CN110642157B

CN110642157B - Two-section obstacle-crossing gantry crane

Info

Publication number: CN110642157B
Application number: CN201910851682.XA
Authority: CN
Inventors: 梅杰; 程文燕; 田傲翔; 陈定方; 沈益帆; 梁培钧
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2020-07-24
Anticipated expiration: 2039-09-10
Also published as: CN110642157A

Abstract

The invention discloses a two-section obstacle-crossing gantry crane which comprises a lower running mechanism, an upper running mechanism, a lifting mechanism, a clamping mechanism and an obstacle-crossing mechanism, wherein the lower running mechanism drives the crane to move on the ground, the upper running mechanism is arranged on the lower running mechanism, the lifting mechanism is arranged on the lower running mechanism, the clamping mechanism is arranged on the lifting mechanism, after the clamping mechanism clamps a container, the lifting mechanism vertically lifts the container from the ground to a high place, the obstacle-crossing mechanism is arranged on the lower running mechanism and abuts against the bottom of the upper running mechanism through a push rod, and the obstacle-crossing mechanism is used for helping the upper running mechanism to obliquely cross an obstacle. The two-section obstacle-crossing gantry crane helps the whole crane to cross obstacles without touching the obstacles such as electric wires or cross beams and detouring.

Description

Two-section obstacle-crossing gantry crane

Technical Field

The invention relates to the technical field of cranes, in particular to a two-section obstacle-crossing gantry crane.

Background

The crane refers to a multi-action crane for vertically lifting and horizontally carrying goods within a certain range. The gantry crane is a gantry crane with a horizontal bridge frame arranged on two support legs to form a gantry shape. Such cranes are mainly used in open storage yards, docks, power stations, harbours and railway freight stations for handling and installation. In the operation of the gantry crane, an electric wire or a cross beam usually needs to pass through, because the gantry crane usually has a large volume, whether the gantry crane can flexibly avoid obstacles is very important, the obstacles avoiding of the gantry crane can be divided into a whole machine detour obstacle avoiding function and a whole machine crossing obstacle, the effect of the whole machine crossing the obstacle is better under the conditions of not touching the obstacle and not detouring the obstacle, but the gantry crane of the type in the market is less at present.

Disclosure of Invention

In view of the deficiencies of the prior art, it is an object of the present invention to provide a two-part obstacle-surmounting gantry crane that is capable of traversing obstacles without contacting the obstacles. In addition, flexible operation is convenient to carry out under the conditions of small space area and more obstacles.

In order to solve the technical problems, the invention adopts the technical scheme that:

a two-stage obstacle-surmounting gantry crane comprising:

the lower part running mechanism comprises a rectangular frame and stand columns, the four stand columns support the rectangular frame, and the bottom of each stand column is provided with a wheel;

the upper running mechanism comprises a supporting plate and door-shaped supporting columns, wherein a lifting window is arranged in the middle of the supporting plate, the two door-shaped supporting columns are arranged on two sides of the lifting window at a certain interval, and supporting rods are fixed on the two door-shaped supporting columns;

the lifting mechanism comprises a lifting plate, a lifting motor, a roller, steel wire ropes and a rectangular lifting plate, wherein the lifting plate is hung on the supporting rod, the lifting motor is installed at the bottom of the lifting plate, an output shaft of the lifting motor is horizontally arranged, the roller is arranged on the output shaft of the lifting motor, one ends of the four steel wire ropes are fixed on the roller, and the other ends of the four steel wire ropes are respectively fixed with one corner of the rectangular lifting plate;

the clamping mechanism comprises door-shaped clamping rods and lifting hooks, the two door-shaped clamping rods are arranged in an inverted mode and fixed to the bottom of the rectangular hanging plate at a certain interval, and the lifting hooks are arranged on the door-shaped clamping rods and used for clamping goods;

obstacle crossing mechanism, including obstacle crossing motor, two obstacle crossing motor interval certain distance is installed rectangular frame bottom and the equal vertical downward setting of output shaft, two obstacle crossing motor's output shaft surface is equipped with screw thread and all overlaps on the output shaft and is equipped with screw nut, each a first slider is fixed on the screw nut, each be fixed with the push rod on the first slider, the push rod passes rectangular frame and supports and lean on the backup pad bottom.

