A hoisting interference compensation device and a transfer vehicle

Abstract

The application discloses a hoisting disturbance compensation device and a transfer vehicle, and relates to the hoisting field.The hoisting disturbance compensation device comprises a connecting seat, a lifting appliance body, a first telescopic piece, a hoist assembly, a spin lock frame and a second telescopic piece.The hoisting disturbance compensation device adopts the hoist assembly and a steel wire rope for hoisting, avoids the lateral stress risk caused by the amplitude deviation and the change of the rolling angle of the lifting appliance in the prior art, does not need the synchronous action of multiple lifting oil cylinders, reduces the complexity of the system, and when the lifting appliance body and the hoisted object produce relative displacement in the amplitude direction, the first telescopic piece drives the lifting appliance body to slide by a corresponding displacement amount, so that the compensation in the amplitude direction is realized, and the second telescopic piece is used to tightly press or loosen the spin lock frame downward, so that the rigidity and flexibility of the lifting appliance body can be switched, the grabbing efficiency of the rigid connection is maintained, and the hoisting reliability of the flexible connection is increased.

Description

Technical Field

[0001] This application relates to the field of hoisting, and more particularly to a hoisting deflection compensation device and a transfer vehicle. Background Technology

[0002] Since the boom and the load on the transfer truck are rigidly connected, when the boom is under load, the boom deflection deformation causes the load and the load to deviate in the amplitude direction. At the same time, the load will generate a certain roll angle, which will cause the lifting cylinder to bear lateral load. During the lifting process, the lifting cylinder, the sliding of the load and the leveling of the load are required to perform a combination of actions. For example, the control system and method for deflection compensation of transfer truck lifting disclosed in patent CN118289660A have four lifting cylinders in total, which need to be synchronously controlled. The system is relatively complex. In addition, the lifting cylinders in this patent are flexibly connected to the swivel lock frame through the rope row, which is inefficient when grabbing and connecting the load, and is not conducive to achieving unmanned or fully automatic operation. Utility Model Content

[0003] This application provides a hoisting deflection compensation device and a transfer vehicle, which can achieve compensation in the amplitude direction and can switch between rigidity and flexibility of the hoisting body.

[0004] In a first aspect, this application provides a hoisting deflection compensation device, including a connecting seat, a lifting device body, a first telescopic member, a winch assembly, a swivel lock frame, and a second telescopic member; the connecting seat is connected to an external structure; the lifting device body is slidably connected to the connecting seat; the first telescopic member is connected to both the lifting device body and the connecting seat; the winch assembly is disposed on the lifting device body and is connected to the swivel lock frame via a wire rope, and the winch assembly is used to lift the swivel lock frame in the height direction; the swivel lock frame is located below the lifting device body and is used to connect the hoisted object; the fixed end of the second telescopic member is connected to the lifting device body, and the telescopic end corresponds to the swivel lock frame in the height direction.

[0005] Preferably, the lifting device body is slidably connected to the connecting seat in the horizontal direction.

[0006] Preferably, the first telescopic member is configured as a sliding cylinder, with the first end of the first telescopic member connected to the connecting seat and the second end of the first telescopic member connected to the lifting device body. The first telescopic member is used to drive the lifting device body to slide relative to the connecting seat.

[0007] Preferably, it also includes a sliding length sensor, with its two ends connected to the lifting device body and the connecting seat, respectively.

[0008] Preferably, it also includes a binocular camera and a first target; the binocular camera is set on the lifting device body, and the first target is set on the spindle frame, with the binocular camera and the first target being set in correspondence.

[0009] Preferably, it also includes a second target, which is set on the object to be hoisted, and the binocular camera is set in correspondence with the second target.

[0010] Preferably, the winch assembly includes a winch motor, a first winch sheave, and a second winch sheave; the winch motor is mounted on the lifting device body and has two output shafts, each of which has at least one first winch sheave; the second winch sheave is mounted on the swivel lock frame, and the first winch sheave, the second winch sheave, and the wire rope are arranged in a one-to-one correspondence; the wire rope is connected to the first winch sheave and the second winch sheave respectively.

[0011] Preferably, the lower end of the lifting device body is provided with a contact detection element; the upper end of the spin lock frame is provided with a contact part corresponding to the contact detection element.

[0012] Preferably, the second telescopic component is configured as a push cylinder, the fixed end of the second telescopic component is connected to the lifting device body, and the telescopic end of the second telescopic component is correspondingly set with the swivel lock frame in the height direction.

[0013] Secondly, this application provides a transfer vehicle, including a vehicle body, a turntable, a lifting boom, a crane boom, and a hoisting deflection compensation device, wherein the connecting seat of the hoisting deflection compensation device is connected to the crane boom.

