Device for hoisting heavy load

Abstract

The utility model provides a device for hoisting a heavy load. The device comprises a connecting seat for connecting hoisting equipment, the connecting seat is mounted on the slewing mechanism, the mechanical arms are connected to the two sides of the slewing mechanism through the lifting point adjusting mechanisms, the transverse adjusting mechanisms and the circumferential adjusting mechanisms are arranged in the lifting point adjusting mechanisms, and the signal processing assemblies are mounted on the mechanical arms on the two sides; the transverse adjusting mechanism is of a multi-connecting-rod structure and drives the mechanical arm to transversely expand or contract through a motor. The circumferential adjusting mechanism is of a coaxial reverse rotation structure, and the mechanical arm is driven by a motor to expand or contract in the circumferential direction of the rotating mechanism. Through the structural design of rigid-flexible conversion, coaxial reverse rotation and the like, reliable hoisting of a load is realized, the working intensity of operators is reduced, the stability, reliability and safety of the hoisting tool are improved, intelligent adjustment of transverse and circumferential positions of a hoisting point can be effectively realized, the hoisting efficiency is improved, and meanwhile, the hoisting tool has certain universality; the system has the advantages of ingenious structure, high precision, high reliability, high intelligent degree and the like.

Description

Technical Field

[0001] The utility model relates to a device for large-load hoisting, belonging to the technical field of machinery manufacturing and automation. Background Technique

[0002] With the development of science and technology, many breakthroughs have been made in the field of heavy machinery. In the aspect of large-scale hoisting equipment, the hoisting of large-weight, long-distance, and complex-motion load structures has been realized. However, there are still problems such as insufficient hoisting stability, low degree of intelligence, and insufficient precision control range: For large-load components during their hoisting process, stability is a crucial link. When designing, it is necessary to fully consider whether the load-bearing of the structural components is reasonable and whether the strength is sufficient; at the same time, during the hoisting process, due to the different weights, centers of mass, and rated hoisting point positions of different loads, the precision control of the hoisting points has always been a difficult problem. Especially for large-load hoisting, such as containers, heavy milling machines, and military special equipment, etc., and the traditional hoisting method relies too much on manual operation, which is time-consuming and laborious, and the degree of intelligence is too low, greatly affecting the efficiency of project implementation. Content of the Utility Model

[0003] To solve the above technical problems, the utility model provides a device for large-load hoisting. The device for large-load hoisting can effectively realize the intelligent adjustment of the horizontal and circumferential positions of the hoisting points, improve the hoisting efficiency, and has a certain degree of versatility at the same time.

[0004] The utility model is achieved through the following technical solutions.

[0005] A device for large-load hoisting provided by the utility model includes a connecting seat for connecting a hoisting device; the connecting seat is installed on a slewing mechanism, and both sides of the slewing mechanism are connected with robotic arms through hoisting point adjusting mechanisms. The hoisting point adjusting mechanisms are internally provided with a horizontal adjusting mechanism and a circumferential adjusting mechanism, and signal processing assemblies are installed on both sides of the robotic arms; the horizontal adjusting mechanism is a multi-link structure, and the robotic arm is horizontally expanded or contracted by a motor drive; the circumferential adjusting mechanism is a coaxial reverse rotation structure, and the robotic arm is expanded or contracted along the circumference of the slewing mechanism by a motor drive.

[0006] A roll drive mechanism is installed on the outer side of the connecting seat through a bearing connection. The roll drive mechanism is driven by a motor to extend or contract a push rod, and the push rod drives the slewing mechanism to axially deflect relative to the connecting seat.

[0007] The roll drive mechanism includes an input shaft, the input shaft is horizontally connected to a spiral bevel gear, an electric cylinder is vertically coaxially connected to the spiral bevel gear, and the push rod is installed in the electric cylinder.

[0008] The lateral adjustment mechanism is such that there are two connecting rods respectively connecting two juxtaposed robotic arms. One end of each connecting rod is rotatably connected to the robotic arm, and the other end is rotatably connected to a positioning seat. The positioning seat is installed on the side of the slewing mechanism and is driven by a ball screw pair to move relatively along the circumference of the slewing mechanism. An input drive motor is installed inside the slewing mechanism to drive the ball screw pair to rotate.

[0009] The coaxial reverse structure is such that gear shafts are fixed to the opposite ends of two coaxial transmission shafts. Along the circumference of one of the gear shafts, there are multiple holes in which driven shafts are installed. On the disk surface of the other gear shaft, there are small gears, and the driven shafts are meshed with the small gears.