Further, the two-section obstacle crossing gantry crane further comprises a fine adjustment translation mechanism, the fine adjustment translation mechanism comprises a fine adjustment motor, a first belt pulley and a second belt pulley, the fine adjustment motor is installed on the portal type supporting column, an output shaft is vertically and upwards arranged, the first belt pulley is sleeved on the output shaft of the fine adjustment motor and is arranged on one side of the supporting rod, the second belt pulley is installed on the other portal type supporting column and is arranged on the other side of the supporting rod, the first belt pulley and the second belt pulley are tensioned through a belt, the belt surrounds the supporting rod, and the top of the lifting plate is fixed with the belt.

Furthermore, the wheels are Mecanum wheels, and wheel motors for driving the wheels to rotate are mounted at the bottoms of the upright posts.

Furthermore, the lifting plate is rectangular, fixed pulleys are arranged at four corners of the lifting plate, one end of each of the four steel wire ropes is fixed on the roller, and the other end of each of the four steel wire ropes penetrates through one of the fixed pulleys and is fixed with one corner of the rectangular hanging plate.

Furthermore, the lifting hook is of a door-shaped structure, and two ends of the lifting hook are connected with the cross rod of the door-shaped clamping rod.

Further, the lifting hook both ends all are equipped with the lantern ring, the lantern ring cover is established on the horizontal pole of door type supporting rod, the lantern ring has convex stop collar, the stop collar is fixed on the horizontal pole of door type supporting rod.

Further, the rectangular frame and the supporting plate are aluminum profiles.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. the invention discloses a two-section obstacle crossing gantry crane, and provides a novel obstacle crossing mode, so that an upper operation mechanism and a lower operation mechanism are separated to cross obstacles, the integral crossing of the obstacles is realized, and the two-section obstacle crossing gantry crane is suitable for places with more obstacles.

2. The two-section obstacle-crossing gantry crane comprises a rectangular hanging plate, two clamping mechanisms are arranged at the bottom of the rectangular hanging plate at a certain interval, and a container is arranged between the two clamping mechanisms. Through setting up rectangle hanger plate and two fixture, can make the packing box atress more even, make the packing box be difficult to produce and rock, among every fixture, the lifting hook both ends all are equipped with the lantern ring and the cover is established on the horizontal pole of door type supporting rod, and the lantern ring has convex stop collar, and the stop collar is fixed on the horizontal pole of door type supporting rod, through the stop collar, can prevent that the lifting hook from rotating to fix the packing box.

3. According to the two-section obstacle crossing gantry crane, the wheels are set to be Mecanum wheels, the 4 Mecanum wheels are respectively installed at the bottoms of the 4 upright posts, the bottoms of the upright posts are provided with wheel motors for driving the wheels to rotate, and the 4 Mecanum wheels are combined, so that the omnibearing moving function of the crane can be realized more flexibly and conveniently.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the invention in connection with a cargo container;

FIG. 3 is a front view of the present invention;

FIG. 4 is a right side view of the present invention;

FIG. 5 is a schematic view of the connection between the lower running mechanism and the obstacle crossing mechanism according to the present invention;

FIG. 6 is a schematic structural diagram of the clamping mechanism of the present invention.

Wherein: 100. a lower running mechanism; 110. a rectangular frame; 120. a column; 130. a wheel; 140. a wheel motor;

200. an upper running mechanism; 210. a support plate; 220. a gate-type pillar; 230. a support bar;

300. a hoisting mechanism; 310. lifting the plate; 320. a hoisting motor; 330. a drum; 340. a wire rope; 350. a rectangular hanger plate;

400. a clamping mechanism; 410. a gate-type clamping rod; 420. a hook; 421. a collar; 430. a limiting sleeve;

500. an obstacle crossing mechanism; 510. an obstacle crossing motor; 520. a first slider; 530. a push rod;

600. fine-tuning the translation mechanism; 610. fine tuning a motor; 620. a first pulley; 630. a second pulley; 640. a belt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