[0014] The hoisting deflection compensation device and transfer vehicle of this application have at least the following beneficial effects:

[0015] This application employs a winch assembly and wire rope hoisting, avoiding the lateral force risks caused by amplitude deviation and changes in the roll angle of the lifting cylinder in existing technologies. When the winch assembly hoists the load, the wire rope provides a flexible connection, eliminating the need to adjust the roll angle of the lifting device or synchronize the operation of multiple lifting cylinders, thus reducing system complexity. When the lifting device body and the load have relative displacement in the amplitude direction, the first telescopic member drives the lifting device body to slide by the corresponding displacement to achieve amplitude compensation. When it is necessary to connect the load, the second telescopic member extends downward, the winch assembly releases the wire rope accordingly, the swivel lock on the swivel lock frame inserts into the corner piece of the load and locks it, the second telescopic member retracts, and the lifting device body and the load are flexibly connected by the wire rope. At this time, there is no amplitude deviation between the lifting device body and the load, achieving the lifting state. This application can switch between rigidity and flexibility of the lifting device body by tightening or loosening the swivel lock frame downward by the second telescopic member, maintaining the gripping efficiency of the rigid connection while increasing the hoisting reliability of the flexible connection. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0017] Figure 1 This is a structural schematic diagram of the hoisting deflection compensation device of this application;

[0018] Figure 2 This is a structural schematic diagram of the vehicle to be transferred in this application;

[0019] Figure 3 This is a schematic diagram of the control system of this application;

[0020] The annotations in the attached figures are explained as follows:

[0021] 10. Connecting seat;

[0022] 20. Lifting device body; 201. Contact detection component;

[0023] 30. First telescopic component;

[0024] 40. Winching assembly; 401. Wire rope; 402. Winching motor; 403. First winch reel; 404. Second winch reel;

[0025] 50. Rotary lock frame; 501. Contact part; 502. Rotary lock;

[0026] 60. Second telescopic component;

[0027] 70. Sliding length sensor;

[0028] 80. Binocular camera; 801. First target; 802. Second target;

[0029] 90. Hanging object; 901. Corner fitting;

[0030] 100. Vehicle body;

[0031] 110. Turntable;

[0032] 120. Raise the arm;

[0033] 130. Crane boom;

[0034] 140. Erect the hydraulic cylinder;

[0035] 150. Crane boom cylinder;

[0036] 160. Leveling the hydraulic cylinder. Detailed Implementation

[0037] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0039] This embodiment discloses a hoisting deflection compensation device and a transfer vehicle. First, the hoisting deflection compensation device of this embodiment will be introduced.

[0040] like Figure 1 As shown, the hoisting deflection compensation device includes a connecting seat 10, a hoisting body 20, a first telescopic component 30, a winch assembly 40, a swivel lock frame 50, and a second telescopic component 60.

[0041] The connecting seat 10 is hinged to the external structure and is used to provide a connection point for the hoisting deflection compensation device to be connected to the external structure.

[0042] The lifting device body 20 is slidably connected to the connecting seat 10. The lifting device body 20 can slide horizontally relative to the connecting seat 10, and the sliding direction is as indicated by the label P.

[0043] The first telescopic component 30 is configured as a sliding cylinder. The first end of the sliding cylinder is connected to the connecting seat 10, and the second end of the sliding cylinder is connected to the lifting device body 20. The telescopic direction of the sliding cylinder is configured to be horizontal. The sliding cylinder drives the lifting device body 20 to slide relative to the connecting seat 10, thereby compensating for the amplitude direction.

[0044] In this preferred embodiment, the hoisting deflection compensation device further includes a sliding length sensor 70. The first end of the sliding length sensor 70 is connected to the lifting device body 20, and the second end is connected to the connecting seat 10. The sliding extension / retraction direction of the sliding length sensor 70 is consistent with the sliding direction of the lifting device body 20. By detecting the sliding displacement of the lifting device body 20 through the sliding length sensor 70, the displacement can be fed back to the external control system in real time, achieving closed-loop control.

[0045] In this preferred embodiment, the hoisting deflection compensation device further includes a binocular camera 80 and a first target 801. The binocular camera 80 is mounted on the hoisting body 20, with its recognition direction pointing downwards. The first target 801 is mounted on the upper end of the spinlock frame 50, and the first camera module of the binocular camera 80 is correspondingly mounted to the first target 801. When the binocular camera 80 deviates in amplitude relative to the first target 801 on the spinlock frame 50, the external control system controls the first telescopic member 30 (sliding cylinder) to move the hoisting body 20 horizontally, while the sliding length sensor 70 is used to detect the sliding stroke.

