CN108750979B

CN108750979B - Double-helix type crane

Info

Publication number: CN108750979B
Application number: CN201810603187.2A
Authority: CN
Inventors: 李文锋; 贾留鹏; 陈清扬; 李吉轩; 唐健; 张硕
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2018-06-12
Filing date: 2018-06-12
Publication date: 2020-01-14
Anticipated expiration: 2038-06-12
Also published as: CN108750979A

Abstract

The invention provides a double-helix crane which comprises a metal frame, a double-helix hoisting module, a lifting module and a direction-changing advancing module, wherein the double-helix hoisting module is arranged on the metal frame; the upper end and the lower end of the double-spiral lifting module are fixed on the metal frame, and power is provided by an upper stepping motor positioned on the metal frame; the lifting module is fixed on the metal frame, positioned in the double-spiral lifting module and powered by a lower stepping motor positioned on the metal frame; the direction-changing traveling module is arranged at the bottom of the metal frame and comprises a traveling wheel and a stepping motor for driving the traveling wheel; the metal frame is also provided with a remote control module which comprises a remote communication module and a controller which are connected with each other, the remote communication module is used for receiving an instruction sent by an operator, and the controller is used for decoding the instruction and sending the instruction to the corresponding stepping motor. The double-spiral type conveying device is high in automation degree, convenient to move, efficient and novel in conveying form, capable of achieving the overturning and stacking functions during translational conveying, and capable of improving conveying efficiency.

Description

Double-helix type crane

Technical Field

The invention belongs to the field of hoisting machinery, and particularly relates to a double-helix crane.

Background

In recent years, the construction industry of hoisting machinery has been developed in a crossing manner, and meanwhile, the field of cranes is increased in the face of more and more hoisting tasks, and along with the increase of the demand of hoisting work and the demand of the number and quality of crane drivers. For the hoisting work, the disadvantages of low working efficiency, poor working environment and high strength are prominent.

Based on the background, the crane manufacture is developed towards the direction of specialization, automation and intellectualization, and some novel cranes are produced at the same time. The operation of the existing portal crane is mostly controlled by an excellent crane driver, and the transportation mode is mostly realized stacking after translational transportation. This means that the existing hoisting operation has the defects of high operation requirement, low working efficiency, poor accuracy of hoisting goods and the like.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the double-screw crane is high in automation degree and capable of improving the efficiency of hoisting operation.

The technical scheme adopted by the invention for solving the technical problems is as follows: a double-screw crane is characterized in that: the device comprises a metal frame, a double-helix hoisting module, a lifting module and a direction-changing advancing module; wherein the content of the first and second substances,

the upper end and the lower end of the double-spiral lifting module are fixed on the metal frame, and power is provided by an upper stepping motor positioned on the metal frame; the lifting module is fixed on the metal frame, positioned in the double-spiral lifting module and powered by a lower stepping motor positioned on the metal frame;

the direction-changing traveling module is arranged at the bottom of the metal frame and comprises a traveling wheel and a stepping motor for driving the traveling wheel;

the metal frame is also provided with a remote control module which comprises a remote communication module and a controller which are connected with each other, the remote communication module is used for receiving an instruction sent by an operator, and the controller is used for decoding the instruction and sending the instruction to the corresponding stepping motor.

According to the scheme, the metal framework comprises a base, the base is connected with a supporting column, the top of the supporting column is connected with a limiting plate through a limiting plate, and the limiting plate is provided with a limiting hole used for being connected with the double-helix hoisting module.

According to the scheme, the double-spiral lifting module comprises a rotary transmission rod in the middle, a recyclable semicircular key is arranged on the rotary transmission rod, a guide rod is sleeved on the rotary transmission rod, and a key groove matched with the recyclable semicircular key is formed in the guide rod; a first disc is fixed on the upper part of the guide rod, a gear set is arranged above the first disc, a second disc opposite to the first disc in rotation direction is fixed above the gear set, and the first disc and the second disc are respectively connected with a spiral mechanism; the bottom of the rotary transmission rod is connected with the upper stepping motor through a coupler.

