A self-climbing tower crane system mainly powered by ground power

Abstract

The utility model discloses an embodiment discloses a kind of self-climbing tower crane system with ground power source as main, including self-climbing base and crane assembly, crane assembly includes support frame, stringer, crossbeam, first fixed pulley, second fixed pulley, main hook, main sling and hoist, support frame is installed on the top platform of self-climbing base, the top of two symmetrical arrangement support frame is respectively installed with one stringer extending along front-back direction, two stringers are spaced distribution, crossbeam extends along left-right direction and its both ends are respectively connected with two stringers, one sub-crossbeam is installed between the rear section of two stringers, first fixed pulley is installed on sub-crossbeam, second fixed pulley is installed at the bottom of crossbeam, one end of main sling is connected with main hook, the other end is sequentially passed through second fixed pulley and first fixed pulley, and then is wound with the winding drum of hoist installed on ground.The self-climbing tower crane system has the characteristics of simple system structure, high stability, easy operation, simple processing and manufacturing, low cost, etc.

Description

Technical Field

[0001] This utility model relates to the field of wind turbine hoisting technology, specifically to a self-climbing tower crane system based on a ground power source. Background Technology

[0002] In the process of accelerating the construction of new power systems, the "spatial and temporal value" of green energy has become the most important decision-making factor in green energy investment and financing. In addition, the rigid demand for "direct green power connection" is calling for a new energy supply model of "on-site power generation and on-site power consumption". However, for areas with poor wind energy, the power generation of ordinary wind turbines is difficult to meet the requirements.

[0003] To access better wind energy, wind power towers have been installed at heights exceeding 185 meters, primarily using mobile all-terrain cranes and tower cranes for installation. Currently, major wind turbine manufacturers are designing turbines with hub heights of up to 250 meters. However, the strong demand for distributed wind power in wind-scarce regions, requiring local generation and consumption, necessitates the use of even taller towers (above 300 meters, and even reaching 350 meters) to effectively meet this essential need.

[0004] However, traditional large cranes have the following problems when hoisting ultra-high towers:

[0005] 1. For mobile all-terrain cranes, the complexity of their technology limits the speed of their technological progress. With the continuous increase in lifting height and the rising lifting requirements, as well as the multiple pressures of the market on the demanding cost of use, the technology of this type of crane faces great challenges and uncertainties.

[0006] 2. For tower cranes, although the lifting height has a very low impact on the lifting capacity, the stability of the tower crane is required during the lifting and installation of large tonnage cranes. In order to ensure stability from the ground to the top of the tower, the strength and rigidity of the tower must be increased, which will also increase the cost dramatically; the foundation and footprint of the tower crane will also be greatly increased.

[0007] To address the bottleneck issue of ultra-high, high-capacity cranes resulting from tower elevation increases, a self-climbing crane based on the wind turbine tower body has emerged in the market. This crane includes a top clamp, crane column, mid-section clamp, bottom clamp, wind turbine tower, clamp lifting winch, lifting hydraulic cylinder, and crane mounted on the crane column. The crane itself includes a main hook, main lifting boom, slewing platform, main lifting mechanism, luffing hydraulic cylinder, and luffing hydraulic cylinder support frame. This self-climbing crane can automatically climb along the tower body, featuring small size, light weight, and convenient transportation, meeting the current lifting needs of ultra-high towers. However, this self-climbing crane, applied to ultra-high towers with a "tower" structure, is difficult to apply to gypsum-tube wind turbine supports. The main lifting power system (i.e., the main lifting mechanism) is installed above the crane column, significantly increasing the top weight and compromising stability. Therefore, there is an urgent need to develop a self-climbing crane system suitable for gypsum-tube wind turbine supports and capable of counteracting overturning moments to promptly meet the market's pressing needs. Utility Model Content

[0008] Therefore, this utility model provides a self-climbing tower crane system based on a ground power source to solve one or more of the above-mentioned technical problems.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A self-climbing tower crane system powered primarily by a ground-based power source includes a self-climbing base and a crane assembly. The crane assembly includes a support frame, longitudinal beams, a crossbeam, a first fixed pulley, a second fixed pulley, a main hook, a main sling, and a winch. The support frame is mounted on the top platform of the self-climbing base. Two longitudinal beams extending in a front-to-back direction are respectively mounted on the top left and right sides of the support frame, spaced apart. A crossbeam extends in a left-to-right direction, with its two ends connected to the two longitudinal beams respectively. A secondary crossbeam is installed between the rear sections of the two longitudinal beams. The first fixed pulley is mounted on the secondary crossbeam, and the second fixed pulley is mounted at the bottom of the crossbeam. One end of the main sling is connected to the main hook, and the other end passes through the second fixed pulley and the first fixed pulley in sequence before winding around the drum of the winch mounted on the ground.

[0011] Furthermore, the crossbeam includes a sliding beam, a sliding cylinder, and two sliding cylinders. The two ends of the sliding beam are respectively connected to the two longitudinal beams. The sliding cylinder is sleeved on the sliding beam. The main bodies of the two sliding cylinders are respectively fixed to the left and right ends of the sliding cylinder. The moving parts of the two sliding cylinders are respectively connected to the left and right sections of the sliding beam. The two sliding cylinders extend and retract asynchronously to make the sliding cylinder slide on the sliding beam, so as to ensure that the center point of the crossbeam always coincides with the center of the distance change between the two longitudinal beams.

[0012] Furthermore, a sliding cover is provided on the lower side of each end of the sliding beam. The sliding cover is fastened to the longitudinal beam. A longitudinal movement motor is provided on the sliding cover. A longitudinal movement rack extending in the front-back direction is provided on the side of the longitudinal beam. A longitudinal movement gear is installed on the output shaft of the longitudinal movement motor. The longitudinal movement gear meshes with the longitudinal movement rack.

[0013] Furthermore, the sliding cover is also provided with a locking cylinder. The moving part of the locking cylinder is arranged vertically downward, and a cylindrical pin is installed at the bottom of the moving part. The sliding cover is provided with a sliding pin hole corresponding to the position of the cylindrical pin. The top of the longitudinal beam is provided with multiple locking pin holes, which are evenly distributed in the front-back direction. When the locking cylinder drives the cylindrical pin to pass through the sliding pin hole and insert into the locking pin hole, the sliding cover and the longitudinal beam are locked in the front-back direction.

