounted at the bottom end of the lifting eye screw 1331, a nut adjusting piece 1333 matched with the lifting eye screw 1331 and arranged on the upper side of the pin rod 132, and a self-lubricating bearing 1334 arranged on the upper side of the pin rod 132, the lifting eye screw 1331 rotates along its own axis through the self-lubricating bearing 1334 and swings with the pin rod 132, wherein one end of the steel wire rope 3 is arranged on the hoisting device 2, and the other end is arranged on the wedge joint 1332 by passing through the pulley 42.

[0073] As a preferred embodiment, two groups of anti-sway lifting devices 4 are arranged in parallel on the lower end surface of the hoisting seat 41, and four corresponding pulleys 42 are arranged at the four corners of the hoisting seat 41. During installation, the hoisting device 2 includes a double-roping drum, and one end of the two corresponding steel wire ropes 3 is fixed at the middle position of the double-roping drum, and the other end is fixed on the corresponding steel wire rope fixing mechanism 133 after passing through the two pulleys 42 on the same side of the hoisting seat 41.

[0074] In the embodiment, the hoisting device 2 controls the winding and unwinding of the steel wire rope 3, one end of the steel wire rope 3 is fixedly connected to the double-roping drum, and the other end is fixed on the steel wire rope fixing mechanism 133 by passing through the corresponding pulley 42, the arrangement of the steel wire rope fixing mechanism 133 can connect one end of the steel wire rope 3 relative to the mobile frame body 11, and distribute the load of the double-roping drum, and such a fixing structure of the steel wire rope 3 can improve the synchronization of the stretching of both ends of the steel wire rope 3.

[0075] In the embodiment, the steel wire rope fixing mechanism 133 is arranged on the mobile frame body 11 through the cooperation of the fixed seat 131 and the pin rod 132, the lifting eye screw 1331 can rotate according to the rotation of the pin rod 132, the end of the steel wire rope 3 is fixed in the wedge joint 1332, when the steel wire rope 3 moves, the lifting eye screw 1331 is pulled, so that the pin rod 132 rotates and drives the lifting eye screw 1331 to rotate towards the stress direction, ensuring the smoothness of the end tension of the steel wire rope 3, providing sufficient synchronous tension for the steel wire rope 3, and ensuring the stability of the movement of the steel wire rope 3; by installing the self-lubricating bearing 1334 on the upper side of the pin rod 132, the lifting eye screw 1331 rotates along its own axis while rotating towards the tension direction to release the torsional stress of the steel wire rope 3, preventing the steel wire rope 3 from bulging and knotting due to the accumulation of torsional stress, ensuring the stability and stability of the steel wire rope 3, and further ensuring the operation efficiency of the whole crane.

[0076] Further, the pin shaft can rotate between the two fixed seats 131, and a through hole is formed in the pin shaft, and the lifting ring screw 1331 passes through the through hole and is fastened by the nut adjusting piece 1333, so that the lifting ring screw 1331 can rotate with the pin 132, and in addition, a hole is formed in the upper end face of the lifting trolley 1, which is adapted to the rotation of the lifting ring screw 1331, and the lifting ring screw 1331 passes through the hole and is connected to the end of the steel wire rope 3 through the wedge joint 1332, so that when the steel wire rope 3 moves, the lifting ring screw 1331 can cooperate with the rotation of the self-lubricating bearing 1334 to adapt to the stretching of the steel wire rope 3 in multiple directions, thereby enhancing the stability of the overall movement of the steel wire rope 3 and providing sufficient support for the stretching of the steel wire rope 3.

[0077] The wedge joint 1332 in the embodiment includes a circular ring connecting piece 13321 arranged at the end of the lifting ring screw 1331, a wedge piece 13322 installed with the circular ring connecting piece 13321, and a steel wire rope fixing piece 13323 installed on the wedge piece 13322, and the steel wire rope 3 is fixed in the steel wire rope fixing piece 13323, and the steel wire rope fixing piece 13323 is provided with a steel wire rope fixing clamp 13325 for preventing the steel wire rope 3 from sliding off. In the embodiment, the end of the steel wire rope 3 is inserted into the steel wire rope fixing piece, and the end of the steel wire rope 3 is fixed by the steel wire rope fixing clamp 13325, thereby redundantly protecting the steel wire rope 3 and preventing the steel wire rope 3 from sliding or falling off, and the wedge piece 13322 and the circular ring connecting piece 13321 are connected and fixed by a rotating bolt, and when the steel wire rope 3 moves, the steel wire rope fixing piece 13323 can rotate in the direction of the tension force by the rotating bolt, thereby driving the wedge piece 13322 to rotate in the direction of the tension force, and the rotation of the lifting ring screw 1331 is ensured to cooperate with the smoothness of the steel wire rope pulling.