According to the above scheme, the lifting module include with below step motor coaxial coupling's second gear, the both sides of second gear respectively be equipped with the first gear of second gear meshing, even have the lead screw on every first gear, first footstep bearing is all installed to every lead screw lower part, the ring flange is all installed to every lead screw, connect through the ring flange external member between two ring flanges, install the push rod on the ring flange external member, second footstep bearing is installed at the push rod top.

According to the scheme, the traveling wheels comprise a pair of left-handed Mecanum wheels and a pair of right-handed Mecanum wheels, and the rotation speed and the steering speed of the Mecanum wheels are controlled by the stepping motors.

According to the scheme, the base comprises a three-edge surrounding base and a supporting plate which are connected through a vertical supporting sheet, the upper stepping motor and the lower stepping motor are fixed on the supporting plate, and the supporting column is fixedly connected with the edge of the supporting plate.

According to the scheme, the three-side surrounding type base is provided with the cylindrical notch, the cylindrical notch is connected with the supporting block, and the supporting block is fixedly provided with the cylindrical protrusion used for being connected with the double-helix hoisting module.

The invention has the beneficial effects that: the double-spiral type conveying device has the advantages of higher automation degree, convenient movement, high and novel conveying form, and capability of realizing the function of overturning and stacking during translational conveying and improving the conveying efficiency; the crane is additionally provided with the remote control module, the work task of a crane driver is reduced, the transportation accuracy and the transportation efficiency are improved, the crane can be widely applied to the working environments needing to be prepared for transportation and stacking, such as stacking of port containers and stacking of common warehouse goods, and the crane meets the development requirements of the crane and the requirements of the social working environment.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.

Fig. 2 is a schematic view of a metal frame according to an embodiment of the invention.

FIG. 3 is a schematic view of a double helix lifting module according to an embodiment of the invention.

Fig. 4 is a schematic view of a lifting module according to an embodiment of the invention.

In the figure: the device comprises a metal frame 1, a double-helix hoisting module 2, a lifting module 3, a direction-changing advancing module 4, a remote control module 5, a three-edge surrounding type base 101, a vertical supporting piece 102, a supporting plate 103, a motor base 104, a coupler 105, a gear 106, a supporting column 107, a limiting plate 108, a supporting block 109, a cylindrical protrusion 110, a rotary driving rod 201, a retractable semicircular key 202, a guide rod 203, a first disc 204, a gear set 205, a second disc 206, a first spiral mechanism 207, a second spiral mechanism 208, a first gear 301, a lead screw 302, a first thrust bearing 303, a flange plate 304, a flange plate sleeve 305, a push rod 306, a second thrust bearing 307, a second gear 308, an upper stepping motor 501 and a lower stepping motor 502.

Detailed Description

The invention is further illustrated by the following specific examples and figures.

As shown in fig. 1, the double-helix crane according to this embodiment includes a metal frame 1, a double-helix hoisting module 2, a lifting module 3, and a direction-changing traveling module 4, wherein upper and lower ends of the double-helix hoisting module 2 are fixed to the metal frame 1, and are powered by an upper stepping motor 501 located on the metal frame 1; the lifting module 3 is fixed on the metal frame 1 and positioned inside the double-helix lifting module 2, and is powered by a lower stepping motor 502 positioned on the metal frame 1; the direction-changing traveling module 4 is arranged at the bottom of the metal frame 1 and comprises traveling wheels and a stepping motor for driving the traveling wheels, the traveling wheels comprise a pair of left-handed Mecanum wheels and a pair of right-handed Mecanum wheels, and the traveling wheels and the pair of left-handed Mecanum wheels and the pair of right-handed Mecanum wheels are controlled by the 4 stepping motors to move at different rotating directions and rotating speeds by the rotating directions and rotating speeds of the stepping motor Mecanum wheels, so that the horizontal movement of the machine in different directions is realized. The metal frame 1 is also provided with a remote control module 5 which comprises a remote communication module and a controller which are connected with each other, the remote communication module is used for receiving instructions sent by an operator, and the controller is used for decoding the instructions and sending the instructions to the corresponding stepping motor so as to output torque according to the requirements of the instructions. Wherein, the upper stepping motor 501 controls the movement of the double-helix hoisting module 2 to realize the hoisting of the goods; the lower stepping motor 502 controls the motion of the lifting module, so that the lifting of the lifting module 3 is realized, and a space is provided for stacking goods; and 4 stepping motors for controlling the movement of the direction-changing traveling module 4 realize the horizontal movement of the machine.