Referring to fig. 1 to 4, a two-section obstacle-surmounting gantry crane includes a lower running mechanism 100, an upper running mechanism 200, a hoisting mechanism 300, a clamping mechanism 400 and an obstacle-surmounting mechanism 500. The lower running mechanism 100 drives the crane to move on the ground, the upper running mechanism 200 is arranged on the lower running mechanism 100, the lifting mechanism 300 is arranged on the lower running mechanism 100, the clamping mechanism 400 is arranged on the lifting mechanism 300, after the clamping mechanism 400 clamps a container, the lifting mechanism 300 vertically lifts the container from the ground to a high position, the obstacle crossing mechanism 500 is arranged on the lower running mechanism 100 and abuts against the bottom of the upper running mechanism 200 through a push rod 530, and the obstacle crossing mechanism 500 is used for helping the upper running mechanism 200 to obliquely cross an obstacle.

Referring to fig. 1 to 5, the lower operating mechanism 100 includes a rectangular frame 110 and columns 120, four columns 120 supporting the rectangular frame 110, and wheels 130 provided at the bottom of each column 120. The crane can be moved by the wheel 130. The rectangular frame 110 is an aluminum profile.

In order to make the crane move flexibly, the wheels 130 are Mecanum wheels, the 4 Mecanum wheels are respectively installed at the bottoms of the 4 upright posts 120, the wheel motors 140 for driving the wheels 130 to rotate are installed at the bottoms of the upright posts 120, and the 4 Mecanum wheels are combined, so that the omnibearing moving function of the crane can be realized more flexibly and conveniently.

Referring to fig. 1 to 4, the upper operating mechanism 200 includes a supporting plate 210 and door type supports 220, a lifting window is provided in the middle of the supporting plate 210, the supporting plate 210 is made of aluminum, the two door type supports 220 are disposed at both sides of the lifting window at a certain interval, and supporting rods 230 are fixed to the two door type supports 220. The hoist mechanism 300 is mounted to the bottom of the support bar 230.

Referring to fig. 1 to 4, the hoisting mechanism 300 includes a hoisting plate 310, a hoisting motor 320, a drum 330, steel cables 340 and a rectangular hanging plate 350, the top of the hoisting plate 310 is hung on the support rod 230, the hoisting motor 320 is installed at the bottom of the hoisting plate 310, an output shaft of the hoisting motor 310 is horizontally arranged, the drum 330 is arranged on the output shaft of the hoisting motor 320, four steel cables 340 are wound on the drum 330, one end of each of the four steel cables 340 is fixed on the drum 330, and the other end of each of the four steel cables 340 is fixed with one corner of the rectangular hanging plate. The drum 330 is driven to rotate by the lifting motor 320, so that the four steel wire ropes 340 are lifted simultaneously, and the rectangular hanging plate 350 is driven to lift.

In order to change the acting direction of the force and change the direction of the force, the rectangular hanging plate 350 is lifted or lowered in the vertical direction, the lifting plate 310 is rectangular, fixed pulleys are arranged at four corners of the lifting plate 310, the fixed pulleys are mounted on fixed pulley supports fixed at the four corners of the lifting plate 310, one end of each of four steel wire ropes 340 is arranged on the roller 330, and the other end of each of the four steel wire ropes passes through one fixed pulley and is fixed with one corner of the rectangular hanging plate 350.

Referring to fig. 1, 2 and 6, the clamping mechanism 400 includes two gate-type clamping rods 410 and a hook 420, the two gate-type clamping rods 410 are disposed upside down and fixed at the bottom of the rectangular hanging plate 350 at a certain distance, and the hook 420 is disposed on the gate-type clamping rods 410 for clamping a container. When the container is held by the hooks 420, the rectangular hanger plate 350 is raised and lowered to lift the container.

Specifically, the hook 420 has a gate structure, and both ends of the hook are connected to the cross bar of the gate holder 410.