[0010] A slewing torque motor is installed inside the slewing mechanism. The slewing torque motor drives a slewing disk to rotate along the vertical axis through a push rod, and the robotic arm is installed on the slewing disk through a robotic arm welding seat.

[0011] A pitching mechanism is also installed on the side of the connecting seat. The two ends of the pitching mechanism are respectively rotatably installed on the connecting seat and the slewing mechanism through trunnions. A servo motor drives an electric cylinder to change the distance between the two trunnion connection points.

[0012] A rigid-flexible conversion mechanism is installed on the robotic arm for hoisting.

[0013] The rigid-flexible conversion mechanism includes a positioning seat fixed on the robotic arm. A pulley is installed on the positioning seat, and a steel wire rope is wound around the pulley. One end of the steel wire rope is installed on a steel wire connector driven by a motor, and the other end hangs down and is connected to a lifting tool.

[0014] The beneficial effects of the present utility model are as follows: Through structural designs such as rigid-flexible conversion and coaxial reverse, reliable hoisting of the load is achieved, the working intensity of the operator is reduced, the stability, reliability, and safety of the lifting tool are improved, and intelligent adjustment of the lateral and circumferential positions of the lifting point can be effectively realized, improving the hoisting efficiency. At the same time, it has a certain degree of versatility; it has the advantages of ingenious structure, high precision, strong reliability, and high intelligent level. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of at least one embodiment of the present utility model;

[0016] Figure 2 is Figure 1 a schematic structural diagram of the coaxial reverse mechanism inside the lifting point adjustment mechanism in

[0017] Figure 3 is Figure 1 a composition diagram of the rigid-flexible conversion mechanism in

[0018] Figure 4 is Figure 1 a schematic diagram of the transmission principle of the roll drive mechanism in

[0019] Figure 5 Yes Figure 1 Top view of the connection structure between the middle suspension point adjustment mechanism and the slewing mechanism;

[0020] Figure 6 Yes Figure 1 Schematic structural diagram of the slewing mechanism in the middle;

[0021] Figure 7 Yes Figure 1 Schematic structural diagram of the pitching mechanism in the middle

[0022] In the figure: 1 - connecting seat, 2 - roll drive mechanism, 3 - suspension point adjustment mechanism, 4 - slewing mechanism, 5 - pitching mechanism, 6 - signal processing combination, 7 - rigid-flexible conversion mechanism, 8 - gear shaft, 9 - driven shaft, 10 - pinion, 11 - transmission shaft, 12 - wire joint, 13 - wire rope, 14 - positioning seat, 15 - pulley, 16 - spiral bevel gear connection, 17 - electric cylinder, 18 - push rod, 19 - input shaft, 20 - input end drive motor, 21 - positioning seat, 22 - connecting rod, 23 - ball screw pair, 24 - robotic arm, 25 - push rod, 26 - slewing torque motor, 27 - slewing disc, 28 - robotic arm welding seat, 29 - servo motor, 30 - electric cylinder, 31 - trunnion. Detailed implementation mode

[0023] The technical solution of the present invention will be further described below, but the scope of protection is not limited thereto.

[0024] Embodiment 1

[0025] Such as Figures 1 to 7 shown, a device for large-load lifting includes a connecting seat 1 for connecting a lifting device; the connecting seat 1 is installed on the slewing mechanism 4, and both sides of the slewing mechanism 4 are connected with robotic arms 24 through the suspension point adjustment mechanism 3. The suspension point adjustment mechanism 3 is provided with a lateral adjustment mechanism and a circumferential adjustment mechanism, and signal processing combinations 6 are installed on both sides of the robotic arms 24; the lateral adjustment mechanism is a multi-link structure, and the robotic arms 24 are driven by a motor to expand or contract laterally; the circumferential adjustment mechanism is a coaxial reverse structure, and the robotic arms 24 are driven by a motor to expand or contract circumferentially along the slewing mechanism 4.

[0026] Embodiment 2

[0027] Based on Embodiment 1, a roll drive mechanism 2 is connected and installed outside the connecting seat 1 through a bearing. The roll drive mechanism 2 is driven by a motor to extend or contract the push rod 18, and the push rod 18 drives the slewing mechanism 4 to axially deflect relative to the connecting seat 1.

[0028] Further, the roll drive mechanism 2 includes an input shaft 19 which is horizontally connected to the spiral bevel gear connection 16. The electric cylinder 17 is vertically and coaxially connected to the spiral bevel gear connection 16, and the push rod 18 is installed in the electric cylinder 17.

