A crane and tipping apparatus

Abstract

The application discloses a lifting and overturning device, which comprises a walking mechanism, a lifting mechanism, an overturning mechanism, a lowering and docking mechanism and a transverse adjusting mechanism. The walking mechanism comprises a frame, which is a split structure and comprises a left frame and a right frame. A space for straddling goods is formed in the middle of the left frame and the right frame. The frame is divided into two independent load-bearing units, and sufficient space is reserved in the middle for the goods to pass. The device can straddle the two sides of the goods, and lifting and handling operations can be performed from directly above the goods without approaching from the end or side of the goods. The minimum site area required for the operation of the device is significantly reduced, and the operation capacity in limited spaces such as narrow warehouses and narrow gate passages is greatly improved. Since the left frame and the right frame bear loads respectively, the weight of the goods is evenly distributed to the two side supports, the center of gravity is always kept in the central axis plane of the device, and the overall stability of the device is better than that of a cantilever type or a single-side load-bearing structure, and the device is not prone to overturning during transfer.

Description

Technical Field

[0001] This invention relates to a lifting and tilting device. Background Technology

[0002] Loading, unloading, changing the orientation of, and transferring heavy cargo typically requires the coordinated use of multiple pieces of equipment. However, existing lifting and tilting technologies still have many shortcomings in practical applications, limiting improvements in operational efficiency and safety.

[0003] Existing lifting and tilting equipment typically uses a fixed base or rail-based walking mechanism, resulting in poor flexibility and limited transport range. Some existing technologies attempt to incorporate AGV (Automated Guided Vehicle) walking systems, but these mostly use ordinary casters or differential wheels, unable to simultaneously achieve multi-mode omnidirectional movement such as straight movement, turning, lateral movement, diagonal movement, and stationary rotation, leading to insufficient maneuverability in confined spaces. For example, the steering wheel device and AGV transport vehicle disclosed in CN223031059U only provide basic walking and steering functions, lacking the ability to turn in place and move laterally.

[0004] Existing lifting and tilting equipment mostly uses single-cylinder or multi-cylinder hydraulic drives for its lifting function. Hydraulic systems have inherent drawbacks such as oil leakage risks, high maintenance costs, and difficulty starting in low temperatures. While the linkage transmission device disclosed in CN209458218U involves a dual-cylinder structure, it uses hydraulic drive and does not propose effective solutions for the synchronization control and smoothness issues during lifting. Other existing technologies use dual electric cylinder lifting, but lack effective synchronization control methods, easily causing asynchronous lifting on both sides, leading to cargo tilting, jamming, or even falling.

[0005] Existing technologies for tilting functions mostly rely on cranes or hydraulic tilting mechanisms to achieve cargo orientation changes. For example, the traditional method mentioned in the ground tilting and hoisting construction process of "⊥"-shaped equipment involves "equipment lying flat on the site → tilting vertically in the air → hoisting into position," which suffers from problems such as large forces on small cranes during tilting, significant wear on wire ropes and equipment, and large dynamic loads that are difficult to control. Although the crane turntable tilting device disclosed in CN119973675A can achieve tilting functions, it is mainly used for turntable tilting and does not have the ability to simultaneously lift and tilt the cylinder. Although the large cylinder section multi-degree-of-freedom lightweight lifting and tilting integrated equipment disclosed in ZL201710446512.4 achieves lifting and tilting functions, it uses a sprocket and lifting chain structure, resulting in limited tilting control precision, and the overall structure cannot achieve straddle-type operation.

[0006] Existing container spreader locking functions typically employ twist-lock or torsion-lock mechanisms to engage with container corner fittings. For example, the twist-lock control device for a non-powered container spreader disclosed in CN2077860U uses a crank-connecting rod mechanism to drive the twist-lock to rotate 90°; the container lifting spreader disclosed in CN102834341A uses a locking pin inserted into the corner fitting seat. These solutions generally suffer from problems such as high docking accuracy requirements, large amounts of manual assistance, and separation of locking and lifting actions. In the field of combined cannon and spring-loaded container lifting, although the safety control system for the cannon and spring-loaded container gripping device disclosed in CN113074589A involves a flipping module and a gripping module, it mainly addresses the safety control issues during the gripping process and does not cover a straddle-type overall loading and unloading solution.

[0007] Furthermore, existing lifting and tilting equipment mostly adopts gantry, cantilever, or fixed base structures, resulting in large equipment sizes that cannot achieve straddle-type operations. Although the automatic storage and transfer device for ammunition containers disclosed in CN120573582A uses an AGV chassis and lifting device, its lifting device is mounted on the lifting device via a transfer device. The overall structure is a side-mounted type rather than a straddle-type, making it impossible to directly straddle the cargo for loading and unloading operations.

[0008] In summary, existing technologies suffer from the following main drawbacks: First, their functions are fragmented, requiring multiple devices to work together, making it impossible to simultaneously achieve omnidirectional movement, lifting, tilting, lateral adjustment, and lowering docking on a single device. Second, the hydraulic system suffers from problems such as oil leakage, high maintenance requirements, and poor performance at low temperatures. Third, the traditional structure of lifting and tilting equipment limits its operational capabilities in confined spaces, preventing efficient straddle-type loading and unloading. Fourth, the lowering and docking process lacks effective lateral fine-tuning methods, relying heavily on manual experience for alignment accuracy. Therefore, there is an urgent need to develop a lifting and tilting device with high functional integration, flexible operation, and good safety to meet the needs of modern logistics and special cargo loading and unloading operations. Summary of the Invention

[0009] This invention aims to overcome the shortcomings of existing technologies and provide a lifting and tilting device that integrates all-around walking, lifting, tilting, lateral adjustment and lowering docking functions. It adopts a fully electric drive mode and a straddle-type structure design, which can efficiently, safely and accurately complete the loading and unloading, attitude conversion and short-distance transfer operations of large goods such as containers and cannonball combinations.