[0014] Furthermore, the second fixed pulley is located at the bottom center of the slide cylinder, and two auxiliary slings of fixed length are also provided below the slide cylinder. The two auxiliary slings are located on the left and right sides of the second fixed pulley, respectively. The upper end of the auxiliary sling is fixed to the slide cylinder, and the lower end of the auxiliary sling is connected to an auxiliary hook.

[0015] Furthermore, the auxiliary hook includes two clamp handles hinged in an X shape and C-shaped hook bodies integrally formed at the lower ends of the two clamp handles. The two C-shaped hook bodies are arranged facing each other. A tension spring and a mouth-opening cylinder are installed between the rear ends of the clamp handles. The tension spring is used to reset the two C-shaped hook bodies to form a closed hook body capable of suspending heavy objects. The mouth-opening cylinder is used to open the closed hook body to allow the auxiliary lifting point to enter.

[0016] Furthermore, the support frame is a triangular support frame, with its bottom hinged to the top platform. Two triangular support frames are symmetrically arranged and spaced apart in the left-right direction. A longitudinal beam is installed on the top of each triangular support frame. A pitch cylinder is respectively installed at the lower front and lower rear of each triangular support frame. The main body of the pitch cylinder is hinged to the top platform, and the moving part is hinged to the front or rear arm of the triangular support frame. The two pitch cylinders extend and retract asynchronously to adjust the pitch angle of the triangular support frame.

[0017] Furthermore, a pitch limiting support is also provided on the top platform, which is located below the forearm and rear arm of the triangular support frame.

[0018] Furthermore, the self-climbing base includes a bottom support cylinder, a top support cylinder, a lifting mechanism, and support arms; the top support cylinder is sleeved on the upper outer side of the bottom support cylinder, and the two can move relative to each other in the vertical direction; the lifting mechanism is installed inside the bottom support cylinder and is connected to the top support cylinder for lifting and locking the top support cylinder relative to the bottom support cylinder; multiple support arms are provided, respectively arranged on the same side outside the bottom support cylinder and the top support cylinder, and each support arm includes a pair of left and right distributed gripping arms with adjustable opening and closing angles and lengths, and the front end of each gripping arm is provided with an openable and closeable clamp.

[0019] The present invention has the following advantages:

[0020] This utility model provides a self-climbing tower crane system with a ground-based power source, similar to a self-climbing tower crane. Compared with existing "all-terrain cranes," this self-climbing tower crane system has a simpler structure, smaller size, lighter weight, and is easier to transport. Compared with existing "tower cranes," this self-climbing tower crane system also adopts a self-climbing base, which can automatically rise and fall along the wind turbine tower or wind turbine support. Thus, there is no need to build an additional "tower," which fully utilizes the high stability characteristics of the wind turbine tower or wind turbine support, making the overall crane system more stable. This self-climbing tower crane system uses a winch installed on the ground as the lifting power source. By changing the tension direction of the main sling through two fixed pulleys, the power is output from the ground for ultra-high-altitude lifting, reducing the weight at the top of the system and improving stability.

[0021] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0022] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0023] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0024] Figure 1 A schematic diagram of a self-climbing tower crane system based on a ground power source, provided for an embodiment of this utility model (before self-climbing descent after hoisting is completed);

[0025] Figure 2 A schematic diagram of the crane assembly (excluding the winch) of the self-climbing tower crane system provided in this embodiment of the utility model, viewed from left to right;

[0026] Figure 3 A front-to-back view structural schematic diagram of the crane assembly of the self-climbing tower crane system provided in an embodiment of this utility model;

[0027] Figure 4 A partial structural diagram of the crane assembly of the self-climbing tower crane system provided in this embodiment of the utility model (intended to show the drive mechanism and locking mechanism that move along the longitudinal beam).

[0028] Figure 5 A cross-sectional view of the locking mechanism of the crane assembly of the self-climbing tower crane system provided in this embodiment of the utility model;

[0029] Figure 6 A schematic diagram showing the connection relationship between the secondary crossbeam and the longitudinal beam of the crane assembly of the self-climbing tower crane system provided in this embodiment of the utility model;

[0030] Figure 7 A schematic diagram of the secondary hook of the crane assembly of the self-climbing tower crane system provided in the embodiment of this utility model in the closed state;

[0031] Figure 8 A schematic diagram of the secondary hook of the crane assembly of the self-climbing tower crane system provided in this embodiment of the utility model in the open state;

[0032] Figure 9 A schematic diagram of the structure of a lifting device used in the crane assembly of the self-climbing tower crane system provided in this embodiment of the utility model;

[0033] Figure 10 A schematic diagram of the self-climbing tower crane system provided in this embodiment of the utility model during the hoisting of the nacelle truss base;

[0034] Figure 11 This is a schematic diagram of the self-climbing tower crane system provided in this embodiment of the present invention during the hoisting of the engine compartment;

[0035] Figure 12 This is a schematic diagram of the self-climbing tower crane system provided in this embodiment of the present invention during the lifting of the impeller;

[0036] Figure 13 This is a schematic diagram of the structure of the self-climbing base of the self-climbing tower crane system provided in an embodiment of the present invention;

[0037] Figure 14 A top view of the support arm of the self-climbing base of the self-climbing tower crane system provided in this embodiment of the utility model;

[0038] Figure 15 A side view of the support arm of the self-climbing base of the self-climbing tower crane system provided in this embodiment of the utility model;

[0039] Figure 16 A schematic diagram of the telescopic structure of the grab arm of the self-climbing base of the self-climbing tower crane system provided in this embodiment of the utility model;

[0040] Figure 17 for Figure 16 The diagram shows a side view of the telescopic adjusting sleeve.

[0041] Figure 18 A schematic diagram of the universal connection structure between the forearm and the clamp of the self-climbing tower crane system provided in this embodiment of the utility model.