[0029] Further, the lateral adjustment mechanism is such that there are two connecting rods 22 respectively connected to two juxtaposed robotic arms 24. One end of the connecting rod 22 is rotatably connected to the robotic arm 24, and the other end of the connecting rod 22 is rotatably connected to the positioning seat 21. The positioning seat 21 is installed on the side of the slewing mechanism 4 and is driven by a ball screw pair 23 to move relatively along the circumference of the slewing mechanism 4. An input end drive motor 20 is installed inside the slewing mechanism 4 to drive the ball screw pair 23 to rotate.

[0030] Further, the coaxial reverse structure is such that gear shafts 8 are fixed to the opposite ends of two coaxial transmission shafts 11. A plurality of holes are distributed along the circumference on one of the gear shafts 8, and driven shafts 9 are installed in the holes. There is a pinion 10 on the disk surface of the other gear shaft 8, and the driven shaft 9 meshes with the pinion 10.

[0031] Embodiment 3

[0032] Based on Embodiment 1, a slewing torque motor 26 is installed inside the slewing mechanism 4. The slewing torque motor 26 drives the slewing disk 27 to rotate along the vertical axis through the push rod 25, and the robotic arm 24 is installed on the slewing disk 27 through the robotic arm welding seat 28.

[0033] Further, a pitching mechanism 5 is also installed on the side of the connecting seat 1. Both ends of the pitching mechanism 5 are respectively rotatably installed on the connecting seat 1 and the slewing mechanism 4 through trunnions 31. A servo motor 29 drives the distance between the connection points of the two trunnions 31 to change through the electric cylinder 30.

[0034] Further, a rigid-flexible conversion mechanism 7 for hoisting is installed on the robotic arm 24.

[0035] Further, the rigid-flexible conversion mechanism 7 includes a positioning seat 14 fixed to the robotic arm 24. A pulley 15 is installed on the positioning seat 14, and a steel wire rope 13 is wound around the pulley 15. One end of the steel wire rope 13 is installed on a steel wire joint 12 driven by a motor, and the other end hangs down and is connected to a lifting tool.

[0036] Embodiment 4

[0037] Based on the above-mentioned Embodiment 1, it includes a connecting seat 1, a roll driving mechanism 2, a suspension point adjusting mechanism 3, a spreader slewing mechanism 4, a pitching mechanism 5, a signal processing combination 6, and a rigid-flexible conversion mechanism 7. The connecting seat 1 is connected to the crane and serves as the load-bearing connection part of the spreader, providing load-bearing power for the spreader during the entire hoisting process and transporting the spreader to the designated position under different working conditions through the crane. The roll driving mechanism 2 is installed on the outside of the connecting seat by bearing connection and is driven by a motor. The motor and the reducer are connected by spiral bevel gears to transmit power and torque, driving the nut of the electric cylinder to rotate around the axis and the push rod to extend, realizing the axial deflection of the spreader; The pitching mechanism 5 is installed at the front end of the roll driving mechanism and mainly includes a pitching electric cylinder, a pitching outer cylinder, a connecting rod, and a cable assembly, which is connected to the slewing mechanism of the spreader and completes the adjustment of the pitching angle through the pitching oil cylinder, playing a role in transportation, balance, and centering during the hoisting process; The spreader slewing mechanism 4 and the suspension point adjusting mechanism 3 are installed on the slewing disk at the center of the spreader. The internal part of the slewing mechanism includes a slewing motor, a slewing reducer, and an azimuth sensor. The motor drives the spreader to complete a 360° axial rotation, and the azimuth sensor can detect the slewing accuracy of the spreader. The suspension point adjusting mechanism 3 is divided into a transverse adjusting mechanism and a circumferential adjusting mechanism. The transverse adjusting mechanism adopts a multi-link structure. The ball screw and the robotic arm are fixedly connected by a positioning block through a pin shaft. During operation, the motor drives the nut of the ball screw to perform linear reciprocating motion, thereby realizing the transverse expansion and contraction of the robotic arm. The circumferential adjusting mechanism designs a clever coaxial reverse device, which consists of two groups of meshing gears, gear disks, and a mandrel to realize the circumferential expansion of the spreader slewing disk. The rigid-flexible conversion mechanism 7 is mainly composed of a wire joint, a steel wire rope, a pulley, a sliding seat, a positioning seat, etc. It is driven by a ball screw pair. The motor drives the screw to perform fixed-axis rotation, and the positioning seat cooperating with the nut moves linearly along the guide rail to realize the lowering of the steel wire rope, and it is lowered to the load suspension point position for flexible connection. Subsequently, through cooperation with the slewing mechanism and the suspension point adjusting mechanism, a hoisting action is performed to realize rigid connection with the load. The signal processing combination 6 is responsible for ensuring the communication connection of the circuit signals during the entire hoisting process. The installation interface in the connecting seat 1 is bolt-connected to the threaded hole machined at the end of the lifting equipment. There are supports in 1 for connecting with the roll driving mechanism 2 and the pitching mechanism 5, and they are connected by pin shafts and nuts in cooperation. The slewing seat in the slewing mechanism 4 and the suspension point adjusting mechanism 3 are bolt-connected through a transfer seat. The signal processing combination 6 is welded on the connecting plate in 4. The rigid-flexible conversion mechanism 7 is connected through the positioning seat on the robotic arm.