[0046] In this preferred embodiment, the hoisting deflection compensation device further includes a second target 802, which is disposed at the corner piece 901 of the object to be hoisted 90. The second camera module of the binocular camera 80 is correspondingly disposed with the second target 802. Before grasping the object to be hoisted 90, under the guidance of the visual detection module (the binocular camera 80 identifies the second target 802 on the object to be hoisted 90), the position and posture of the hoisting device body 20 are adjusted so that the hoisting device body 20 is directly above the object to be hoisted 90, and its three degrees of freedom in the horizontal plane are aligned with the object to be hoisted 90.

[0047] The winch assembly 40 includes a wire rope 401, a winch motor 402, a first winch pulley 403, and a second winch pulley 404. The winch motor 402 is fixedly mounted on the lifting device body 20. In this embodiment, the winch motor 402 is configured as a dual-output shaft motor, with at least one first winch pulley 403 coaxially mounted on each of the two output shafts. Preferably, each output shaft has two first winch pulleys 403. The second winch pulley 404 is mounted on the swivel lock frame 50, and the first winch pulleys 403 and second winch pulleys 404 are arranged in a one-to-one correspondence in the height direction. Furthermore, the first winch pulleys 403, the second winch pulleys 404, and the wire rope 401 are arranged in a one-to-one correspondence. The wire rope 401 is wound around the first winch pulleys 403 and the second winch pulleys 404. Through the cooperation of the winch motor 402, the two winches, and the wire rope 401, the lifting and lowering of the object 90 to be lifted can be realized.

[0048] The spin lock frame 50 is flexibly connected to the lower part of the lifting device body 20 via the second winch 404 and the wire rope 401. The spin lock frame 50 is used to connect with the object to be lifted 90. Its specific structural form can refer to the existing technology. For example, the spin lock 502 on the spin lock frame 50 can be inserted into the corner piece 901 of the object to be lifted and locked, so that the spin lock frame 50 and the object to be lifted 90 are stably connected together.

[0049] In some preferred embodiments, a contact detection element 201 is provided at the lower end of the lifting device body 20, such as a contact sensor, and a contact part 501 is provided at the upper end of the spin lock frame 50, such as a flexible pad. The contact part 501 and the contact detection element 201 are correspondingly arranged in the height direction. When the hoisting assembly 40 lifts the spin lock frame 50 upward until the contact part 501 contacts the contact detection element 201, the contact detection element 201 generates a signal. At this time, the external control system can control the lifting to stop.

[0050] The second telescopic component 60 is configured as a jacking cylinder. The fixed end of the jacking cylinder is connected to the lifting device body 20, and the telescopic end of the jacking cylinder is correspondingly positioned in the height direction to the upper end of the swivel lock frame 50. The telescopic direction of the jacking cylinder is configured in the height direction. By jacking the swivel lock frame 50 downwards to tighten or loosen it, the rigidity and flexibility of the lifting device body 20 can be switched.

[0051] like Figure 2 As shown, in this embodiment, a transfer vehicle is also disclosed, which includes a vehicle body 100, a turntable 110, a lifting arm 120, a boom 130, and a hoisting deflection compensation device.

[0052] The vehicle body 100 can be a wheeled vehicle body or a tracked vehicle body, as long as it can achieve the function of walking, there is no limitation here.

[0053] Turntable 110 is mounted on vehicle body 100 and can rotate in the horizontal direction.

[0054] One end of the lifting arm 120 is hinged to the turntable 110, and the lifting arm 120 can be driven to pitch in the height direction by the lifting cylinder 140.

[0055] The first end of the boom 130 is hinged to the erecting boom 120, and the second end of the boom 130 is hinged to the connecting seat 10 of the hoisting deflection compensation device; the boom cylinder 150 is hinged to both the boom 130 and the erecting boom 120. A leveling cylinder 160 is also provided between the second end of the boom 130 and the connecting seat 10, and the two ends of the leveling cylinder 160 are hinged to the boom 130 and the connecting seat 10, respectively.

[0056] In some preferred embodiments, the boom 130 may be configured as a telescopic boom.

[0057] like Figure 3 As shown, in this embodiment, the transfer vehicle also includes a control system. The binocular camera 80 and the sliding length sensor 70 are both connected to the control system. The control system is connected to the hoisting motor 402, the first telescopic member 30, and the second telescopic member 60.