[0042] In the picture:

[0043] 100. Crane assembly; 101. Support frame; 102. Longitudinal beam; 103. Crossbeam; 104. First fixed pulley; 105. Second fixed pulley; 106. Main hook; 107. Main sling; 108. Winch; 109. Sliding beam; 110. Sliding cylinder; 111. Sliding cylinder; 112. Sliding cover; 113. Longitudinal motor; 114. Longitudinal rack; 115. Longitudinal gear; 116. Locking cylinder; 117. Cylindrical pin; 118. Sliding pin hole; 119. Locking pin hole; 120. Auxiliary sling; 121. Auxiliary hook; 122. Clamp handle; 123. C-shaped hook body; 124. Tension spring; 125. Opening cylinder; 126. Lifting device; 127. Main lifting point; 128. Auxiliary lifting point; 129. Forearm; 130. Rear boom; 131. Pitch cylinder; 132. Pitch limit support; 133. Secondary crossbeam; 134. Through-beam fixing component; 135. Secondary sliding cylinder;

[0044] 200. Self-climbing base; 210. Bottom support cylinder; 220. Top support cylinder; 221. Limiting rib; 230. Lifting mechanism; 231. Lifting motor; 232. Lifting gear; 233. Lifting rack; 240. Support arm; 241. Left support arm; 242. Right support arm; 243. Connecting beam; 244. Lower support arm; 245. Left grab arm; 246. Right grab arm; 247. 248. Handwheel; 249. Opening / closing screw; 250. Opening / closing screw sleeve; 251. Left connecting rod; 252. Right connecting rod; 253. Upper arm; 254. Lower arm; 255. Telescopic adjusting sleeve; 256. Ball seat; 257. Ball head; 258. Clamp; 259. Operating handle; 260. Adjusting gap; 261. Screw locking device; 262. Bearing sleeve; 270. Limit key; 28. Top platform;

[0045] 300, tower; 400, nacelle truss base; 500, nacelle; 600, impeller. Detailed Implementation

[0046] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0047] Example 1

[0048] like Figure 1-9As shown, this embodiment provides a self-climbing tower crane system primarily powered by a ground-based power source, including a self-climbing base 200 and a crane assembly 100. The self-climbing base 200 can climb and lift along the wind turbine tower or wind turbine support. The crane assembly 100 includes a support frame 101, longitudinal beams 102, crossbeams 103, a first fixed pulley 104, a second fixed pulley 105, a main hook 106, a main sling 107, and a winch 108. The support frame 101 is mounted on the top platform 270 of the self-climbing base 200. A longitudinal beam 102 extending in a front-to-back direction is mounted on each side of the top of the support frame 101, with the two longitudinal beams 102 spaced apart. The crossbeam 103 extends in a left-to-right direction, with its two ends connected to the two longitudinal beams 102 respectively. A secondary crossbeam 133 is installed between the rear sections of the two longitudinal beams 102, and the first fixed pulley 104 is mounted on the secondary crossbeam 133. The second fixed pulley 105 is installed at the bottom of the crossbeam 103. One end of the main sling 107 is connected to the main hook 106, and the other end passes through the second fixed pulley 105 and the first fixed pulley 104 in sequence before winding around the drum of the winch 108 installed on the ground. Exemplarily, the support frame 101 is a steel truss structure, which is made of welded or bolted steel pipes; the longitudinal beam 102 is a rectangular beam with a hollow structure; the main hook 106 is an existing C-type hook; and the main sling 107 is a steel wire rope. For example, a through-beam fixing member 134 is fixed to the rear section of each of the two longitudinal beams 102 by bolts. After fixing, the through-beam fixing member 134 and the longitudinal beam 102 form a square through-beam hole. The axis of the through-beam hole is along the left-right direction. The cross-sectional shape of the secondary crossbeam 133 is adapted to the through-beam hole. The two ends of the secondary crossbeam 133 slide through the through-beam hole. In this way, during installation, it can be ensured that the secondary crossbeam 133 can move in the left-right direction, but cannot move in the front-back direction. Two second sliding cylinders 135 are symmetrically arranged on the through-beam fixing member 134 and the secondary crossbeam 133. The fixed part of the second sliding cylinder 135 is fixed to the through-beam fixing member 134, and the moving part of the second sliding cylinder 135 is fixed to the secondary crossbeam 133. The two second sliding cylinders 135 extend and retract asynchronously to adjust the center position of the secondary crossbeam 133, thereby adjusting the position of the first fixed pulley 104 between the two longitudinal beams 102.

[0049] In use, the winch 108 winds up the main sling 107, and under the directional action of the first fixed pulley 104 and the second fixed pulley 105, the other end of the main sling 107 lifts the heavy objects (including but not limited to the tower 300, the nacelle truss base 400, the nacelle 500, and the impeller 600).

[0050] The self-climbing tower crane system provided in this embodiment is similar to a self-climbing tower crane. Compared with existing "all-terrain cranes," this self-climbing tower crane system is smaller, lighter, and easier to transport. Compared with existing "tower cranes," this self-climbing tower crane system also adopts a self-climbing base 200, which can automatically rise and fall along the wind turbine tower or wind turbine support. Thus, there is no need to build an additional "tower," which makes full use of the high stability characteristics of the wind turbine tower or wind turbine support, making the overall crane system more stable. This self-climbing tower crane system uses a winch 108 installed on the ground as the lifting power source. By changing the tension direction of the main sling 107 through two fixed pulleys, the power is output from the ground for ultra-high-altitude lifting, reducing the weight at the top of the system and improving stability.

[0051] In this embodiment, the crossbeam 103 includes a sliding beam 109, a sliding cylinder 110, and two sliding cylinders 111. The two ends of the sliding beam 109 are respectively connected to two longitudinal beams 102. The sliding cylinder 110 is sleeved on the sliding beam 109. The main bodies of the two sliding cylinders 111 are respectively fixed to the left and right ends of the sliding cylinder 110. The moving parts of the two sliding cylinders 111 are respectively connected to the left and right sections of the sliding beam 109. The two sliding cylinders 111 extend and retract asynchronously to make the sliding cylinder 110 slide on the sliding beam 109. For example, the sliding beam 109 is a rectangular hollow steel beam or a solid steel beam; the sliding cylinder 110 is a rectangular steel cylinder; both ends of the upper side of the sliding beam 109 and both ends of the upper side of the sliding cylinder 110 are provided with lug structures, and the main body and moving part of the moving cylinder are respectively connected to the corresponding lug structures; the so-called "asynchronous extension" means that when one sliding cylinder 111 extends, the other retracts, and the extension and retraction speeds of the two sliding cylinders 111 are the same, so as to ensure the stable sliding of the sliding cylinder 110 on the sliding beam 109, which facilitates the adjustment of the position of the main hook 106 in the left and right directions, that is, it is convenient to adjust the position of the heavy object in the left and right directions, and ensures that the load-bearing lifting point under the crossbeam 103 is always on the same plane as the center line of the wind turbine tower.