[0038] The connecting seat 1 and the crane interface are installed in a bolt connection manner, providing load-bearing power during the entire hoisting process, bearing the weight of the hoisting load, and providing installation interfaces for the remaining adjusting mechanisms of the spreader.

[0039] The roll drive mechanism 2 is connected to the connecting seat by a pair of tapered roller bearings and is driven by a motor. The motor and the reducer are connected by spiral bevel gears to transmit power and torque, driving the nut of the electric cylinder to rotate around the axis, and the push rod extends to achieve the axial deflection of the spreader.

[0040] In the hoisting point adjustment mechanism 3, the lateral adjustment mechanism adopts a multi-link structure. The ball screw and the robotic arm are fixedly connected by a connecting rod, a positioning block and a pin shaft. During operation, the motor drives the nut of the ball screw to perform a linear reciprocating motion, thereby realizing the lateral expansion and contraction of the robotic arm. The circumferential adjustment mechanism is designed with a coaxial reverse rotation device, which consists of two sets of meshing gears, gear discs and a transmission shaft. One end of the shaft is equipped with a motor to provide a power source, and the coaxial reverse rotation function is realized by the mutual power transmission relationship of the meshing gears, driving the circumferential expansion of the spreader turntable. The two work together to achieve the precise positioning of the load hoisting point position.

[0041] A rotary torque motor is installed inside the spreader slewing mechanism 4 and is fixedly connected to the slewing mechanism body. The output shaft of the rotary torque motor is fixedly connected to the four spreader arm bodies. The motor drives the overall rotation of the spreader as the input end to complete a 360° axial rotation. At the same time, an azimuth sensor is provided inside the slewing mechanism and is communicatively connected to the signal processing unit, which can detect the slewing accuracy of the spreader in real time.

[0042] The pitching structure 5 drives the telescopic movement of the push rod of the electric cylinder through a servo motor. The lifting lug and the connecting piece are in a hinged relationship, thereby completing the adjustment of the pitching angle to ensure that the spreader is in a horizontal state relative to the ground plane during the entire hoisting process. At the same time, a position sensor is installed on the mechanism and is communicatively connected to the signal processing unit to monitor the position information of the spreader in real time and give feedback. The control system adjusts the position of the spreader to achieve closed-loop control.

[0043] The signal processing unit 6 adopts a cabinet-type box structure and is installed through bolts on the connecting plate. It includes a main controller, cables, electronic components, etc. It is the electronic control system of the spreader and is responsible for ensuring the communication connection of the circuit signals during the entire hoisting process.

[0044] The rigid-flexible conversion mechanism 7 is driven by a ball screw pair. The motor drives the screw to perform a fixed-axis rotation, and the positioning seat cooperating with the nut moves linearly along the guide rail to realize the lowering of the steel wire rope. The steel wire rope is lowered to the hoisting point position for flexible connection. Subsequently, through cooperation with the spreader slewing mechanism and the hoisting point adjustment mechanism, the hoisting action is carried out to realize the rigid connection with the load.