In order to stabilize the raised or lowered container and reduce the shaking of the container during the tilting, the invention is provided with two clamping mechanisms 400, wherein the two clamping mechanisms 400 are arranged at the bottom of the rectangular hanging plate 350 at a certain distance, and the container is arranged between the two clamping mechanisms 400. In each clamping mechanism 400, the two ends of the hook 420 are provided with a sleeve ring 421 and sleeved on the cross rod of the door-shaped clamping rod 410, a convex limit sleeve 430 is arranged below the sleeve ring 421, and the limit sleeve 430 is fixed on the cross rod of the door-shaped clamping rod 410. The hook 420 is prevented from rotating by the stop collar 430, thereby securing the cargo box.

Referring to fig. 1 to 5, the obstacle crossing mechanism 500 includes obstacle crossing motors 510, screw nuts, first sliding blocks 520 and push rods 530, the two obstacle crossing motors 510 are installed at the bottom of the rectangular frame 110 at a certain interval, output shafts of the two obstacle crossing motors 510 are both vertically arranged downward, threads are arranged on the outer surfaces of the output shafts of the two obstacle crossing motors 510, the screw nuts are sleeved on the output shafts, one first sliding block 520 is fixed on each screw nut, the push rod 530 is fixed on each first sliding block 520, and the push rod 530 passes through the rectangular frame 110 and abuts against the bottom of the supporting plate 210.

For further explanation of the present invention, the two obstacle crossing motors 510 are a left obstacle crossing motor and a right obstacle crossing motor, respectively, the two first sliders 520 are a left first slider and a right first slider, respectively, the left first slider is provided with a left push rod, and the right first slider is provided with a right push rod. In the use process, when the crane passes through a wire or a cross beam, if the crane is higher than an obstacle, the crane needs to completely cross the obstacle. In the crossing process, when an electric wire or a cross beam is about to collide with the right side push rod, the right side obstacle crossing motor drives the first slide block on the right side to move downwards, and then drives the right side push rod to move downwards, so that the support plate 210 inclines downwards from left to right, the left side push rod abuts against the support plate 210, the right side push rod and the support plate 210 are spaced at a certain distance, a hollow space is formed between the bottom of the support plate 210 and the rectangular frame, and part of a machine body of the crane can penetrate through an obstacle. After the right side push rod passes through the obstacle, the right side obstacle crossing motor drives the first right side slide block to move upwards, and further drives the right side push rod to move upwards, so that the support plate 210 is parallel to the horizontal plane, and the crane continues to move. When electric wire or crossbeam will contradict the left side push rod soon, the first slider downstream in left side is driven to the left side motor of hindering more, and then drives left side push rod downstream, and the right side push rod supports and leans on backup pad 210, and left side push rod and backup pad 210 interval certain distance for backup pad 210 from left right side tilt up, backup pad 210 bottom and rectangular frame form the cavity within a definite time, and this hoist can pass the barrier.

In order to ensure the running stability of the crane, the inclination angle of the supporting plate 210 is less than 5 degrees.

In the present invention, in order to stably incline the upper running mechanism 200, two push rods 530 are provided on each first slider 520, and the two push rods 530 are symmetrically provided with respect to the obstacle crossing motor 510.

In order to finish the small displacement of the container in the horizontal direction, the movement of the machine body is reduced, so that the displacement error is reduced, the transportation process is more accurate, and the two-section obstacle crossing gantry crane further comprises a fine adjustment translation mechanism 600. Fine setting translation mechanism 600 includes fine setting motor 610, first belt 640 wheel 620 and second belt 640 wheel 630, fine setting motor 610 installs on a door type pillar 220 and the vertical direction of output shaft upwards sets up, first belt 640 wheel 620 cover is established on fine setting motor 610's output shaft and is set up the one side at bracing piece 230, second belt 640 wheel 630 installs on another door type pillar 220 and sets up the opposite side at bracing piece 230, first belt 640 wheel 620 and second belt 640 wheel 630 pass through the belt 640 tensioning, belt 640 encircles bracing piece 230, it is fixed with the second slider to rise board 310 top, the second slider is hung and is established on bracing piece 230 and fixed with the belt 640 of one side. In the use, drive first belt 640 through fine setting motor 610 and take turns 620 and rotate, can drive second belt 640 and take turns 630 and belt 640 motion, because it is fixed with the second slider to rise the board 310 top, the second slider is hung and is established on bracing piece 230 and fixed with the belt 640 of one side, and belt 640 can drive and rises board 310 and remove to realize the less displacement of packing box on the horizontal direction.