[0052] In this embodiment, a sliding cover 112 is respectively provided at the lower side of both ends of the sliding beam 109, the sliding cover 112 is buckled and mounted on the longitudinal beam 102, a longitudinal movement motor 113 is arranged on the sliding cover 112, a longitudinal movement rack 114 extending along the front-rear direction is provided on the side surface of the longitudinal beam 102, a longitudinal movement gear 115 is mounted on the output shaft of the motor, and the longitudinal movement gear 115 meshes with the longitudinal movement rack 114. Illustratively, a fixing sleeve is respectively sleeved on both ends of the longitudinal beam 102, and the two are fixed to each other by a pin; the lower end of the fixing sleeve is welded and fixed with the sliding cover 112, the sliding cover 112 is in a reversed-U shape, and is slidably clamped on the longitudinal beam 102; the longitudinal movement motor 113 is preferably a servo motor or a stepper motor, and a reducer can be installed. It should be noted that all the components in the present application need to have high-strength properties, so the diameter of the pin shall meet the application requirements, and the high-strength property requirements for other components will not be emphasized hereinafter. By controlling the forward and reverse rotation of the longitudinal movement motor 113, the sliding cover 112 can be driven to move forward or backward, thereby driving the cross beam 103 to move in the front-rear direction, that is, the position of a heavy object in the front-rear direction can be adjusted. Preferably, longitudinal movement racks 114 are respectively provided on the two longitudinal beams 102, and longitudinal movement motors 113 are respectively provided on the two sliding covers 112 at the two ends of the sliding beam, so that it can be ensured that the cross beam 103 does not tilt when moving along the front-rear direction.

[0053] In this embodiment, a locking cylinder 116 is further provided on the sliding cover 112, the moving part of the locking cylinder 116 is arranged vertically downward, a cylindrical pin 117 is mounted at the bottom of the moving part, a sliding pin hole 118 is provided on the sliding cover 112 at a position corresponding to the cylindrical pin 117, a plurality of locking pin holes 119 are provided on the top of the longitudinal beam 102, the plurality of locking pin holes 119 are equally spaced along the front-rear direction, when the locking cylinder 116 drives the cylindrical pin 117 to pass through the sliding pin hole 118 and insert into the locking pin hole 119, the sliding cover 112 and the longitudinal beam 102 are locked in the front-rear direction. Alternatively, the locking cylinder 116 may be replaced with a linear motor. During hoisting, the main sling 107 will apply a backward pulling force to the cross beam 103, and the position of the cross beam 103 can be locked by the cylindrical pin 117, preventing the cross beam 103 from moving backward under the action of the backward pulling force of the main sling 107. Preferably, a grating ruler or a camera is equipped to enable the cylindrical pin 117 to be accurately inserted into the locking pin hole 119. In application, locking is performed first, and then hoisting is carried out.

[0054] In this embodiment, the second fixed pulley 105 is located at the bottom center of the slide cylinder 110. Two auxiliary slings 120 of fixed length are also provided below the slide cylinder 110. The two auxiliary slings 120 are located on the left and right sides of the second fixed pulley 105, respectively. The upper end of the auxiliary sling 120 is fixed to the slide cylinder 110, and the lower end of the auxiliary sling 120 is connected to an auxiliary hook 121. During the hoisting process, when the lifting point of the load rises above the auxiliary hook 121, the two auxiliary hooks 121 are respectively hooked onto the auxiliary lifting points 128 at both ends of the lifting device 126. Then, the main sling 107 is slowly released. After the main hook 106 is disengaged from the main lifting point 127 of the lifting device 126, the weight of the load is supported by the auxiliary hook 121, i.e., the auxiliary sling 120. At this time, the locking cylinder 116 is retracted and the lock is released. The motor rotates, driving the crossbeam 103 to move and adjust the position of the load in the front-to-back direction. The sliding cylinder 111 is activated to adjust the position of the load in the left-to-right direction (these large components are axially symmetrical and generally do not require left-to-right position adjustment, but only need to be adjusted when necessary). After the adjustment is complete, the locking cylinder 116 re-inserts the cylindrical pin 117 into the locking pin hole 119, and then the main hook 106 takes over the load again. The auxiliary hook 121 is disengaged, and the load is slowly released to the hoisting position.

[0055] In this embodiment, the auxiliary hook 121 includes two clamp handles 122 hinged in an X-shape and C-shaped hook bodies 123 integrally formed at the lower ends of the two clamp handles 122. The two C-shaped hook bodies 123 are arranged facing each other. A tension spring 124 and a mouth-opening cylinder 125 are installed between the rear ends of the clamp handles 122. The tension spring 124 is used to reset the two C-shaped hook bodies 123 to form a closed hook body capable of suspending heavy objects. The mouth-opening cylinder 125 is used to open the closed hook body to allow the auxiliary lifting point 128 to enter. When the mouth-opening cylinder 125 is depressurized, the two C-shaped hook bodies 123 reset under the action of the tension spring 124, forming a closed structure (i.e., a closed hook body). The lower parts of the two C-shaped hook bodies 123 are staggered and intersecting. It should be noted that the position of the lifting point of the C-shaped hook body 123 is lower than the height of the hook tip. Thus, after resetting, the C-shaped hook body 123 relies on its own structure to bear the weight of the heavy object, rather than relying on the tension force of the tension spring 124. The design incorporates an openable and closable secondary hook 121. When the main hook 106 lifts the lifting device 126 beyond the secondary hook 121, the secondary lifting point 128 will directly enter the secondary hook 121. At this time, the opening cylinder 125 releases pressure, and the tension spring 124 pulls the C-shaped hook body 123 to reset. Then, the height of the main hook 106 is lowered, allowing the heavy object to be transferred to the secondary hook 121. This facilitates hook replacement and prevents direct collision between the rising secondary lifting point 128 and the secondary hook 121.