[0078] Further, when the winch operates to pay out / reel in the steel wire rope 3, the lifting device connected with the steel wire rope 3 moves downward / upward, and at this time, the elongation / contraction of the steel wire rope 3 causes the lifting ring screw 1331 to adaptively rotate according to the movement direction of the steel wire rope 3, thereby providing a more smooth end tension for the steel wire rope 3, and the lifting ring screw 1331 can adaptively rotate and adjust according to the state of the steel wire rope 3 in the continuous movement of the steel wire rope 3, thereby ensuring the smoothness of the end tension of the steel wire rope 3; at the same time, the steel wire rope 3 will continuously accumulate torsional stress during movement, and the self-lubricating bearing 133433 is arranged to enable the steel wire rope 3 to adaptively rotate to release the torsional stress, thereby avoiding the torsion of the anti-sway lifting device 4 caused by the stress of the steel wire rope 3 and ensuring the accuracy of repeated positioning.

[0079] As Figures 9 to 11As shown, the connection positions of the two fixed seats 131 and the two ends of the pin rod 132 are provided with first gaskets 134 for sealing and anti-skid. The second gasket 135 is arranged between the self-lubricating bearing 1334 and the nut adjusting member 1333 for sealing and compaction. In the embodiment, the arrangement of the first gaskets 134 ensures the stability of the installation of the two ends of the pin rod 132 and the fixed seat 131, and further ensures the stability of the tension of the end of the steel wire rope 3; the self-lubricating bearing 1334 can be pressed on the upper side of the pin shaft through the arrangement of the nut adjusting member 1333, and the tightness of the pressing is ensured through the arrangement of the second gasket 135, and further ensures the smoothness of the rotation of the lifting ring screw 1331.

[0080] As a preferred embodiment, the nut adjusting member 1333 in the embodiment includes a slotted nut and a fine adjustment nut arranged in the lifting ring screw 1331 from top to bottom, and a thread 136 is arranged on the lifting ring screw 1331 and matched with the two nuts; rotating the fine adjustment nut can realize the fine adjustment of the length of the steel wire rope 3, and the length adjustment is 0-50 mm, which is used to ensure the levelness of the hoisting seat 41.

[0081] In the embodiment, the end of the steel wire rope 3 is fixed through the wedge joint 1332, the steel wire rope 3 itself has a partial initial torsional stress, and the torsional stress is continuously accumulated in the movement process of the steel wire rope 3 due to the cooperation with the pulley 42; if the accumulated torsional stress is too large, the steel wire rope 3 will be twisted or bulged; through the arrangement of the self-lubricating bearing 1334, the lifting ring screw 1331 can adaptively rotate along its axis and drive the steel wire rope 3 to adaptively rotate, and then the torsional stress of the steel wire rope 3 can be adaptively released, reducing the bulging or deformation of the steel wire rope 3 due to the excessive torsional stress, and protecting the service life of the steel wire rope 3.

[0082] It should be further explained that the upper end surface of the hoisting seat 41 in the embodiment is provided with a cable storage drum 45 for collecting and storing cables; in actual application, the cables for power control of the crane are hung down from the hoisting trolley 1 and stored in the cable storage drum 45 during lifting, which is convenient for the storage and collection of the cables.

[0083] It should be understood that the first running mechanism 9 and the second running mechanism 12 in the embodiment are both prior art technologies, and the driving assemblies that can be thought of by those skilled in the art can be applied to the embodiment, and the specific structure of the first running mechanism 9 and the second running mechanism 12 will not be described in detail here.

[0084] Embodiment Two

[0085] Based on the above-mentioned tank crane, further comprising a control system 6, as shown in Figure 12, the control system 6 comprises: an inclinometer 61, a spreader position detection module 62, a rope disorder detection module 63, two encoders 610, a control unit 66, a clamping limit 64 arranged on the contact surface of any jaw 4313 and the ladle 7, a grab limit 65 mounted on the jaw 4313, an outer collision limit 67 mounted on the outside of the jaw 4313, a beam limit 68 mounted at the middle position of the jaw 4313, and a lower collision limit 69 arranged at the bottom of the jaw 4313.