The use method of the invention comprises the following steps:

the method comprises the following steps: the container is clamped by the hook 420, the drum 330 is driven to rotate by the lifting motor 320, so that the four steel wire ropes 340 rise simultaneously to drive the rectangular hanging plate 350 to rise, the container passes through the lifting window to rise below the lifting plate 310, and the wheel 130 drives the crane to move.

Step two: when electric wire or crossbeam will contradict right side push rod soon, the right side hinders the motor more and drives the first slider downstream in right side, and then drives right side push rod downstream for backup pad 210 is from left right side downward sloping, and the left side push rod supports and leans on backup pad 210, and right side push rod and backup pad 210 interval certain distance form the cavity between backup pad 210 bottom and rectangular frame 110, and wheel 130 drives this hoist and removes, makes this hoist part fuselage can pass the barrier.

Step three: after the right side push rod passes through the obstacle, the right side obstacle crossing motor drives the first right side slide block to move upwards, and further drives the right side push rod to move upwards, so that the support plate 210 is parallel to the horizontal plane, and the wheels 130 continue to drive the crane to move.

Step four: when electric wire or crossbeam will contradict the left side push rod soon, the first slider downstream in left side is driven to the left side motor of hindering more, and then drives left side push rod downstream, and the right side push rod supports and leans on backup pad 210, and left side push rod and backup pad 210 interval certain distance for backup pad 210 is from left right side tilt up, forms the cavity between backup pad 210 bottom and rectangular frame 110, and wheel 130 drives this hoist and removes, makes this hoist can pass the barrier.

Step five: after the complete machine passes through the barrier, the complete machine arrives at the destination, the lifting motor 320 drives the roller 330 to rotate, so that the four steel wire ropes 340 descend simultaneously, the rectangular hanging plate 350 descends, and the container descends.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A two-section obstacle crossing gantry crane is characterized by comprising:

2. Two-segment obstacle detouring gantry crane according to claim 1, characterized in that: the two-section obstacle crossing gantry crane further comprises a fine adjustment translation mechanism, the fine adjustment translation mechanism comprises a fine adjustment motor, a first belt pulley and a second belt pulley, the fine adjustment motor is installed on the portal type supporting column, an output shaft is vertically and upwards arranged, the first belt pulley is sleeved on the output shaft of the fine adjustment motor and is arranged on one side of the supporting rod, the second belt pulley is installed on the other side of the portal type supporting column, the second belt pulley is arranged on the other side of the supporting rod, the first belt pulley and the second belt pulley are tensioned through a belt, the belt is wound around the supporting rod, and the top of the lifting plate is fixed with the belt.

3. Two-segment obstacle detouring gantry crane according to claim 1, characterized in that: the wheels are Mecanum wheels, and wheel motors for driving the wheels to rotate are mounted at the bottoms of the upright posts.

4. Two-segment obstacle detouring gantry crane according to claim 1, characterized in that: the lifting plate is rectangular, fixed pulleys are arranged at four corners of the lifting plate, one end of each of four steel wire ropes is fixed on the roller, and the other end of each of the four steel wire ropes penetrates through one of the fixed pulleys and is fixed with one corner of the rectangular hanging plate.

5. Two-segment obstacle detouring gantry crane according to claim 1, characterized in that: the lifting hook is of a door-shaped structure, and two ends of the lifting hook are connected with the cross rod of the door-shaped clamping rod.

6. Two-segment obstacle detouring gantry crane according to claim 5, characterized in that: the lifting hook both ends all are equipped with the lantern ring, the lantern ring cover is established on the horizontal pole of door type supporting rod, the lantern ring has convex stop collar, the stop collar is fixed on the horizontal pole of door type supporting rod.

7. Two-segment obstacle-surmounting gantry crane according to any of claims 1 to 6, characterized in that: the rectangular frame and the supporting plate are aluminum profiles.