[0056] In this embodiment, the main hook 106 is used to suspend the main lifting point 127 of the lifting device 126, and the auxiliary hook 121 is used to suspend the auxiliary lifting point 128 of the lifting device 126. The lifting device 126 includes one main lifting point 127 and two auxiliary lifting points 128. The two auxiliary lifting points 128 are symmetrically arranged on both sides of the main lifting point 127, with adjacent lifting points spaced apart. Exemplarily, the lifting device 126 is W-shaped, with the inverted V structure in the middle used to hook the main hook 106, which is the main lifting point 127. Each side of the W has a downwardly curved hook-shaped structure used to hook the auxiliary hook 121, which is the auxiliary lifting point 128.

[0057] In this embodiment, the support frame 101 is a triangular support frame 101, with its bottom hinged to the top platform 270. Two triangular support frames 101 are provided, spaced apart in the left-right direction. A longitudinal beam 102 is installed on the top of each triangular support frame 101. Exemplarily, the triangular support frame 101 includes a front arm 129 and a rear arm 130. The lower ends of the front arm 129 and the rear arm 130 are set in a nearly vertical manner and mounted on the top platform 270 through a pivot and a pivot seat. The upper ends of the front arm 129 and the rear arm 130 are welded and fixed to the longitudinal beam 102 respectively. A portion of the longitudinal beam 102 is taken as the third side of the triangular support, and multiple auxiliary support rods are welded within the triangular structure. A pitch cylinder 131 is installed at the lower front and lower rear of the triangular support frame 101. The main body of the pitch cylinder 131 is hinged to the top platform 270, and the moving part is hinged to the front arm 129 or rear arm 130 of the triangular support frame 101. The two pitch cylinders 131 extend and retract asynchronously to adjust the pitch angle of the triangular support frame 101. For example, the moving part of the pitch cylinder 131 located in front of the pivot is hinged to the front arm 129 of the triangular support frame 101, and the moving part of the pitch cylinder 131 located behind the pivot is hinged to the rear arm 130 of the triangular support frame 101. During the climbing and lifting process of the self-climbing base 200, the front end of the triangular support frame 101 is raised under the action of the pitch cylinder 131, that is, the front end of the longitudinal beam 102 is raised, thereby reducing the space occupied in front and avoiding obstacles, especially during the automatic descent, avoiding the already hoisted nacelle truss base 400, nacelle 500 and impeller 600.

[0058] In this embodiment, a pitch limiting support 132 is also provided on the top platform 270, which is located below the forearm 129 and rear arm 130 of the triangular support frame 101. Exemplarily, the pitch limiting support 132 includes a limiting beam arranged in the left-right direction, which is supported. The limiting beam has a certain height and is located below the forearm 129 and rear arm 130. When the triangular support frame 101 swings under the action of the pitch cylinder 131, it limits the movement of the triangular support frame 101.

[0059] Reference Appendix Figure 10-12 The hoisting process is as follows:

[0060] In step S11, the rear pitch cylinder 131 extends, the front pitch cylinder 131 depressurizes, and the front end of the triangular support frame 101 and the longitudinal beam 102 is lowered; the forearm 129 of the triangular support frame 101 abuts against the front pitch limiting support 132, and the rear pitch cylinder 131 stops extending and maintains pressure; at this time, the longitudinal beam 102 and the cross beam 103 remain horizontal.

[0061] In step S12, the longitudinal traverse motor 113 is started, driving the crossbeam 103 to move from the middle and rear of the longitudinal beam 102 to the front; at the same time, the winch 108 slowly releases the main sling 107 to coordinate with the movement of the crossbeam 103.

[0062] In step S13, after the crossbeam 103 moves into place, the longitudinal motor 113 stops working; the locking cylinder 116 drives the cylindrical pin 117 to insert into the sliding pin hole 118 and the locking pin hole 119, locking the crossbeam 103 in the front-back direction.

[0063] In step S14, the winch 108 releases the main sling 107, and the main hook 106 descends, hooking onto the main lifting point 127 of the lifting device 126; wherein, the lifting device 126 has been pre-bound or fixed to the load; the winch 108 winds up the main sling 107, slowly lifting the load; before the load approaches the auxiliary hook 121, the opening cylinder 125 extends, opening the auxiliary hook 121, waiting for the auxiliary lifting point 128; as the load rises, when the auxiliary lifting point 128 enters the opening position... When the auxiliary hook 121 is in the state of being in the main lifting cable 107, the winch 108 stops winding the main lifting cable 107 and maintains the height of the load (i.e., brakes); the opening cylinder 125 is depressurized, and under the action of the tension spring 124, the auxiliary hook 121 closes, encompassing the auxiliary lifting point 128; the main lifting cable 107 is slowly released, and the auxiliary hook 121 begins to bear the weight of the load until the weight of the load is completely transferred to the auxiliary hook 121, at which point the main hook 106 is no longer in use; the winch 108 releases the brakes;

[0064] In step S15, the locking cylinder 116 pulls the cylindrical pin 117 out of the sliding pin hole 118 and the locking pin hole 119, releasing the lock of the crossbeam 103; the longitudinal movement motor 113 starts, driving the crossbeam 103 to move, so that the heavy object is moved above the hoisting target; the locking cylinder 116 drives the cylindrical pin 117 to re-insert into the sliding pin hole 118 and the locking pin hole 119, locking the crossbeam 103.

[0065] In step S16, the main hook 106 hooks onto the main lifting point 127, and the winch 108 slowly winds up the main lifting cable 107, transferring the weight of the load from the auxiliary hook 121 to the main hook 106; the opening cylinder 125 extends, the auxiliary hook 121 opens, and it disengages from the auxiliary lifting point 128.

[0066] In step S17, the winch 108 slowly releases the main sling 107, lowering the load to the hoisting target.

[0067] Example 2

[0068] like Figure 13-18 As shown, this embodiment provides a self-climbing base 200, including a bottom support cylinder 210, a top support cylinder 220, multiple lifting mechanisms 230, and multiple support arms 240 (also known as a support arm system or support arm system). In this embodiment, four lifting mechanisms 230 and four support arms 240 (i.e., an 8-arm structure) are used as an example.