[0010] The technical solution of the present invention is a lifting and tilting device, comprising a traveling mechanism, a lifting mechanism, a tilting mechanism, a lowering and docking mechanism, and a lateral adjustment mechanism.

[0011] The traveling mechanism includes a frame, which is a split structure comprising a left frame and a right frame, with a space between the left and right frames for straddling cargo. This breaks down the traditional integral frame into two independent load-bearing units, with sufficient space between them for cargo passage. This structure allows the equipment to straddle both sides of the cargo, performing lifting and loading / unloading operations directly above it without approaching from the ends or sides. This significantly reduces the minimum area required for operation and greatly improves operational capabilities in confined spaces such as narrow warehouses and narrow passageways. Furthermore, because the left and right frames bear the load separately, the weight of the cargo is evenly distributed across the two support points, keeping the center of gravity within the equipment's central plane. This results in superior overall stability compared to cantilever or single-sided load-bearing structures, reducing the likelihood of tipping over during transport.

[0012] The lifting mechanism comprises two units, one installed within the left frame and the other within the right frame. These two lifting mechanisms, symmetrically arranged on both sides, utilize a dual-cylinder synchronous drive to achieve smooth lifting of the cargo. Compared to single-sided or single-cylinder lifting, the symmetrical lifting structure ensures that the weight of the cargo is always evenly distributed across the two support points, keeping the center of gravity consistently on the central axis of the equipment. During lifting, the cargo does not experience significant pitching or tilting, thus guaranteeing stability and safety. Furthermore, the lifting mechanism's integration into the frame fully utilizes the internal space, resulting in a compact overall structure and effectively controlled dimensions.

[0013] The tilting mechanism bridges the tops of the two lifting mechanisms, integrating the tilting function above the lifting mechanisms to form a "gate"-shaped support frame. When the lifting mechanism drives the tilting mechanism to rise and fall as a whole, the lowering docking mechanism and the goods installed on the tilting mechanism also rise and fall accordingly. At the same time, the tilting mechanism itself can rotate relative to the lifting mechanism, thereby realizing the conversion of the goods' posture between horizontal and vertical states. By rationally stratifying the lifting and tilting functions in space, they do not interfere with each other but are closely connected, realizing the "lifting + tilting" composite action in a single clamping, significantly shortening the operation process time.

[0014] The lowering and docking mechanism is installed on the tilting mechanism. Driven by a bidirectional telescopic electric cylinder, it retracts and extends the rigging, enabling the lifting frame to move independently relative to the tilting beam. This completes the docking and lowering of the lifting frame to the top of the cargo. Before lifting the cargo, the lowering and docking mechanism lowers the lifting frame to contact the top of the cargo, completing the docking and locking. Then, the lifting mechanism lifts the cargo as a whole. During unloading, the lifting mechanism lowers the cargo to near the ground, and the lowering and docking mechanism completes the final lowering and detachment. This two-stage lowering mechanism of "lifting mechanism + lowering and docking mechanism" ensures both the large stroke requirements of lifting and lowering and the precise control during the docking process.

[0015] Furthermore, the lateral adjustment mechanism is integrated into the lifting frame of the lowering and docking mechanism. Driven by a lateral movement drive motor, the lateral movement bidirectional telescopic electric cylinder extends and retracts, causing the lateral movement beam to move laterally along the length of the lifting frame, thereby fine-tuning the lateral position of the goods. During the docking process between the goods and the lifting frame, if the docking point shifts laterally due to equipment positioning errors or goods placement deviations, the operator can perform fine-tuning using the lateral adjustment mechanism while the lifting frame is already lowered near the goods, without needing to readjust the overall equipment position. This significantly reduces the requirements for equipment positioning accuracy, improving docking success rate and operational efficiency.

[0016] The combination of a straddle-type structure, a split chassis, and a dual lifting mechanism allows the equipment to perform straddle-type loading and unloading operations directly above the cargo. The straddle space formed by the left and right chassis provides an unobstructed passage for the cargo, while the dual lifting mechanisms simultaneously lift from both sides, stably raising the tilting mechanism and cargo into the internal space of the chassis. When transporting cargo, the center of gravity of the cargo is lowered and placed within the protective space of the chassis, rather than being suspended outside the equipment like in traditional cranes. This significantly improves the stability and safety of the transportation process and reduces the amplitude of cargo swaying.

[0017] The combination of a flipping mechanism, a lowering and docking mechanism, and a lateral adjustment mechanism allows the entire process of changing goods from a horizontal to a vertical loading state to be completed on the same equipment in one go. After the lowering and docking mechanism completes docking and locking with the goods, the lifting mechanism raises the goods to a safe height; the flipping mechanism flips the goods from a horizontal to a vertical position while the lifting mechanism maintains a constant height; during this process, the lateral adjustment mechanism can fine-tune the lateral position of the goods at any time. The resulting technical benefits are: achieving integrated operation of the entire process of "docking-lifting-flipping-lowering," eliminating the cumbersome process of multiple transfers and clamping required in traditional operations, significantly shortening the operation time, and the entire process is uniformly scheduled by the electrical control system, avoiding coordination errors and safety hazards in multi-equipment collaborative operations.

[0018] The all-electric drive and unified electrical control system ensure that all equipment movements are driven by electric motors, eliminating the need for a hydraulic power source. Actuators such as the travel motor, lifting electric cylinder, tilting electric cylinder, lowering bidirectional telescopic electric cylinder, and lateral bidirectional telescopic electric cylinder are all centrally controlled by the electrical control system. Control signals are transmitted via a bus, and the motion parameters (position, speed, torque) of each actuator can be monitored in real time and controlled in a closed-loop manner. The resulting technical advantages are: the equipment can achieve precise coordinated control of all movements in all-electric mode, possessing intelligent functions such as collision avoidance, automatic alignment, and real-time status reporting; and it avoids problems such as hydraulic system oil leakage, complex maintenance, and poor low-temperature performance, thus improving the equipment's environmental adaptability and reliability.