[0045] Thus, the present utility model:

[0046] ① Adopts a camera (machine vision system), an azimuth sensor, and a position sensor. The camera is used to realize the recognition of the overall position, and the azimuth sensor and the position sensor are used for the precise recognition of the motion control and actions during the hoisting process;

[0047] ②Adopt a combined structure such as a roll drive mechanism, a pitch mechanism, and a spreader slewing mechanism to realize the automatic adjustment of multiple degrees of freedom during the hoisting process of the spreader, avoid unstable factors caused by manual operation, and ensure the smooth, reliable and stable progress of the hoisting process;

[0048] ③Through the lifting point adjustment mechanism, realize the intelligent adjustment of the horizontal and circumferential positions of the lifting points, improve the hoisting efficiency, and have a certain degree of versatility;

[0049] ④Through structural designs such as rigid-flexible conversion and coaxial reverse rotation, realize the reliable hoisting of the load, reduce the work intensity of the operators, and improve the stability, reliability and safety of the spreader;

[0050] ⑤Through the control system of signal processing combination, calculate the relative position relationship between the target point and the spreader device, thereby controlling the movement of the actuator to realize closed-loop control and greatly improving the hoisting efficiency.

Claims

1. A device for hoisting large loads, comprising a connecting seat (1) for connecting a hoisting device, characterized in that: The connection seat (1) is installed on the slewing mechanism (4). On both sides of the slewing mechanism (4), a robotic arm (24) is connected through a suspension point adjusting mechanism (3). The suspension point adjusting mechanism (3) is internally provided with a lateral adjusting mechanism and a circumferential adjusting mechanism. A signal processing assembly (6) is installed on each of the two robotic arms (24); the lateral adjusting mechanism is a multi-link structure, and the robotic arm (24) is driven by a motor to expand or contract laterally; the circumferential adjusting mechanism is a coaxial reverse structure, and the robotic arm (24) is driven by a motor to expand or contract along the circumference of the slewing mechanism (4).

2. The device for large-load hoisting according to claim 1, characterized in that: A roll drive mechanism (2) is installed on the outer side of the connection seat (1) through a bearing connection. The roll drive mechanism (2) is driven by a motor to extend or contract a push rod (18), and the push rod (18) drives the slewing mechanism (4) to axially deflect relative to the connection seat (1).

3. The device for large-load hoisting according to claim 2, characterized in that: The roll drive mechanism (2) includes an input shaft (19). The input shaft (19) is horizontally connected to a spiral bevel gear connection (16). An electric cylinder (17) is vertically and coaxially connected to the spiral bevel gear connection (16). The push rod (18) is installed in the electric cylinder (17).

4. The device for large-load hoisting according to claim 1, characterized in that: The lateral adjusting mechanism is such that there are two connecting rods (22) respectively connecting two juxtaposed robotic arms (24). One end of the connecting rod (22) is rotatably connected to the robotic arm (24), and the other end of the connecting rod (22) is rotatably connected to a positioning seat (21). The positioning seat (21) is installed on the side of the slewing mechanism (4) and is driven by a ball screw pair (23) to relatively move along the circumference of the slewing mechanism (4). An input end drive motor (20) is installed inside the slewing mechanism (4) to drive the ball screw pair (23) to rotate.

5. The device for large-load hoisting according to claim 1, wherein: The coaxial reverse structure is such that gear shafts (8) are fixed to the opposite ends of two coaxial transmission shafts (11). A plurality of holes are distributed along the circumference on one of the gear shafts (8), and a driven shaft (9) is installed in the holes. A pinion (10) is provided on the disk surface of the other gear shaft (8), and the driven shaft (9) meshes with the pinion (10).

6. The device for large-load hoisting according to claim 1, characterized in that: A slewing torque motor (26) is installed inside the slewing mechanism (4). The slewing torque motor (26) drives a slewing disk (27) to rotate along the vertical axis through a push rod (25). The robotic arm (24) is installed on the slewing disk (27) through a robotic arm welding seat (28).

7. The device for large-load hoisting according to claim 1, wherein: A pitching mechanism (5) is further installed on the side of the connection seat (1). The two ends of the pitching mechanism (5) are respectively rotatably installed on the connection seat (1) and the slewing mechanism (4) through trunnions (31). A servo motor (29) drives the distance between the connection points of the two trunnions (31) to change through an electric cylinder (30).

8. The device for large-load hoisting according to claim 1, characterized in that: A rigid-flexible conversion mechanism (7) for hoisting is installed on the robotic arm (24).

9. The device for large-load hoisting according to claim 1, characterized in that: The rigid-flexible conversion mechanism (7) includes a positioning seat (14) fixed on the robotic arm (24). A pulley (15) is installed on the positioning seat (14). A steel wire rope (13) is wound around the pulley (15). One end of the steel wire rope (13) is installed on a steel wire joint (12) driven by a motor, and the other end hangs down to be connected with a lifting appliance.

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