[0069] The top support cylinder 220 is sleeved on the upper outer side of the bottom support cylinder 210, and the two can move relative to each other vertically. A ring of limiting ribs 221 is welded on the inner wall of the top support cylinder 220. When the limiting ribs 221 are in a fixed position, they can provide a certain degree of support and safety protection. When the top of the bottom support cylinder 210 abuts against the bottom of the limiting ribs 221, the bottom support cylinder 210 and the top support cylinder 220 can jointly bear the weight of the tower crane 100, achieving the function of double cylinders jointly supporting the tower crane.

[0070] The lifting mechanism 230 is installed inside the bottom support cylinder 210 and is drivenly connected to the top support cylinder 220, used to raise and lower the top support cylinder 220 relative to the bottom support cylinder 210 and lock it in place. Specifically, each lifting mechanism 230 includes a lifting motor 231, a lifting gear 232, and a lifting rack 233; the lifting motor 231 is installed inside the bottom support cylinder 210, the lifting gear 232 is drivenly connected to the lifting motor 231, and the lifting gear 232 meshes with the lifting rack 233; the lifting rack 233 is vertically installed on the inner wall of the top support cylinder 220, and the bottom support cylinder 210 has a vertically extending strip groove corresponding to the position of the lifting rack 233, through which the lifting rack 233 meshes with the lifting gear 232; four lifting racks 233 are symmetrically arranged on the inner wall of the top support cylinder 220. For example, the lifting motor 231 is a servo motor, capable of precisely controlling the lifting height. For example, the lifting rack 233 adopts a heavy-duty rack, and the lifting gear 232 adopts a heavy-duty gear.

[0071] Four sets of support arms 240 are respectively installed on the front side of the bottom support cylinder 210 and the top support cylinder 220 (front side refers to the side facing the tower), and the bottom support cylinder 210 and the top support cylinder 220 are each equipped with two sets of support arms 240. The support arm 240 includes a pair of left and right distributed grippers with adjustable opening and closing angles (referring to the angle between the two grippers, also known as the opening and closing angle, unfolding angle, opening angle, etc., simply referred to as the opening degree) and lengths. The front end of the gripper is provided with an openable and closeable clamp 257. The clamp 257 is used to clamp the tower 300. The clamp 257 is existing technology, such as an electromagnetic clamping clamp, which will not be described in detail.

[0072] In this embodiment, the support arm 240 further includes a left support arm 241, a right support arm 242, a connecting beam 243, and a lower support arm 244; the left support arm 241 and the right support arm 242 are symmetrically arranged on the left and right sides of the support cylinder, with their rear ends welded to the left and right side walls of the support cylinder respectively, and their front ends welded to the left and right ends of the connecting beam 243 respectively, forming a U-shaped support beam frame; the lower support arm 244 is arranged below the U-shaped support beam frame, with its rear end welded to the front side of the support cylinder, and its front end welded to the lower middle part of the connecting beam 243; The left support arm 241 and the right support arm 242 have equal rear end heights and are higher than the rear end height of the lower support arm 244. The front end heights of the left support arm 241 and the right support arm 242 are equal and lower than their respective rear end heights. The two grab arms are the left grab arm 245 and the right grab arm 246. The rear end of the left grab arm 245 is hinged to the left end of the connecting beam 243, and the rear end of the right grab arm 246 is hinged to the right end of the connecting beam 243. The left grab arm 245 and the right grab arm 246 are on the same plane as the U-shaped support beam. By setting up the left support arm 241, the right support arm 242, the connecting beam 243, and the lower support arm 244, a stable support base is constructed, providing an installation foundation for the two grab arms.

[0073] In this embodiment, the support arm 240 further includes a handwheel 247, a screw rod 248, a screw sleeve 249, a left connecting rod 250, and a right connecting rod 251. A bearing sleeve 261 is welded and fixed above the middle part of the connecting beam 243. The rear section of the screw rod 248 is rotatably inserted into the bearing sleeve 261, and the rear end of the screw rod 248 protrudes from the rear end of the bearing sleeve 261 and is fitted with a limiting pin or limiting key 262. The screw rod 248 is parallel to the U-shaped support beam frame. A handwheel 247 is installed on the rod of the screw rod 248 located in front of the bearing sleeve 261. The handwheel 247 and the screw rod 248 are fixed together. Rotating the handwheel 247 will drive... The opening and closing screw 248 rotates, wherein the handwheel 247 and the limiting pin or limiting key 262 are respectively located on both sides of the bearing sleeve 261, and together they limit the opening and closing screw 248 axially; the opening and closing screw sleeve 249 is screwed onto the front section of the screw of the opening and closing screw 248 located on the connecting beam 243; the rear ends of the left connecting rod 250 and the right connecting rod 251 are respectively hinged to the upper side of the opening and closing screw 248, and the front ends of the left connecting rod 250 and the right connecting rod 251 are respectively hinged to the upper side of the middle section of the left grab arm 245 and the right grab arm 246 (in this embodiment, the grab arm is divided into a large arm 252 and a small arm 253, and the front ends of the left connecting rod 250 and the right connecting rod 251 are respectively hinged to the corresponding large arm 252). By rotating the handwheel 247, the opening and closing screw 248 can be rotated, which in turn drives the opening and closing screw sleeve 249 to move along the axial direction. Through the two connecting rods, the two gripping arms swing, thereby adjusting the opening and closing degree of the two gripping arms.

[0074] In this embodiment, the gripper arm includes a large arm 252 and a small arm 253, both of which are hollow structures. The front end of the large arm 252 is provided with an external thread, and the rear end of the small arm 253 is provided with an external thread that rotates in the opposite direction to the external thread at the front end of the large arm 252. The support arm 240 also includes a telescopic adjustment sleeve 254. The front and rear ends of the telescopic adjustment sleeve 254 are respectively provided with internal threads that are adapted to the external threads at the rear end of the small arm 253 and the external threads at the front end of the large arm 252. The periphery of the telescopic adjustment sleeve 254 is provided with evenly distributed operating handles 258. The front end of the large arm 252 is screwed into the rear end of the telescopic adjustment sleeve 254, and the rear end of the small arm 253 is screwed into the front end of the telescopic adjustment sleeve 254. Since the internal threads at both ends of the telescopic adjusting sleeve 254 rotate in opposite directions, rotating the telescopic adjusting sleeve 254 can adjust the distance between the boom 252 and the forearm 253, that is, adjust the length of the grab arm so that the clamp 257 at the front end of the grab arm is in a position that can grab the tower rod 300.

