CN111186773A - Automatic hoisting device for secondary maintenance of sleeper and control method thereof - Google Patents
Automatic hoisting device for secondary maintenance of sleeper and control method thereof Download PDFInfo
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- CN111186773A CN111186773A CN202010088910.5A CN202010088910A CN111186773A CN 111186773 A CN111186773 A CN 111186773A CN 202010088910 A CN202010088910 A CN 202010088910A CN 111186773 A CN111186773 A CN 111186773A
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- sleeper
- lifting
- preset
- upper computer
- steel frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
- B66C1/447—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/16—Rope, cable, or chain drives for trolleys; Combinations of such drives with hoisting gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
Abstract
The application provides an automatic hoisting device for secondary maintenance of a sleeper and a control method thereof, wherein the device comprises a steel frame and a clamping device, a lifting motor and a lifting pulley block in the clamping device transversely or longitudinally move in a plane where the upper surface of the steel frame is located, the output end of the lifting motor is connected with a lifting ring through the lifting pulley block, at least two grabbing arms are hinged to the end part of a grabbing main beam, a grabbing driving assembly is connected with the grabbing arms to drive the grabbing arms to open or close, the grabbing arms clamp a target sleeper, the target sleeper is lifted to a preset height through the lifting motor, the plane where the upper surface of the steel frame is located transversely or longitudinally moves to a preset placing point, and the placing process is finished after the lifting motor and the lifting. Through the utility model provides an automatic hoist device of sleeper secondary maintenance, can directly accomplish the clamp of target sleeper and get, transport and put the action, need not the cooperation through staff or other equipment, eliminated the potential safety hazard to the staff, improved the sleeper and put efficiency and precision.
Description
Technical Field
The application relates to the field of sleeper maintenance equipment, in particular to an automatic hoisting device for sleeper secondary maintenance and a control method thereof.
Background
The ballastless track cancels a sleeper and a track bed of the traditional ballasted track, adopts a prefabricated reinforced concrete double-block sleeper to directly support a steel rail, and fills mortar or a self-compacting concrete cushion layer between the sleeper and a base, thereby being a brand new ballastless track structure. The ballastless track has the advantages of good smoothness, low building height, light dead weight, slow track deformation and the like, so that the ballastless track structure adopted in the passenger dedicated railway line becomes the necessary trend of the construction of the existing high-speed railway. In order to ensure that the quality of the sleeper meets the requirements of railway construction, the quality requirements of the sleeper supporting the rails are extremely strict, and the sleeper after being demoulded needs to be subjected to secondary maintenance in the sleeper production process.
In the sleeper actual production process, need transport the sleeper after the drawing of patterns to the maintenance storehouse and carry out the secondary maintenance, in order to transport the sleeper to the maintenance storehouse, prior art transports through artifical fork truck, in artifical fork truck transportation, needs the staff to command outside fork truck, still needs the staff to hand the supplementary fork truck of sleeper to transport when necessary, prevents that the sleeper from toppling over from fork truck.
However, the manual forklift needs more workers to transport the sleeper, so that the production cost is increased, the safety hazard exists when the workers hold the sleeper by hand, the sleeper and other hard objects can be scraped and rubbed during the running process of the forklift, and the appearance of the sleeper is damaged.
Disclosure of Invention
The application provides an automatic hoisting device for secondary maintenance of a sleeper and a control method thereof, and aims to solve the problems that a manual forklift needs higher production cost for transporting the sleeper, potential safety hazards exist and the sleeper is possibly damaged.
First aspect, the application provides a pair of automatic hoist device of sleeper secondary maintenance, automatic hoist device is used for transporting the sleeper that needs secondary maintenance, station transfer chain is used for transporting the sleeper after the drawing of patterns to handling process before the sleeper, automatic hoist device includes: the sleeper front station conveying line extends to the inside of the steel frame from one side of the steel frame and is used for conveying a target sleeper to a preset clamping point in the steel frame from a previous process, and the target sleeper is a sleeper needing secondary maintenance; wherein the content of the first and second substances,
the steel frame is fixed on a foundation and used for moving the target sleeper from a preset clamping point to a preset placing point;
the clamping device can move along the guide direction of the steel frame and comprises a base arranged on the steel frame, a lifting device connected with the base and a mechanical claw connected with the lifting device;
when the target sleeper enters the preset clamping point in the steel frame from the sleeper front station conveying line, the clamping device moves to the preset clamping point, the lifting motor drives the lifting device to descend, so that the mechanical claw clamps the target sleeper, and when the target sleeper is clamped, the lifting device is reset under the driving of the lifting motor, so that the clamping device moves the target sleeper to the preset placing point for secondary maintenance.
In combination with the first aspect, a translation guide rail and a rack are arranged in the guide direction on the steel frame;
the base is of a rectangular truss structure, a sliding block and a translation motor which are matched with the translation guide rail are arranged on the base, and an output shaft of the translation motor is meshed with the rack through a gear mechanism so as to drive the base to move on the translation guide rail through the sliding block.
With reference to the first aspect, the lifting device comprises a lifting pulley block, a transverse moving frame and four telescopic guide posts;
the transverse moving frame is a rectangular frame structure which is transversely movably arranged on the base, the lifting motor and the lifting pulley block are fixed on the transverse moving frame, and the four telescopic guide posts are respectively connected with four angular positions of the transverse moving frame.