[0019] Preferably, multiple sets of AGV steering wheels are installed at the bottom of the vehicle frame; the lifting mechanism is installed in the middle of the vehicle frame. By controlling the independent steering angle of each set of AGV steering wheels, the walking mechanism can achieve straight-line, turning, lateral, diagonal, and stationary turning functions. Each AGV steering wheel includes a walking motor and a steering motor. The walking motor drives the wheel to roll, and the steering motor drives the wheel to rotate around the vertical axis. The control system calculates the target steering angle and walking speed of each steering wheel according to the target motion mode, and achieves multi-mode walking through coordinated control. This design gives the equipment extremely high maneuverability in confined spaces, enabling autonomous walking and positioning without the need for external traction equipment.

[0020] Preferably, the lifting mechanism includes a telescopic cylinder, a guide cylinder, and a lifting electric cylinder; the guide cylinder is fixedly installed inside the vehicle frame, and the telescopic cylinder is movably installed inside the guide cylinder; the fixed end of the lifting electric cylinder is installed inside the guide cylinder, and the telescopic end is fixedly connected to the top of the telescopic cylinder. The servo motor of the lifting electric cylinder drives the ball screw to rotate, and the screw nut drives the push rod to extend and retract linearly, thereby pushing the telescopic cylinder to slide up and down along the inner wall of the guide cylinder. The guide cylinder guides the telescopic cylinder throughout its movement, ensuring the straightness and rigidity of the lifting motion. Simultaneously, the internal installation of the electric cylinder effectively protects it from external impacts and contamination.

[0021] Preferably, a support plate is fixed to the top of the telescopic cylinder, the width of which is greater than the width of the support frame, and the support frame stands upright at both ends of the telescopic cylinder. When the telescopic cylinder is fully retracted, the support plate sits on top of the support frame, which provides lateral support and vertical restraint for the telescopic cylinder. During equipment movement, the telescopic cylinder will not shake or impact due to road bumps, improving the stability and reliability of the structure during movement.

[0022] Preferably, the tilting mechanism includes a bearing housing, a tilting arm, a tilting beam, and a tilting electric cylinder; the bearing housing is fixed to the top of the lifting mechanism; the middle part of the tilting beam is hinged to the bearing housing via a trunnion; one end of the tilting arm is fixedly connected to the tilting beam, and the other end is hinged to the movable end of the tilting electric cylinder; the fixed end of the tilting electric cylinder is hinged to the telescopic cylinder. Its working principle belongs to a crank-rocker mechanism: when the tilting electric cylinder extends or retracts, its movable end pushes the tilting arm, which drives the tilting beam to rotate around the trunnion center, thus achieving the tilting motion. The built-in servo motor of the tilting electric cylinder is equipped with a brake device, which can automatically brake when the power is off or the mechanism stops, achieving self-locking at any tilting angle. The tilting angle control accuracy is high, and reliable locking at any position can be achieved without the need for an additional mechanical locking device, resulting in a simple structure and high safety.

[0023] Preferably, a lifting mechanism is installed at both ends of the tilting beam. The lifting mechanism includes a lifting beam, a wire rope, and a positioning block at both ends of the tilting beam; a lifting device is installed at the end of the wire rope. The lifting device can be a container hook or shackle, which is mature in the field and connects to the corner fitting holes or lifting holes at the bottom of the container. The lifting mechanism is mainly used for lifting the container. The wire rope passes through the bottom of the container, and the lifting device is fixed to the connection point at the bottom of the container. The elevator tightens the wire rope to lift the container. After the container is lifted to the predetermined height, the positioning block extends under independent drive and inserts into the corner fitting hole at the top of the container for clamping. This forms a dual protection mechanism of "lifting + clamping", effectively preventing the container from swinging significantly during transportation.

[0024] Preferably, the tilting beam is provided with a shackle interface, and a pin is fitted between the shackle interface and the bearing seat. When the equipment does not need to be tilted, the pin is inserted into the alignment hole of the shackle interface and the bearing seat, forming a rigid connection between the tilting beam and the bearing seat, at which point the tilting beam is locked in a horizontal position. The resulting technical effect is that the tilting beam can be used as a general lifting beam, using the shackle interface to suspend hooks or slings for the lifting and transfer of other general materials, thus expanding the applicability of the equipment.

[0025] Preferably, the lowering docking mechanism includes a lifting frame, rigging, pulleys, and a lowering bidirectional telescopic electric cylinder. The lowering bidirectional telescopic electric cylinder is installed inside the tilting beam, with two cylinders arranged parallel to the length of the tilting beam. Four pulleys are installed inside the tilting beam and are respectively positioned in the extension direction of the two lowering bidirectional telescopic electric cylinders. Four rigging cables are wound around the four pulleys, with one end of each cable connected to the movable end of the lowering bidirectional telescopic electric cylinder, and the other end connected to the four corners of the lifting frame. The lowering bidirectional telescopic electric cylinder is driven by a servo motor to rotate a lead screw, with left-hand and right-hand threads at both ends, driving the movable ends to synchronously extend and retract in opposite directions. The movable ends drive the rigging cables to move around the pulleys, achieving synchronous lifting and lowering of the four corners of the lifting frame. Due to the adoption of a double-cylinder, four-cable structure, the four corners of the lifting frame are subjected to balanced forces, maintaining a horizontal posture throughout the lifting process, thus improving the docking accuracy and safety at the connection point with the top of the cargo.