[0086] Specifically, the inclinometer 61 is mounted on the hoisting seat 41 for real-time monitoring of the inclination angle of the hoisting seat 41, the spreader position detection module 62 is mounted on the anti-sway spreader 4 for real-time monitoring of the position information of the anti-sway spreader 4 in the x, y, z axis direction, and the rope disorder detection module 63 is mounted on the hoisting device 2 for real-time monitoring of the tension state of the steel wire rope 3. The clamping limit 64 is used to detect whether the jaw 4313 has clamped the fixed lifting point of the ladle 7, the grab limit is used to detect whether the ladle 7 has been grabbed, the beam limit 68 is used to detect the collision risk caused by position error in abnormal conditions, and the outer collision limit 67 or the lower collision limit 69 is used to avoid the collision risk of misoperation. Two encoders 610 are arranged on two groups of anti-sway spreaders 4 respectively for real-time acquisition of the position of the corresponding current jaw 4313, and the control unit 66 is used to acquire the position and limit information of the jaw assembly 431 and output instructions.

[0087] The four jaw assemblies 431 in the embodiment each correspond to the arrangement of five limits, i.e. the grab limit 65, the clamping limit 64, the outer collision limit 67, the beam limit 68, and the lower collision limit 69. The contact surface of each jaw 4313 and the grabbed ladle 7 needs to be configured with the clamping limit 64 for detecting whether the grab has clamped the fixed lifting point of the ladle 7. The jaw assembly 431 is closed until each jaw 4313 triggers the clamping limit 64, which is considered to have been clamped in place and can allow automatic hoisting. The grab limit 65 is configured at the grabbing point of the jaw assembly 431. The jaw 4313 triggers the grab limit when grabbing the ladle, and when the grab limit 65 is triggered, it means that the jaw assembly 431 cannot be opened or closed, and logical protection must be completed in the program, that is, even if the action of the upper part of the crane is received, it cannot be run. When the jaw assembly 431 is in the process of descending or hoisting, it is necessary to configure a collision limit outside the jaw 4313 to avoid extrusion collision with other equipment in the environment and continue hoisting. When the jaw 4313 outside receives extrusion and the spring structure is deformed to trigger the limit, the jaw assembly 431 should immediately alarm and send a signal to the control unit 66 for reminding or alarming. The beam limit 68 is configured at the middle position of the jaw 4313 for checking the collision risk caused by position error in abnormal conditions. The outer collision limit 67 is configured at the bottom of each jaw 4313, which can be photoelectric or other reasonable structure, and is determined according to factors such as the ladle 7 and the ground clearance of the grabbed ladle 7.

[0088] The limit position in the embodiment adopts a limit switch, a laser sensor, etc., and those skilled in the art can make adaptive selection according to the specific use, and the position of each limit position can also be adaptively adjusted according to the actual use, and each limit position is a market purchase piece, and the specific structure thereof will not be described in detail here. It is further explained that the spreader position detection module 62 in the embodiment adopts a camera system and a displacement sensor, and the messy rope detection module 63 includes a plurality of load sensors distributed on the double-out rope winding drum, and the data of the plurality of load sensors are used for messy rope analysis, and those skilled in the art can easily obtain and apply, and the specific structure and principle of the messy rope detection module 63 will not be described in detail here.

[0089] Embodiment three

[0090] A hoisting method of a material tank crane based on the same inventive concept of the above-mentioned embodiment one and embodiment two, as shown in the figure, comprises the following steps: Figure 13 S1: acquiring data information of the inclinometer 61, the clamping limit 64, the gripper limit 65, and the opposite-acting limit 68;

[0091] S1: acquiring data information of the inclinometer 61, the clamping limit 64, the gripper limit 65, and the opposite-acting limit 68;

[0092] S2: adjusting the positions of the outer limit switch 4314 and the inner limit switch 4315 according to the size of the material tank 7 to be hoisted and the above-mentioned acquired data information;

[0093] S3: acquiring position information of the anti-sway spreader 4 in the x-axis, y-axis, and z-axis directions;

[0094] S4: starting the first running mechanism 9 or / and the second running mechanism 12 to move the trolley 1 to the upper side of the material tank 7 to be hoisted according to the above-mentioned acquired position information; the first running mechanism 9 and the second running mechanism 12 are not started synchronously;

[0095] S5: starting the hoisting device 2 to pay off wire, and lowering the anti-sway spreader 4 to the clamping position through the steel wire rope 3;

[0096] S6: starting the electric clamp 43 to clamp the material tank 7 to be hoisted;

[0097] S7: after the clamping is completed, the hoisting device 2 retracts the wire, that is, vertically upwardly moves the anti-sway spreader 4 through the steel wire rope 3 until the anti-sway shaft 51 at the lower end surface of the moving frame body 11 is inserted into the anti-sway hole 52 fixedly arranged at the upper end surface of the anti-sway spreader 4;

[0098] S8: starting the first running mechanism 9 and the second running mechanism 12 to move the material tank 7 to a specified position, and the hoisting device 2 pays off wire, that is, vertically downwardly moves the anti-sway spreader 4 through the steel wire rope 3 and places it in the placing position, and the hoisting is completed.