[0058] The working principle of the transfer vehicle in this embodiment is as follows:

[0059] Before grabbing the load 90, the second telescopic member 60 extends downward and abuts against the swivel lock frame 50. The winch motor 402 releases the wire rope 401 accordingly. The swivel lock 502 on the swivel lock frame 50 inserts into the corner piece 901 of the load 90 and locks it. Then the second telescopic member 60 retracts. The lifting device body 20 and the load 90 are flexibly connected by the wire rope 401. The transfer vehicle reaches the lifting state. The winch motor 402 lifts the swivel lock frame 50 and the load 90 to be lifted. The second telescopic member 60 retracts synchronously until the contact part 501 on the swivel lock frame 50 is in contact with the contact detection piece 201 at the lower end of the lifting device body 20. Then the lifting is carried out.

[0060] When the winch motor 402 retracts the wire rope 401 and slowly lifts the load 90, the boom 130 undergoes deflection deformation, causing a relative displacement between the lifting device body 20 and the load 90 in the amplitude direction (the amplitude direction refers to the distance from the center of the turntable 110 to the hinge point of the connecting seat 10 on the Z-plane). This relative displacement is equivalent to the offset between the binocular camera 80 installed on the lifting device body 20 and the first target 801 installed on the swivel lock frame 50. The external control system drives the first telescopic component 30 (sliding cylinder) to perform the corresponding displacement based on the offset, thus achieving amplitude direction compensation. The deflection deformation of the boom 130 also causes a change in the roll angle of the lifting device body 20, which translates to a very small displacement between the lifting device body 20 and the load 90 in the amplitude direction. Since the lifting device body 20 and the load 90 are flexibly connected by the wire rope 401, the leveling cylinder 160 is not controlled to compensate for the roll angle when the winch lifts the load 90.

[0061] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A hoisting deflection compensation device, characterized in that, include: Connector (10), connected to the external structure; The lifting device body (20) is slidably connected to the connecting seat (10); The first telescopic component (30) is connected to the lifting device body (20) and the connecting seat (10) respectively; A winch assembly (40) is installed on the lifting device body (20). The winch assembly (40) is connected to the spindle frame (50) via a wire rope (401). The winch assembly (40) is used to lift the spindle frame (50) in the height direction. A twist lock frame (50) is located below the lifting device body (20) and is used to connect the load (90); The second telescopic component (60) has its fixed end connected to the lifting device body (20) and its telescopic end corresponding to the swivel lock frame (50) in the height direction.

2. The hoisting deflection compensation device according to claim 1, characterized in that, The lifting device body (20) is slidably connected to the connecting seat (10) in the horizontal direction.

3. The hoisting deflection compensation device according to claim 2, characterized in that, The first telescopic member (30) is configured as a sliding cylinder. The first end of the first telescopic member (30) is connected to the connecting seat (10), and the second end of the first telescopic member (30) is connected to the lifting body (20). The first telescopic member (30) is used to drive the lifting body (20) to slide relative to the connecting seat (10).

4. The hoisting deflection compensation device according to claim 3, characterized in that, It also includes a sliding length sensor (70), the two ends of which are connected to the lifting body (20) and the connecting seat (10), respectively.

5. The hoisting deflection compensation device according to any one of claims 1 to 4, characterized in that, It also includes a binocular camera (80) and a first target (801); the binocular camera (80) is set on the lifting device body (20), and the first target (801) is set on the swivel lock frame (50), with the binocular camera (80) and the first target (801) being set in a corresponding manner.

6. The hoisting deflection compensation device according to claim 5, characterized in that, It also includes a second target (802), which is set on the object to be hoisted (90), and the binocular camera (80) is set in correspondence with the second target (802).

7. The hoisting deflection compensation device according to claim 1, characterized in that, The winch assembly (40) includes a winch motor (402), a first winch pulley (403), and a second winch pulley (404). The winch motor (402) is mounted on the lifting device body (20) and has two output shafts. At least one first winch pulley (403) is mounted on each of the two output shafts. The second winch pulley (404) is mounted on the swivel lock frame (50). The first winch pulley (403), the second winch pulley (404), and the wire rope (401) are arranged in a corresponding manner. The wire rope (401) is connected to the first winch pulley (403) and the second winch pulley (404) respectively.

8. The hoisting deflection compensation device according to claim 7, characterized in that, The lower end of the lifting device body (20) is provided with a contact detection element (201); the upper end of the spin lock frame (50) is provided with a contact part (501) corresponding to the contact detection element (201).

9. The hoisting deflection compensation device according to claim 1, characterized in that, The second telescopic component (60) is configured as a push cylinder. The fixed end of the second telescopic component (60) is connected to the lifting body (20). The telescopic end of the second telescopic component (60) is correspondingly set with the swivel lock frame (50) in the height direction.

10. A transfer vehicle, comprising a vehicle body (100), a turntable (110), a lifting arm (120), a boom (130), and a hoisting deflection compensation device as described in any one of claims 1 to 9, wherein the connecting seat (10) of the hoisting deflection compensation device is connected to the boom (130).

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