[0026] Preferably, the lifting frame is provided with lateral adjustment mechanisms at both ends; the lateral adjustment mechanism includes a lateral moving beam and a lateral bidirectional telescopic electric cylinder; the two lateral moving beams are installed laterally in the slide grooves at both ends of the lifting frame; the middle part of the lateral bidirectional telescopic electric cylinder is fixed on the lifting frame, and its two ends are respectively hinged to the two ends of the lateral moving beam through push seats; the lateral bidirectional telescopic electric cylinder is driven by a lateral moving drive motor, which is fixed in the middle of the lifting frame, and its driving end is assembled in the input end of a lateral moving reversing reducer. The output end of the lateral moving reversing reducer is connected to the input end of the lateral bidirectional telescopic electric cylinder through transmission rods. The lateral moving drive motor distributes power to the left and right transmission rods through the lateral moving reversing reducer. The transmission rods drive the input end of the lateral bidirectional telescopic electric cylinder to rotate, and the lateral bidirectional telescopic electric cylinder converts the rotational motion into linear extension and retraction at both movable ends, thereby pushing the lateral moving beam to move laterally along the slide groove of the lifting frame. The structure is driven by a bidirectional telescopic electric cylinder, which can make lateral adjustments simultaneously or independently at both ends of the lifting frame. It has a large adjustment range and high precision, and its structure is compact and integrated inside the lifting frame, without occupying additional external space.

[0027] Preferably, the upper and lower end faces of the transverse beam are respectively provided with a locking device drive mechanism and a locking device; multiple locking devices are vertically installed on the lower end face of the transverse beam, with their power input ends extending out of the upper end face of the transverse beam; the locking device drive mechanism is located on the upper end face of the transverse beam and includes a locking electric cylinder and a locking rocker arm; one end of each locking rocker arm is vertically fixed to the power input end of a multiple locking device, and the other end is connected through a linkage rod; the extension direction of the locking electric cylinder is parallel to the linkage rod, and the extension end of the locking electric cylinder is hinged to the end of any locking rocker arm away from the linkage rod. The locking device can adopt a mature container twist lock mechanism or a special locking claw structure for cartridges. When the locking electric cylinder extends or retracts, it pushes the locking rocker arm hinged to it to swing, and the locking rocker arm drives the other locking rocker arms to swing synchronously through the linkage rod. All locking rocker arms then drive the power input ends of their respective locking devices to rotate, realizing the synchronous locking or unlocking of multiple locking devices. By achieving multi-point synchronous action with a single drive element, the number of drive elements is reduced, the consistency and reliability of the action are improved, and the reliable locking of the connection point between the lifting frame and the top of the cargo is ensured, preventing the cargo from accidentally falling off during lifting, flipping and transfer.

[0028] The beneficial effects of this invention are as follows: This invention integrates five major functions—omnidirectional walking, lifting, flipping, lateral adjustment, and lowering docking—into a single device. This single device can independently complete the entire process of loading, unloading, flipping, and transferring that traditional technologies require multiple devices working together, significantly reducing the number of devices needed and the area occupied in the work area. The straddle-type design created by the split frame allows the device to directly straddle the goods for loading and unloading operations. The center of gravity of the goods remains on the central axis of the device. During transfer, the goods are enclosed within the frame's internal space, resulting in a low center of gravity, good stability, and significantly reduced sway. This makes it far safer to operate in confined spaces such as narrow warehouses and narrow passageways than side-mounted or cantilevered structures. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention.

[0030] Figure 2 This is a bottom-view structural diagram of the present invention.

[0031] Figure 3 This is a schematic diagram of the walking mechanism of the present invention.

[0032] Figure 4 This is a schematic diagram of the walking mechanism of the present invention from the left side.

[0033] Figure 5 This is a schematic cross-sectional view of the lifting mechanism of the present invention in the lifting state.

[0034] Figure 6 This is a schematic diagram of the flipping mechanism of the present invention.

[0035] Figure 7 This is a schematic diagram of the flip beam structure of the present invention.

[0036] Figure 8 This is a schematic diagram of the hoisting mechanism of the present invention.

[0037] Figure 9 This is a schematic diagram of the hoisting locking structure of the present invention.

[0038] Figure 10 This is a schematic diagram of the lowering docking mechanism of the present invention.

[0039] Figure 11 This is a schematic diagram of the driving component of the lowering docking mechanism structure of the present invention.

[0040] Figure 12 This is a schematic diagram of the lifting beam structure of the present invention.

[0041] Figure 13 This is a schematic diagram of the loading cartridge assembly of the present invention.

[0042] Figure 14 This is a left-side structural schematic diagram of the loading cartridge assembly of the present invention.

[0043] Figure 15 This is a structural schematic diagram of the lifting cylinder spring assembly of the present invention.

[0044] Figure 16 This is a structural schematic diagram of the flip-type cartridge assembly of the present invention.

[0045] Figure 17 This is a structural diagram of the container hoisting process according to the present invention.

[0046] Figure 18 This is a three-dimensional structural diagram of the present invention.

[0047] Figure 19 This is a three-dimensional structural diagram of the present invention when the cartridge is combined with the projectile.

[0048] Figure 20 This is a vertical view of the lifting and tilting device of the present invention, showing the combination of the cylinder and the spring.

[0049] Figure 21 This is a three-dimensional diagram of the lifting and tilting equipment of the present invention for transporting containers.

[0050] Figure 22 This is a schematic diagram of the walking system of the present invention.

[0051] Figure 23 This is a schematic diagram of the electrical control system of the present invention.

[0052] Figure 24 This is a schematic diagram of the control software structure of the present invention.

[0053] In the diagram: 1-Traveling mechanism, 11-Traction frame, 12-Control system, 13-Drive system, 14-Frame, 15-Alignment system, 16-Power supply system, 17-AGV steering wheel, 18-Support frame, 2-Tilting mechanism, 21-Tilting arm, 22-Tilting beam, 23-Tilting electric cylinder, 24-Shackle interface, 25-Tilting cylinder support, 26-Trunking shaft, 27-Bearing seat, 3-Lowering docking mechanism, 31-Lowering bidirectional telescopic electric cylinder, 32-Pulley, 33-Ribing, 34-Lifting frame, 341-Transverse drive motor, 342-Transverse reversing reducer, 343-Dock guide seat, 344 - Lateral beam, 345-Transmission rod, 346- Lateral bidirectional telescopic electric cylinder, 347-Lifting lug, 348-Push seat, 35-Electric cylinder reducer, 36-Drive motor, 37-Lock, 371-Lock rocker arm, 372-Lock electric cylinder, 373-Linkage rod, 4-Lifting mechanism, 41-Telescopic cylinder, 42-Lifting electric cylinder, 43-Guide cylinder, 5-Lifting mechanism, 51-Lifting reducer, 52-Lifting motor, 53-Wire rope, 54-Lifting machine, 55-Positioning block, 56-Lifting beam, 6-Monitoring and alarm assembly, 7-Lateral adjustment mechanism, 8-Cylinder-spring combination, 9-Container. Detailed Implementation

[0054] Example 1: like Figures 1-24 As shown, the specific working process and implementation effects of the present invention will be described in detail.