[0099] Specifically, when the tiltmeter 61 detects that the hoisting seat 41 is not horizontal, the control unit 66 sends an alarm signal and cuts off all actions of the lifting trolley, the hoisting device 2 and the anti-sway spreader 4. When any jaw assembly 431 triggers the corresponding clamping limit 64, it is determined that the clamping is in place, allowing the hoisting device 2 to lift. When the grabber limit 65 is triggered, the anti-sway spreader 4 cannot be opened or closed. When the rope disorder detection module 63 detects a rope disorder state, the hoisting device 2 can only pay-off; when a rope delivery state is detected, the hoisting device 2 can only take-up.

[0100] The anti-sway spreader 4 in step S3 is obtained in the x-axis, y-axis and z-axis directions by a camera and a displacement sensor, and the technical solution is relatively prior art, which will not be described in detail here.

[0101] The hoisting method in the embodiment first performs vertical lifting on the material tank 7 by the anti-sway spreader 4, and lifts the anti-sway spreader 4 under the driving of the hoisting device 2 until the anti-sway shaft 51 and the anti-sway hole 52 are horizontally rigidly matched to form a stable connection. In this state, the control system 6 can immediately perform asynchronous horizontal transfer operation in the x-axis and y-axis directions, and stably lower the material tank 7 by the hoisting device 2 after reaching the position. The whole process from lifting, translation to final landing, the material tank 7 is always in a controlled stable state, without the step of waiting for shaking to stop in the traditional way, realizing continuous, efficient and non-shaking hoisting operation, and significantly improving the stability, safety and operation efficiency of the transfer process.

[0102] It should be understood that the specific embodiments described above are only used to explain the present application and not to limit the present application. The obvious changes or modifications derived from the spirit of the present application are still within the protection scope of the present application.

Claims

1. A material tank crane, characterized in that: It includes a trolley end beam, a main beam slidably mounted on the trolley end beam via a first running mechanism, a crane trolley mounted on the main beam, a lifting device mounted on the crane trolley, an anti-sway sling hoisted on the lifting device via a wire rope, and at least one anti-sway mechanism disposed between the crane trolley and the anti-sway sling hoist. The lifting trolley includes a movable frame, a second running mechanism mounted on the movable frame, and a wire fixing device for fixing the wire rope; the first running mechanism drives the lifting trolley to move in the y-axis direction, and the second running mechanism drives the movable frame to move in the x-axis direction; The anti-sway mechanism includes an anti-sway shaft installed on the lower end face of the mobile frame and an anti-sway hole fixedly installed on the upper end face of the anti-sway lifting device; when the material tank is being transported horizontally, the lifting device drives the anti-sway lifting device to rise until the anti-sway shaft is inserted into the corresponding anti-sway hole.

2. The material tank crane according to claim 1, characterized in that: The anti-sway mechanism includes two parts, which are located at opposite corners of the movable frame.

3. A material tank crane according to claim 2, characterized in that: The anti-sway hole includes a flared docking part and a vertical anti-sway hole; the anti-sway shaft is fixed on the mobile frame with a conical mounting base, a vertical anti-sway part fixedly installed inside the conical mounting base, and a pointed fitting part fixedly provided at the end of the vertical anti-sway part; the pointed fitting part is engaged with the flared docking part.

4. A material tank crane according to claim 3, characterized in that: The anti-sway lifting device includes a lifting base, at least two pulleys installed on the upper end face of the lifting base, at least one set of electric clamps installed on the lower end face of the lifting base, and a hook mechanism; The electric clamp includes two gripper assemblies and a dual-output motor mounted on the lower end face of the lifting base; the dual-output motor drives the two gripper assemblies to open and close synchronously through a transmission assembly.