As shown in fig. 2, the metal frame 1 includes a base, a support column 107 is connected to the base, the top of the support column 107 is connected to the base through a limit plate 108, and the limit plate 108 is provided with a limit hole for connecting the double-helix hoisting module 2, so that the double-helix hoisting module is limited and connected. The base comprises a three-side surrounding base 101 and a supporting plate 103 which are connected through a vertical supporting piece 102, an upper stepping motor 501 and a lower stepping motor 502 are fixed on a motor base 104 of the supporting plate 103, and power of the double-helix hoisting module 2 and the lifting module 3 is provided through a coupler 105 and a gear 106. The supporting column 107 is fixedly connected with the edge of the supporting plate 103. Trilateral enclosure shape base 101 on open and to have the notch in order to alleviate the weight of machine, trilateral enclosure shape base 101 on open and to have the cylinder notch, the cylinder notch is connected with supporting shoe 109, be fixed with on the supporting shoe 109 be used for with the double helix lift by crane the cylindrical protrusion 110 that the module 2 is connected. The connection mode between the parts is welding and is carried out according to a specified welding mode so as to ensure the stability of the whole machine.

As shown in fig. 3, the double-helix hoisting module 2 comprises a rotation transmission rod 201 in the middle, a recyclable semicircular key 202 is arranged on the rotation transmission rod 201, a guide rod 203 is sleeved on the rotation transmission rod 201, and a key groove matched with the recyclable semicircular key 202 is arranged on the guide rod 203 to transmit torque; a first disk 204 is fixed on the upper part of the guide rod 203, a gear set 205 is installed above the first disk 204, a second disk 206 which is opposite to the rotation direction of the first disk 204 is fixed above the gear set 205, and the first disk 204 and the second disk 206 are respectively connected with a spiral mechanism, namely a first spiral mechanism 207 and a second spiral mechanism 208; the bottom of the rotation transmission rod 201 is connected with the upper stepping motor 501 through a coupling 105 to transmit the torque provided by the motor. In operation, the second disk 206 and the first disk 204 rotate in opposite directions, the first helical mechanism 207 and the second helical mechanism 208 rotate in opposite directions to eliminate circular motion of the lifted cargo, and vertical translational motion is maintained to achieve lifting and stacking of the cargo.

As shown in fig. 4, the lifting module 3 realizes lifting and stacking of goods, and includes a second gear 308 coaxially connected to the lower stepper motor 502, first gears 301 engaged with the second gear 308 are respectively disposed on two sides of the second gear 308, and a lead screw 302 is connected to each first gear 301, so that torque of the motor is coaxially transmitted to the lead screw 302. A first thrust bearing 303 is mounted at the lower part of each lead screw 302 to bear the axial force of the lead screw, a flange 304 is mounted on each lead screw 302, and the two flanges 304 are connected through a flange kit 305 to eliminate the rotating motion of the flange 304 and only keep the up-and-down motion of the flange 304; the flange sleeve 305 is provided with a push rod 306 to match the flange sleeve to realize the function, and the top of the push rod 306 is provided with a second thrust bearing 307 to bear the axial force of the push rod. When the lifting work is carried out, the lower stepping motor 502 does not rotate, and the lifting module 3 is in a static state; during stacking, the lifting module 3 is slowly lifted upwards under the cooperative motion of the lower stepping motor 502 and the lead screw 302 to provide a space for stacking goods.

The invention provides a double-helix crane which comprises a metal frame 1, a double-helix hoisting module 2, a lifting module 3, a direction-changing advancing module 4 and a remote control module 5. The two parts form a whole through mechanical combination and the control of a single chip microcomputer to complete the work flow of the whole double-spiral crane. The double-helix crane realizes position change in space through four Mecanum wheels at different rotating speeds and steering motions and accurately reaches a target area, the lifting module 3 and the double-helix lifting module 2 are driven to normally work through two groups of stepping motors, the double-helix lifting module 2 can lift cargos, the lifting module 3 can control lifting and falling of the double-helix lifting module 2, the two motors fixed on a motor base of a traveling part are used for independently controlling the four Mecanum wheels on two sides to travel according to a specified mode, after the target position is reached, cargo gravity is matched with a lifting mechanism (when gravity is not enough to realize automatic falling, the stepping motor 501 on the upper side reversely rotates to provide power for the lifting mechanism), and accurate stacking of the cargo in height is realized.