[0055] like Figure 23 As shown, the electrical control system hardware of the present invention consists of a battery pack 16, a power supply and distribution assembly, a control assembly 12, an alignment system 15, a safety monitoring and alarm component 6, a part of a drive system 13, a lifting motor driver, a tilting motor driver, a traverse motor driver, a lowering and lifting motor driver, a locking motor driver, and a handheld controller.

[0056] Battery pack 16, serving as the vehicle's sole energy source, utilizes either lithium iron phosphate or ternary lithium batteries with a nominal voltage of DC48V or DC72V. Its capacity is configured based on the equipment's rated load and driving range. The DC output from battery pack 16, after passing through the main switch, fuses, contactors, and other protective devices in the power distribution assembly, is divided into power and control circuits. The power circuit, after being inverted by the respective motor drivers, supplies power to the travel motor, the servo motors of the lifting electric cylinder 42, the tilting electric cylinder 23, the lowering bidirectional telescopic electric cylinder 31, the lateral movement bidirectional telescopic electric cylinder 346, the hoisting motor 52, and all locking motors. The control circuit, stepped down to DC24V and DC12V by a DC-DC converter, powers the control assembly 12, the alignment system 15, the safety monitoring and alarm component 6, the handheld controller, and various sensors, respectively. The power distribution assembly includes a power monitoring module that collects real-time data on the battery pack 16's voltage, current, temperature, and remaining power, transmitting this information to the control assembly 12 via the CAN bus.

[0057] like Figure 24 As shown, the electrical control system software consists of a scheduling module, a sensor submodule, a communication submodule, a walking submodule, a lifting submodule, a flipping submodule, a lateral movement submodule, a lowering and lifting submodule, and an emergency handling submodule. The submodules exchange data with each other via a CAN bus.

[0058] The hardware core of the control assembly 12 is an embedded industrial controller that runs the aforementioned software modules.

[0059] The scheduling module, as the control core, receives operation instructions from handheld controllers or command control terminals, parses the instruction content, and calls the corresponding sub-modules for execution. For example, when receiving the instruction "load the cartridge assembly", the scheduling module sequentially calls the walking sub-module to complete autonomous driving and alignment, the lowering and lifting sub-module to lower the lifting frame, the lateral movement sub-module to perform lateral fine-tuning, the locking sub-module to lock, the lifting sub-module to lift, and the tilting sub-module to perform attitude conversion, etc.

[0060] The sensor submodule collects the status of each limit switch, proximity switch, encoder, laser rangefinder, and tilt sensor, and provides real-time feedback on the current position, speed, and attitude information of each actuator for closed-loop control by each motion control submodule.

[0061] The communication submodule is responsible for wireless communication between the device and the external command control terminal, receiving work instructions and reporting action execution results, power information, communication status and video images, etc.

[0062] The walking submodule calculates the target steering angle and walking speed of each AGV steering wheel 17 based on the target path and current position, and controls the coordinated movement of each steering wheel through the walking motor driver to achieve... Figure 22The various walking modes shown.

[0063] The lifting submodule is responsible for controlling the synchronous movement of the two lifting electric cylinders 42. The controller reads the displacement feedback values ​​of the two lifting electric cylinders 42 in real time. When the displacement difference between the two sides exceeds the preset threshold, the controller adjusts the motor speed of one side through a PID algorithm to ensure that the synchronous error of the lifting on both sides does not exceed the set value.

[0064] The flipping submodule controls the extension and retraction of the flipping electric cylinder 23, thereby controlling the angle of the flipping beam 22. During the flipping process, the motor brake remains in the released state; after the flipping is completed, the brake immediately closes, working together with the lead screw self-locking to achieve double locking.

[0065] The lateral movement submodule controls the rotation of the lateral movement drive motor 341, and the lateral position adjustment of the lateral movement beam 344 is achieved through the lateral movement bidirectional telescopic electric cylinder 346. During the lateral movement, the sensor in the docking guide seat 343 detects the relative position of the lifting frame 34 and the connection point of the top of the cargo in real time, realizing closed-loop position control.

[0066] The lowering and lifting submodule controls the extension and retraction of the bidirectional telescopic electric cylinder 31, thereby achieving the smooth lifting and lowering of the lifting frame 34.

[0067] The emergency response submodule monitors the signals of the safety monitoring and alarm component 6 (including lidar, ultrasonic sensors, anti-collision contact edges, etc.) in real time. When it detects that the distance between the equipment and an obstacle is less than the safety threshold, it immediately controls the walking mechanism 1 to decelerate or stop and issues an audible and visual alarm. At the same time, the emergency response submodule also monitors the status of the safety limit switches of each transmission mechanism. When a limit is triggered, it immediately stops the movement of the corresponding actuator to prevent damage from overtravel.

[0068] In this embodiment, the lifting device installed at the end of the wire rope 53 in the lifting mechanism 5 adopts a commercially available container hook (such as a JIS standard or ISO standard container hook). The hook head can be inserted into the elliptical hole of the bottom corner fitting of the container 9, and after rotating 90°, it can lock into the edge of the corner fitting hole to achieve a reliable connection. The hook is made of alloy steel forging, and the surface is treated with anti-corrosion, and the load-bearing capacity meets the rated load requirements.