5. A material tank crane according to claim 4, characterized in that: The gripper assembly includes a mounting bracket fixedly mounted on the lifting base, grippers slidably mounted on the mounting bracket via a sliding module, and an outer limit switch and an inner limit switch mounted on the mounting bracket; the outer limit switch and the inner limit switch are adjustable in position on the mounting bracket and are used to limit the opening and clamping distance of the gripper assembly. The transmission assembly includes a lead screw coaxially arranged with the output shaft of the dual-output motor and a nut seat that slides with the lead screw; the gripper is fixedly connected to the nut seat.

6. A material tank crane according to claim 4, characterized in that, The wire fixing device includes two fixed seats installed on the movable frame, a pin rod passing through the two fixed seats, and a wire rope fixing mechanism passing through the pin rod; the wire rope fixing mechanism passes through the movable frame along the z-axis direction; The wire rope fixing mechanism includes: a lifting eye screw threaded on the movable frame, a wedge joint installed at the bottom end of the lifting eye screw, a nut adjustment component that cooperates with the lifting eye screw and is located on the upper side of the pin, and a self-lubricating bearing located on the upper side of the pin. The lifting eye screw rotates along its own axis through the self-lubricating bearing and swings with the pin. One end of the wire rope is wound on the lifting device, and the other end is wrapped around the pulley and set on the wedge joint.

7. A material tank crane according to claim 6, characterized in that: Two sets of anti-sway lifting devices are arranged in parallel, and four pulleys are provided, located at the four corners of the lifting base respectively; The lifting device includes a double-rope drum, with one end of each of the two corresponding wire ropes fixed in the middle of the double-rope drum, and the other end passing over the two pulleys on the same side of the hoisting seat and then fixed to the corresponding wire rope fixing mechanism.

8. A material tank crane according to claim 6, characterized in that, It also includes a control system, which includes: An inclinometer installed on the hoisting base is used to monitor the tilt angle of the hoisting base in real time; A lifting device position detection module is installed on the anti-sway lifting device to monitor the position information of the anti-sway lifting device in the x-axis, y-axis, and z-axis directions in real time. A tangled rope detection module is installed on the lifting device to monitor the tension of the wire rope in real time. The clamping limit is provided on the contact surface between any of the grippers and the material tank, the gripper limit is installed on the gripper, the external collision limit is installed on the outside of the gripper, the through-shot limit is installed in the middle of the gripper, and the lower collision limit is provided at the bottom of the gripper; the clamping limit is used to detect whether the gripper has clamped the fixed lifting point of the material tank, the through-shot limit is used to detect the collision risk caused by incorrect positioning under abnormal conditions, and the external collision limit or the lower collision limit is used to avoid the collision risk of misoperation; Two encoders are installed on two sets of anti-sway hangers to collect the current position of the corresponding gripper in real time; The control unit is used to acquire the position and limit information of the gripper assembly and output commands.

9. A hoisting method for a material tank crane, characterized in that, The method of using the tank crane as described in claim 8 includes the following steps: Acquire data from the inclinometer, clamping limit, gripper limit, and through-beam limit; Adjust the positions of the inner and outer limit switches according to the dimensions of the material tank to be hoisted and the data information obtained above; Obtain the position information of the anti-sway lifting device in the x-axis, y-axis, and z-axis directions; Based on the location information obtained above, the first operating mechanism and / or the second operating mechanism are activated to move the lifting trolley above the material tank to be lifted; the first and second operating mechanisms are activated asynchronously. Start the lifting device to lay the line, and use the wire rope to lower the anti-sway lifting device to the clamping position; Start the electric clamp to pick up the material container to be lifted; After clamping is completed, the lifting device retracts the wire rope, that is, moves the anti-sway device vertically upward through the wire rope until the anti-sway shaft on the lower end of the moving frame is inserted into the anti-sway hole fixed on the upper end of the anti-sway device. The first and second operating mechanisms are activated to move the material tank to the designated position. The lifting device then lays down the wire rope, which moves the anti-sway lifting device vertically downward to the placement position, thus completing the lifting operation.

10. The hoisting method of a material tank crane according to claim 8, characterized in that: When the inclinometer detects that the lifting base is not level, the control unit issues an alarm signal and cuts off all actions of the lifting trolley, lifting device, and anti-sway device. When any of the gripper components triggers the corresponding clamping limit, it is determined that the clamping is in place, and the lifting device is allowed to lift. When the gripper limit is triggered, the anti-sway device cannot be opened or closed; When the rope tangling detection module detects a tangled rope condition, the lifting device can only release the rope; when it detects a rope feeding condition, the lifting device can only retract the rope.

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