[0075] The forearm 253 has a ball seat 255 at its front end, with an opening at the front. An adjusting slot 259 (i.e., a slit in the outer shell) is connected to the opening on the outside of the ball seat 255. Screw locking devices 260 for adjusting the width of the adjusting slot 259 are located on both sides of the slot. The clamp 257 has a ball head 256 at its rear end, which is adapted to the ball seat 255. The ball head 256 is rotatably mounted inside the ball seat 255, and its outer surface is rough. By tightening the screw locking devices 260, the width of the adjusting slot 259 can be reduced, causing the ball seat 255 to grip the ball head 256. The rough surface of the ball head 256 provides sufficient friction between the ball seat 255 and the ball head 256, allowing the clamp 257 to maintain a certain angle. Conversely, loosening the screws allows the clamp 257 to have multi-directional adjustment capabilities. For example, the screw locking device 260 includes two lugs and a screw rod with lugs. The two lugs are respectively welded to the outer shell on both sides of the adjusting slot 259. One lug is provided with a through hole and the other is provided with a threaded hole. The through hole and the threaded hole are coaxial. The screw rod passes through the through hole and engages with the threaded hole. By turning the lug on the screw rod, the screw rod can be rotated, which can drive the two lugs to move closer to each other, thereby narrowing the adjusting slot 259. Conversely, the adjusting slot 259 widens (or resets) under the elastic force of the outer shell.

[0076] The self-climbing multi-arm supported tower crane provided by this utility model, in order to ensure the verticality of the tower crane, shifts the adjustment position to the support arm 240 system. By adjusting the opening and closing degree of the grab arm, the lateral spacing of the two clamps 257 can be changed to match the spacing of the two tower rods 300. By adjusting the length of the grab arm, the top support cylinder 220 and the bottom support cylinder 210, after moving upward or downward, can adapt to the change in the tilt angle of the tower rods 300 through the change in the length of the support arm 240, thereby ensuring that the system maintains verticality during the "climbing" process. This makes verticality correction easier; moreover, the opening angle and length adjustment of the gripper are manually adjustable, which simplifies the structure and saves manufacturing and operating costs. It adopts a double cylinder (top support cylinder 220, bottom support cylinder 210) and double arms (support arms 240 are divided into left support arm 241 and right support arm 242), and each cylinder (top support cylinder 220 or bottom support cylinder 210) is equipped with two sets of support arms 240, forming 8 arms (referring to the left support arm 241 and right support arm 242, a total of 8), which makes the crawling process less shaky and more stable.

[0077] The crawling process is as follows (taking the climbing process as an example):

[0078] Step S21: With the assistance of a conventional crane, the steel ball assembly (the specific structure is disclosed in CN201920327282.4, which discloses a ball-tube wind turbine support) is hoisted into place, firmly fixed to the foundation, and a tower of a certain height is assembled.

[0079] Step S22: With the assistance of a regular crane, the self-climbing multi-arm support tower crane is hoisted onto the tower frame as a whole. The opening and closing degree and length of the grab arm are adjusted, and the corresponding tower rod 300 (referring to the vertical support rod or connecting rod of the spherical tube wind turbine support) is clamped using clamp 257.

[0080] Step S23: Control the support arm 240 installed on the top support cylinder 220 to loosen its clamp 257 and shorten the length of the grab arm so that the clamp 257 retracts a certain distance from the tower.

[0081] In step S24, multiple lifting mechanisms 230 are controlled synchronously, each lifting motor 231 rotates synchronously, and each lifting gear 232 drives the corresponding lifting rack 233 to move upward, so that the top support cylinder 220 is raised to a certain height.

[0082] In step S25, control the support arm 240 installed on the top support cylinder 220, adjust the length and opening of the gripper arm so that the clamp 257 is aligned with the two tower rods 300 at that height, and control the clamp 257 to grip the tower rods 300 tightly; during this process, first loosen the screw locking device 260, and adjust the length of the gripper arm to give the clamp 257 a good degree of freedom, making it easy to align with the tower rods 300; after the length adjustment is completed, the two claws of the clamp 257 are now positioned on both sides of the tower rods 300, and the diameter reduction screw locking device 260 is used to prevent the clamp 257 from rotating.

[0083] Step S26: Control the support arm 240 installed on the bottom support cylinder 210 to loosen its clamp 257 and shorten the length of the grab arm so that the clamp 257 retracts a certain distance from the tower.

[0084] In step S27, multiple lifting mechanisms 230 are controlled synchronously, each lifting motor 231 rotates synchronously in opposite directions, and each lifting gear 232 crawls synchronously on the corresponding lifting rack 233, so that the bottom support cylinder 210 is raised to a certain height.

[0085] In step S28, control the support arm 240 installed on the bottom support cylinder 210, adjust the length and opening of the gripper arm so that the clamp 257 is aligned with the two tower rods 300 at that height, and control the clamp 257 to grip the tower rods 300 tightly; during this process, first loosen the screw locking device 260, and adjust the length of the gripper arm to give the clamp 257 a good degree of freedom, making it easy to align with the tower rods 300; after the length adjustment is completed, the two claws of the clamp 257 are now positioned on both sides of the tower rods 300, and the diameter reduction screw locking device 260 is used to prevent the clamp 257 from rotating.

[0086] Step S29: Synchronously control all support arms 240 and adjust the length of the grab arms so that the entire self-climbing multi-arm support tower crane moves a certain distance closer to the tower.

[0087] Step S210: Repeat steps S3-S9 above.

[0088] Steps S23-S29 constitute one climbing process. The reverse of the climbing process is the descent process of the self-climbing multi-arm supported tower crane.