[0069] The locking device 37 adopts a mature locking claw structure for cartridge-spring combination devices, or a rotating locking mechanism similar in principle to container twistlocks. Taking the locking claw structure as an example: the locking device 37 has a rotatable locking shaft inside, with an eccentric claw or T-shaped locking block at the lower end of the locking shaft. When the locking shaft rotates, the claw extends outward from below the lifting frame 34 and engages in the locking groove of the top connecting seat of the cartridge-spring combination 8; after the locking shaft continues to rotate a certain angle, the claw and the inner wall of the locking groove form a wedge-tight fit, achieving reliable locking. The top end of the locking shaft extends out of the upper end face of the transverse beam 344 and is fixedly connected to the locking rocker arm 371. The locking electric cylinder 372 adopts a miniature DC electric push rod with built-in screw and nut drive, with a stroke of about 20-30mm, and the thrust meets the locking operation torque requirements.

[0070] The working process of loading the cartridge assembly: Step 1: Walking Positioning and Assembling. The operator sends work instructions to the equipment via a handheld controller. The equipment travels in a straight-line mode via multiple sets of AGV steering wheels 17 on the walking mechanism 1. Figure 22 a) Autonomously drive to the storage location of the cartridge assembly 8. When the equipment approaches the cartridge assembly 8, the alignment system 15 starts working, using a laser rangefinder and a vision camera to detect the relative position of the equipment and the cartridge assembly 8, and controls the AGV steering wheel 17 to move laterally ( Figure 22 d) or turning in place ( Figure 22 e) Make minor adjustments so that the device's split frame 14 straddles the cartridge assembly 8. For example... Figure 13 , Figure 14 As shown, at this time, the cartridge assembly 8 is located in the straddle space between the left and right frames.

[0071] Step 2: Lowering and Locking. After alignment, the lowering and docking mechanism 3 begins operation. The drive motor 36 drives two lowering bidirectional telescopic electric cylinders 31 to extend synchronously via the electric cylinder reducer 35. The moving end of the lowering bidirectional telescopic electric cylinder 31 drives the rigging 33 to move downwards around the pulley 32, allowing the lifting frame 34 to descend smoothly. After the lifting frame 34 descends to contact the top of the cartridge assembly 8, the lateral adjustment mechanism 7 performs lateral fine-tuning based on the feedback from the docking guide seat 343: the lateral drive motor 341 drives the lateral bidirectional telescopic electric cylinder 346 via the lateral reversing reducer 342 and the transmission rod 345, causing the lateral beam 344 to move laterally along the slide of the lifting frame 34, so that the connection point between the lifting frame 34 and the top of the cartridge assembly 8 is precisely aligned. After alignment, the locking device drive mechanism is activated, the locking electric cylinder 372 extends, and drives multiple locking devices 37 to rotate synchronously through the linkage rod 373 and the locking rocker arm 371, so as to reliably lock the lifting frame 34 and the cartridge assembly 8.

[0072] Step 3: Lifting off the ground. After locking is completed, the lifting mechanism 4 begins to operate. The two lifting electric cylinders 42 extend synchronously, driving the telescopic cylinder 41 upwards along the guide cylinder 43, thus raising the tilting mechanism 2 and the locked cylinder-spring assembly 8 as a whole. The lifting submodule monitors the displacement feedback of the two lifting electric cylinders 42 in real time, ensuring that the synchronization error on both sides is within the allowable range through PID control. Figure 15 As shown, the cannon-bullet assembly 8 is smoothly lifted off the ground. Once the cannon-bullet assembly 8 reaches the predetermined marching height, the lifting electric cylinder 42 stops and locks itself in place.

[0073] Step 4: Attitude Reversal. If it is necessary to change the cartridge assembly 8 from a horizontal to a vertical position, the reversing mechanism 2 begins operation. First, pull out the pin between the reversing beam 22 and the bearing seat 27 to release the horizontal lock. Then, the reversing electric cylinder 23 extends, and its movable end pushes the reversing arm 21, causing the reversing beam 22 to rotate around the trunnion 26. The reversing submodule controls the speed and position of the reversing electric cylinder 23 in real time to ensure a smooth reversing process. Figure 16 As shown, the tilting beam 22 and the loaded cartridge assembly 8 rotate together with the tilting arm 21, gradually tilting from a horizontal state to a vertical state (as shown). Figure 20 (As shown). During the flipping process, the motor brake device built into the flipping electric cylinder 23 is in the released state; after flipping to the correct position, the brake immediately closes to lock. If it is necessary to maintain the vertical posture for a long time, the pin can be inserted again for mechanical locking.

[0074] Step 5: Transport and Transfer. After the attitude conversion of the cartridge assembly 8 is completed, the equipment carries the cartridge assembly 8 for short-distance transport. For example... Figure 19 As shown, during the transfer process, the cartridge assembly 8 is reliably locked onto the lifting frame 34 and maintained at a suitable transport height by the lifting mechanism 4. Because the straddling structure of the split frame 14 places the center of gravity of the cartridge assembly 8 on the central axis of the equipment, and the cartridge assembly 8 is protected by the left and right frames, the swaying amplitude during transfer is effectively suppressed. The equipment achieves flexible movement via the AGV steering wheel 17, the safety monitoring and alarm component 6 monitors the surrounding environment in real time, and the emergency handling submodule automatically controls the equipment to slow down or stop and issues an audible and visual alarm when an obstacle is detected.

[0075] Step 6: Lowering and Unloading. Upon reaching the target position, if the cartridge assembly 8 is in a vertical position, reverse the operation of Step 4 and have the flipping mechanism 2 flip it to a horizontal position. Then, the lifting mechanism 4 descends, smoothly lowering the cartridge assembly 8 to the target position. After lowering, the locking electric cylinder 372 retracts, causing the locking device 37 to rotate in the opposite direction to unlock the locking device 37. The lowering bidirectional telescopic electric cylinder 31 retracts, lifting the lifting frame 34 back to its original position. The equipment exits the straddle position, completing the entire operation process.