Wherein, remote control module 5 uses the C51 singlechip as microcontroller, inserts sensor, bluetooth module, steering wheel drive plate, steering wheel, direct current motor etc. into arduino main control board and controls. And the combined type overturning and lifting heavy machine is semi-automatically controlled after being processed by reading data on each device, so that high-precision operation is realized.

The working sequence of the double-helix crane comprises the following steps:

the machine starts to work, the remote control module 5 receives an advancing instruction, the machine reaches a specified hoisting position to send an instruction of rotating the double-helix hoisting module 2, and the double-helix hoisting module 2 starts to rotate to hoist a first target. The machine continues to advance, the double-helix hoisting module 2 continues to rotate, and the next target is hoisted. Until all the hooking of the same row of goods is realized.

The machine continues to advance, the double-helix hoisting module 2 continues to rotate, and the next target is hoisted. Until all the hooking of the goods in the same row is realized, the stacking of the goods is realized at the moment.

The bottom walking mechanism starts to work and stops moving after reaching the target area.

The goods starts to fall by self weight (when gravity is not enough to realize automatic falling, the upper stepping motor 501 rotates reversely to provide power for the goods), and meanwhile, the lifting module 3 starts to work, so that the double-helix lifting module 2 rises to provide a space for stacking the goods. And stopping the work until the goods fall down completely.

The machine moves out of the stacking area, and the lifting module 3 controls the double-helix lifting module 2 to descend and return to the original position.

And repeating the operation to realize the transportation task of the final whole goods.

The double-helix crane of the invention improves the working efficiency, liberates labor force and ensures the health of drivers to a certain extent by replacing manual operation with high working strength and poor working environment by a machine.

The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims

1. A double-screw crane is characterized in that: the device comprises a metal frame, a double-helix hoisting module, a lifting module and a direction-changing advancing module; wherein the content of the first and second substances,

the metal framework is also provided with a remote control module which comprises a remote communication module and a controller which are connected with each other, the remote communication module is used for receiving an instruction sent by an operator, and the controller is used for decoding the instruction and sending the instruction to a corresponding stepping motor;

the double-spiral lifting module comprises a rotary transmission rod in the middle, a recyclable semicircular key is arranged on the rotary transmission rod, a guide rod is sleeved on the rotary transmission rod, and a key groove matched with the recyclable semicircular key is arranged on the guide rod; a first disc is fixed on the upper part of the guide rod, a gear set is arranged above the first disc, a second disc opposite to the first disc in rotation direction is fixed above the gear set, and the first disc and the second disc are respectively connected with a spiral mechanism; the bottom of the rotary transmission rod is connected with the upper stepping motor through a coupler.

2. The double helix crane according to claim 1, wherein: the metal framework comprises a base, a support column is connected to the base, the top of the support column is connected with a limiting plate through a limiting plate, and a limiting hole used for being connected with the double-helix hoisting module is formed in the limiting plate.

3. The double helix crane according to claim 1, wherein: lifting module include with below step motor coaxial coupling's second gear, the both sides of second gear respectively be equipped with second gear engaged with first gear, even have the lead screw on every first gear, first footstep bearing is all installed to every lead screw lower part, the ring flange is all installed to every lead screw, connect through the ring flange external member between two ring flanges, install the push rod on the ring flange external member, second footstep bearing is installed at the push rod top.

4. The double helix crane according to claim 1, wherein: the travel wheels comprise a pair of left-handed Mecanum wheels and a pair of right-handed Mecanum wheels, and the rotation speed and the steering speed of the Mecanum wheels are controlled by the stepping motors.

5. The double helix crane according to claim 2, wherein: the base include trilateral surrounding type base and the backup pad of connecting through vertical backing sheet, top step motor and below step motor fix in the backup pad, the edge fixed connection of support column and backup pad.

6. The double helix crane according to claim 5, wherein: the three-side surrounding type base is provided with a cylindrical notch, the cylindrical notch is connected with a supporting block, and a cylindrical protrusion used for being connected with the double-helix hoisting module is fixed on the supporting block.