[0089] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A self-climbing tower crane system primarily powered by a ground-based power source, comprising a self-climbing base (200) and a crane assembly (100), characterized in that, The crane assembly (100) includes a support frame (101), longitudinal beams (102), crossbeams (103), a first fixed pulley (104), a second fixed pulley (105), a main hook (106), a main sling (107), and a winch (108). The support frame (101) is installed on the top platform (270) of the self-climbing base (200). A longitudinal beam (102) extending in the front-rear direction is installed on each side of the top of the support frame (101), with the two longitudinal beams (102) spaced apart. The crossbeams (103)... 103) Extends in the left and right direction and its two ends are respectively connected to the two longitudinal beams (102). A secondary crossbeam is installed between the rear sections of the two longitudinal beams (102). The first fixed pulley (104) is installed on the secondary crossbeam. The second fixed pulley (105) is installed at the bottom of the crossbeam (103). One end of the main sling (107) is connected to the main hook (106), and the other end passes through the second fixed pulley (105) and the first fixed pulley (104) in sequence and then winds around the drum of the winch (108) installed on the ground.

2. The self-climbing tower crane system based on a ground power source as described in claim 1, characterized in that, The crossbeam (103) includes a sliding beam (109), a sliding cylinder (110), and two sliding cylinders (111). The two ends of the sliding beam (109) are respectively connected to the two longitudinal beams (102). The sliding cylinder (110) is sleeved on the sliding beam (109). The main bodies of the two sliding cylinders (111) are respectively fixed to the left and right ends of the sliding cylinder (110). The moving parts of the two sliding cylinders (111) are respectively connected to the left and right sections of the sliding beam (109). The two sliding cylinders (111) extend and retract asynchronously to make the sliding cylinder (110) slide on the sliding beam (109).

3. The self-climbing tower crane system based on a ground power source as described in claim 2, characterized in that, A sliding cover (112) is provided on the lower side of each end of the sliding beam (109). The sliding cover (112) is fastened to the longitudinal beam (102). A longitudinal motor (113) is provided on the sliding cover (112). A longitudinal rack (114) extending in the front-back direction is provided on the side of the longitudinal beam (102). A longitudinal gear (115) is installed on the output shaft of the longitudinal motor (113). The longitudinal gear (115) meshes with the longitudinal rack (114).

4. The self-climbing tower crane system based on a ground power source as described in claim 3, characterized in that, The sliding cover (112) is also provided with a locking cylinder (116). The moving part of the locking cylinder (116) is arranged vertically downward. A cylindrical pin (117) is installed at the bottom of the moving part. A sliding pin hole (118) is provided on the sliding cover (112) corresponding to the cylindrical pin (117). A plurality of locking pin holes (119) are provided on the top of the longitudinal beam (102). The plurality of locking pin holes (119) are evenly distributed in the front-back direction. When the locking cylinder (116) drives the cylindrical pin (117) to pass through the sliding pin hole (118) and insert into the locking pin hole (119), the sliding cover (112) and the longitudinal beam (102) are locked in the front-back direction.

5. The self-climbing tower crane system based on a ground power source as described in claim 4, characterized in that, The second fixed pulley (105) is located at the bottom center of the slide cylinder (110). Two auxiliary slings (120) of fixed length are also provided below the slide cylinder (110). The two auxiliary slings (120) are located on the left and right sides of the second fixed pulley (105). The upper end of the auxiliary sling (120) is fixed to the slide cylinder (110), and the lower end of the auxiliary sling (120) is connected to an auxiliary hook (121).

6. The self-climbing tower crane system based on a ground power source as described in claim 5, characterized in that, The auxiliary hook (121) includes two clamp handles (122) hinged in an X shape and C-shaped hook bodies (123) integrally formed at the lower ends of the two clamp handles (122). The two C-shaped hook bodies (123) are arranged facing each other. A tension spring (124) and a mouth-opening cylinder (125) are installed between the rear ends of the clamp handles (122). The tension spring (124) is used to reset the two C-shaped hook bodies (123) to form a closed hook body capable of suspending heavy objects. The mouth-opening cylinder (125) is used to open the closed hook body to allow the auxiliary lifting point (128) to enter.

7. The self-climbing tower crane system based on a ground power source as described in claim 6, characterized in that, The main hook (106) is used to suspend the main lifting point (127) of the lifting device (126), and the auxiliary hook (121) is used to suspend the auxiliary lifting point (128) of the lifting device (126). The lifting device (126) includes one main lifting point (127) and two auxiliary lifting points (128). The two auxiliary lifting points (128) are symmetrically arranged on both sides of the main lifting point (127), and adjacent lifting points are distributed at intervals.

8. The self-climbing tower crane system based on a ground power source as described in claim 1, characterized in that, The support frame (101) is a triangular support frame (101), with its bottom hinged to the top platform (270). Two triangular support frames (101) are symmetrically arranged and spaced apart in the left-right direction. A longitudinal beam (102) is installed on the top of each triangular support frame (101). A pitch cylinder (131) is provided at the lower front and lower rear of each triangular support frame (101). The main body of the pitch cylinder (131) is hinged to the top platform (270), and the moving part is hinged to the front arm (129) or rear arm (130) of the triangular support frame (101). The two pitch cylinders (131) extend and retract asynchronously to adjust the pitch angle of the triangular support frame (101).

9. The self-climbing tower crane system based on a ground power source as described in claim 8, characterized in that, The top platform (270) is also provided with a pitch limiting support (132), which is located below the forearm (129) and rear arm (130) of the triangular support frame (101).

10. The self-climbing tower crane system based on a ground power source as described in claim 1, characterized in that, The self-climbing base (200) includes a bottom support cylinder (210), a top support cylinder (220), a lifting mechanism (230), and support arms (240). The top support cylinder (220) is sleeved on the upper outer side of the bottom support cylinder (210), and the two can move relative to each other in the vertical direction. The lifting mechanism (230) is installed inside the bottom support cylinder (210) and is connected to the top support cylinder (220) for driving the top support cylinder (220) to lift and lock relative to the bottom support cylinder (210). Multiple support arms (240) are provided, respectively located on the same side outside the bottom support cylinder (210) and the top support cylinder (220). Each support arm (240) includes a pair of left and right distributed grippers with adjustable opening and closing angles and lengths. The front end of each gripper is provided with an openable and closeable clamp (257).

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