[0076] The process of hoisting containers: The operation process for lifting container 9 is similar to that of lifting the canister crane assembly 8, except that a lifting mechanism 5 is used instead of a lowering docking mechanism 3 for cargo connection. After the equipment straddles directly above container 9, the lifting mechanism 5 operates. The lifting motor 52 drives the elevator 54 via the lifting reducer 51 to raise and lower the wire rope 53, causing the container hook at the end of the wire rope 53 to descend to the bottom corner fitting of container 9. The operator inserts the hook into the corner fitting hole and rotates it 90° to lock it, or uses an automatic twist-lock spreader for automatic docking. After connection, the elevator 54 tightens the wire rope 53, lifting container 9 from the bottom. When container 9 is lifted to the predetermined height, the positioning block 55 extends under the drive of an independent motor and inserts into the top corner fitting of container 9 for clamping, forming a double locking of lifting and clamping. Figure 17 and Figure 21 As shown, container 9 is reliably secured below the equipment and can be transferred over short distances. During the transfer, the safety monitoring and alarm component 6 continuously monitors the position and sway of container 9, and immediately alarms if any abnormality is detected. After the container is in place, the positioning block 55 retracts and unlocks, the wire rope 53 is lowered, container 9 lands smoothly, and the hook is manually unlocked and released.

[0077] As can be seen from the above working process, the lifting and tilting equipment of the present invention achieves the following effects: the entire process of docking, lifting, tilting, transferring and lowering can be completed in one straddle positioning without the need to change equipment or re-clamp, thus greatly improving work efficiency. The electrical control system monitors the status of each actuator and the surrounding environment in real time, and has closed-loop synchronous control, automatic alignment, anti-collision and audible and visual alarm functions, effectively ensuring operational safety and automation.

[0078] Example 2: In the first embodiment described above, the lifting mechanism 4 employs a structure in which two electric lifting cylinders 42 drive the telescopic cylinder 41 to slide within the guide cylinder 43. As an equivalent alternative, the sliding fit between the guide cylinder 43 and the telescopic cylinder 41 can take various forms, such as linear guide rail pairs, roller guide rail pairs, or sliding bearing pairs. The driving method of the electric lifting cylinders 42 can also be replaced by electric push rods, screw jacks, or rack and pinion lifting mechanisms.

[0079] Regarding the lifting synchronization control, in the above embodiment, the two lifting electric cylinders 42 are controlled synchronously in a closed loop by an electrical control system. The synchronization accuracy can be obtained through position feedback using an incremental encoder, an absolute encoder, or a wire-type displacement sensor. For applications requiring higher synchronization accuracy, a mechanical synchronization shaft can be added between the two lifting mechanisms 4 to forcefully ensure the synchronization of lifting on both sides through mechanical linkage.

[0080] Example 3: In Embodiment 1, the tilting mechanism 2 employs a structure where a tilting electric cylinder 23 drives a tilting beam 22 to rotate around a trunnion 26 via a tilting arm 21. As an equivalent alternative, the tilting drive element can be replaced with a hydraulic cylinder, a pneumatic cylinder, a motor with a reducer for direct drive, or a slewing bearing drive. Regarding the tilting angle, the above embodiment can achieve a tilting range of 0° to 90°. Those skilled in the art can adjust the stroke of the tilting electric cylinder 23 and the length of the tilting arm 21 according to actual needs to achieve a tilting range of 0° to 180° or even greater.

[0081] Regarding the locking method of the tilting beam 22, in addition to mechanical locking with a pin and bearing housing 27, hydraulic locks, electromagnetic locks, or electric cylinder self-locking methods can also be used. For applications requiring frequent tilting operations, the mechanical pin structure can be omitted, and locking at any position can be achieved entirely by relying on the motor brake of the tilting electric cylinder 23.

[0082] Example 4: In Embodiment 1, the lifting mechanism 5 uses a wire rope 53 to lift the container 9 from the bottom, and the lifting device is a container hook. As an extended application, the lifting mechanism 5 can also be used for the lifting and transfer of other ordinary materials, such as directly suspending a hook or sling using the shackle interface 24 on the underside of the tilting beam 22. The lifting device at the end of the wire rope 53 can be replaced with a hook, shackle, sling, or special clamp depending on the object being lifted. For example, a V-shaped clamp can be used when lifting cylindrical workpieces, a horizontal clamp can be used when lifting plates, and a four-jaw spreader can be used when lifting container bodies. The number and layout of the positioning blocks 55 can also be adjusted according to the specifications of the container 9. For example, for 20-foot and 40-foot containers, movable positioning blocks can be set to accommodate different hole positions.

[0083] Example 5: In Embodiment 1, the lowering docking mechanism 3 employs a structure where two bidirectional telescopic electric cylinders 31 drive four rigging 33. As an equivalent alternative, the lowering drive element can be replaced with a winch with wire rope, an electric hoist with chain, or a hydraulic cylinder with pulley system. The type of rigging 33 can be selected from wire rope, synthetic fiber slings, or metal chains depending on the load size and operating environment. The shape and size of the lifting frame 34 can be customized according to the specifications of the goods being lifted.

[0084] Example 6: In Embodiment 1, the lateral adjustment mechanism 7 employs a structure where a transverse bidirectional telescopic electric cylinder 346 drives the transverse beam 344 to move. As an extended application, the adjustment direction of the lateral adjustment mechanism 7 is not limited to the lateral direction; a longitudinal adjustment mechanism can also be integrated into the lifting frame 34 to achieve fine-tuning of the cargo's position in two horizontal directions. The drive method can be replaced with a lead screw and nut pair, a gear and rack pair, or a linear motor drive. The adjustment range can be increased or decreased according to actual needs.

[0085] Example 7: In Embodiment 1, the locking device 37 adopts a claw-type structure, and the locking electric cylinder 372 drives multiple locking devices 37 to operate synchronously via the linkage rod 373. As an equivalent alternative, each locking device 37 can be configured with an independent drive motor to achieve group control or individual control. The type of locking device 37 can be selected according to the different cargo connection interfaces, such as twist lock, claw, pin, or clamp type. For example, for container lifting scenarios, the locking device 37 can adopt the commercially available standard container twist lock, which achieves locking and unlocking with the container corner fittings by rotating 90°. For other irregularly shaped cargoes, a special locking interface can be customized.

[0086] Example 8: In Example 1, the electrical control system uses a CAN bus for communication between sub-modules. As an extended application, the communication method can be replaced with industrial fieldbuses such as EtherCAT, Profinet, and Modbus, or wireless communication methods such as Wi-Fi and 5G can be used to achieve remote communication with the command control terminal. The controller of control assembly 12 can be a PLC, industrial computer, embedded microcontroller, or dedicated motion controller. The safety monitoring and alarm component 6 can be expanded to include various sensors such as LiDAR, millimeter-wave radar, ultrasonic sensors, and vision cameras to achieve more comprehensive environmental perception and collision avoidance functions. The control software can add functional modules such as path planning, task scheduling, fault diagnosis, remote operation and maintenance, and digital twin based on the complexity of the task.

Claims

1. A lifting and tilting device, characterized in that, include: The walking mechanism (1) includes a frame (14), which is a split structure, including a left frame and a right frame, with a space for riding on goods formed between the left frame and the right frame; Lifting mechanism (4), the two lifting mechanisms (4) are respectively installed in the left frame and the right frame; The flipping mechanism (2) is bridged at the top of the two lifting mechanisms (4); The lower docking mechanism (3) is installed on the flipping mechanism (2); The lateral adjustment mechanism (7) is integrated on the lowering docking mechanism (3).

2. The lifting and tilting device according to claim 1, characterized in that: The bottom of the frame (14) is equipped with multiple AGV steering wheels (17); the lifting mechanism (4) is installed in the middle of the frame (14).

3. The lifting and tilting device according to claim 1, characterized in that: The lifting mechanism (4) includes a telescopic cylinder (41), a guide cylinder (43), and a lifting electric cylinder (42); the guide cylinder (43) is fixedly installed inside the frame (14), and the telescopic cylinder (41) is movably installed inside the guide cylinder (43); the fixed end of the lifting electric cylinder (42) is installed inside the guide cylinder (43), and the telescopic end is fixedly connected to the top of the telescopic cylinder (41).

4. The lifting and tilting device according to claim 3, characterized in that: It also includes a support frame (18) fixed on the frame (14); a support plate is fixed to the top of the telescopic cylinder (41), the width of the support plate is greater than the width of the support frame (18), and the support frame (18) is erected at both ends of the telescopic cylinder (41).

5. The lifting and tilting device according to claim 1, characterized in that: The flipping mechanism (2) includes a bearing seat (27), a flipping arm (21), a flipping beam (22), and a flipping electric cylinder (23); the bearing seat (27) is fixed to the top of the lifting mechanism (4); the middle part of the flipping beam (22) is hinged to the bearing seat (27) through a trunnion (26); one end of the flipping arm (21) is fixed to the flipping beam (22), and the other end is hinged to the movable end of the flipping electric cylinder (23); the fixed end of the flipping electric cylinder (23) is hinged to the telescopic cylinder (41).

6. The lifting and tilting device according to claim 5, characterized in that: The two ends of the flip beam (22) are equipped with a hoisting mechanism (5). The hoisting mechanism (5) includes a lifting beam (56), a wire rope (53) and a positioning block (55) located at both ends of the flip beam (22). The end of the wire rope (53) is equipped with a hoisting device.

7. The lifting and tilting device according to claim 5, characterized in that: The flip beam (22) is provided with a shackle interface (24), and a pin is fitted between the shackle interface (24) and the bearing seat (27).

8. The lifting and tilting device according to claim 1, characterized in that: The lowering docking mechanism (3) includes a lifting frame (34), rigging (33), pulleys (32), and a lowering bidirectional telescopic electric cylinder (31). The lowering bidirectional telescopic electric cylinder (31) is installed inside the tilting beam (22), and two are arranged parallel to the length of the tilting beam (22). Four pulleys (32) are installed inside the tilting beam (22) and are respectively in the extension direction of the two lowering bidirectional telescopic electric cylinders (31). The four rigging (33) are respectively wound around the four pulleys (32), and one end of the four rigging (33) is respectively connected to the movable end of the lowering bidirectional telescopic electric cylinder (31), and the other end is respectively connected to the four corners of the lifting frame (34).

9. The lifting and tilting device according to claim 8, characterized in that: The lifting frame (34) is provided with a lateral adjustment mechanism (7) at both ends; the lateral adjustment mechanism (7) includes a lateral beam (344) and a lateral bidirectional telescopic electric cylinder (346); the two lateral beams (344) are installed laterally in the slide grooves at both ends of the lifting frame (34); the middle part of the lateral bidirectional telescopic electric cylinder (346) is fixed on the lifting frame (34), and its two ends are respectively hinged to the two ends of the lateral beam (344) through the push seat (348); the lateral bidirectional telescopic electric cylinder (346) is driven by a lateral drive motor (341), the lateral drive motor (341) is fixed in the middle of the lifting frame (34), its drive end is assembled in the input end of the lateral reversing reducer (342), and the output end of the lateral reversing reducer (342) is connected to the input end of the lateral bidirectional telescopic electric cylinder (346) through the transmission rod (345).

10. The lifting and tilting device according to claim 9, characterized in that: The upper and lower end faces of the transverse beam (344) are respectively provided with a locking device drive mechanism and a locking device (37); multiple locking devices (37) are vertically installed on the lower end face of the transverse beam (344), and their power input ends extend out of the upper end face of the transverse beam (344); the locking device drive mechanism is located on the upper end face of the transverse beam (344) and includes a locking electric cylinder (372) and a locking rocker arm (371); one end of multiple locking rocker arms (371) is vertically fixed to the power input ends of multiple locking devices (37), and the other end is connected through a linkage rod (373); the extension direction of the locking electric cylinder (372) is parallel to the linkage rod (373), and the extension end of the locking electric cylinder (372) is hinged to the end of any locking rocker arm (371) away from the linkage rod (373).

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