With reference to the first aspect, the lifting pulley block comprises at least one fixed pulley and one movable pulley connected by a transmission steel wire;
the fixed pulley is fixed on the transverse moving frame, the movable pulley is connected with a lifting hook, one end of the transmission steel wire is fixed on the transverse moving frame, and the other end of the transmission steel wire is connected with the output end of the lifting motor after being wound on the movable pulley and the fixed pulley.
With reference to the first aspect, the transverse moving frame is provided with a transverse moving motor and a transverse moving roller;
the transverse moving motor is used for controlling the transverse moving roller to rotate, and the transverse moving roller is arranged on the base in a walking mode and used for driving the transverse moving frame to transversely move on the base.
With reference to the first aspect, the gripper comprises a gripper main beam, a lifting ring, a gripping arm and a gripping driving assembly;
the lifting hanging ring is fixed in the middle of the top end of the gripper main beam and used for being connected with the lifting hook, the grabbing arms are hinged to two ends of the gripper main beam, and the grabbing driving assembly is connected with the grabbing arms to drive the grabbing arms to open or close.
With reference to the first aspect, a guide fixing frame of a rectangular frame structure is arranged on the gripper main beam;
the guide fixing frame is positioned right below the lifting device, and the four telescopic guide columns are respectively connected with four angular positions of the guide fixing frame.
With reference to the first aspect, the gripping driving assembly is any one of a rack and pinion structure, a hydraulic cylinder structure or a lead screw structure arranged on the gripper main beam;
the driving rod of the grabbing driving assembly is hinged to the top end of the grabbing arm, a clamping plate is arranged at the bottom end of the grabbing arm, and the cross section of the clamping plate is of an L-shaped structure and used for clamping two ends of a sleeper.
In combination with the first aspect, the system further comprises an upper computer and a position detection assembly, wherein the upper computer is electrically connected with the translation motor, the lifting motor, the transverse moving motor and the grabbing driving assembly respectively.
In a second aspect, the present application provides a control method for an automatic hoisting device for sleeper secondary maintenance, where the control method is applied to an upper computer in the automatic hoisting device, and includes:
when a target sleeper is located at a preset clamping point in a steel frame, an upper computer controls a clamping device to move right above the preset clamping point, and the upper computer controls a lifting device to drive a mechanical claw to be lowered to the preset clamping point;
step two, the upper computer controls the mechanical claw to clamp the target sleeper;
step three, the upper computer controls the lifting device to drive the mechanical claw to lift to a first preset height;
step four, when the mechanical claw is lifted to a first preset height and the upper computer controls the clamping device to move right above a preset placing point, the upper computer controls the lifting device to drive the mechanical claw to be lowered to the preset placing point;
fifthly, the upper computer controls the mechanical claw to loosen the target sleeper;
sixthly, the upper computer controls the lifting device to drive the mechanical claw to lift to a second preset height;
step seven, when the mechanical claw is lifted to a second preset height, the upper computer controls the clamping device to move right above the preset clamping point, and the upper computer controls the lifting device to drive the mechanical claw to be lowered to the preset clamping point;
and step eight, repeatedly executing the step one to the step seven.
The application provides an automatic hoisting device for secondary maintenance of a sleeper and a control method thereof, the automatic hoisting device is used for transporting the sleeper needing secondary maintenance, a station conveying line in front of the sleeper is used for transporting the sleeper after demoulding to a hoisting process, the device comprises a steel frame and a clamping device hung on the steel frame, the station conveying line in front of the sleeper extends from one side of the steel frame to the inside of the steel frame and is used for transporting the sleeper needing secondary maintenance from the previous process to an internal preset clamping point of the steel frame, the steel frame is fixed on a foundation, the clamping device can move along the guide direction of the steel frame, the clamping device comprises a base arranged on the steel frame, a lifting device connected with the base and a mechanical claw connected with the lifting device, when the sleeper needing secondary maintenance enters the internal preset clamping point of the steel frame from the station conveying line in front of the sleeper, the clamping device moves to the preset clamping point, lifting motor drive elevating gear descends to the gripper clamp gets the sleeper that needs secondary maintenance, when getting the sleeper that needs secondary maintenance, elevating gear resets under lifting motor's drive, so that the sleeper that presss from both sides the device and will need secondary maintenance moves to predetermineeing the placement point and carries out secondary maintenance. Through above-mentioned device, get the sleeper directly from the station transfer line before the sleeper on, need not through staff and other transportation equipment, improved the transportation of sleeper and the security of putting and avoided the damage of sleeper.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic hoisting device for secondary maintenance of a sleeper provided in the present application;
fig. 2 is a schematic structural view of a clamping device in the automatic sleeper secondary maintenance hoisting device provided by the present application;
FIG. 3 is a side view of a clamping device in the automatic sleeper secondary maintenance hoisting device provided by the present application;
fig. 4 is a schematic flow chart of a control method of the automatic sleeper secondary maintenance hoisting device provided by the application.
The device comprises a steel frame 1, a translation guide rail 11, a clamping device 2, a base 21, a translation motor 211, a lifting device 22, a mechanical claw 23, a lifting motor 24, a lifting hook 25, a lifting pulley block 221, a transverse moving frame 222, a telescopic guide column 223, a transverse moving motor 224, a transverse moving roller 225, a gripper main beam 231, a lifting hanging ring 232, a gripper arm 233, a gripper driving component 234, a guide fixing frame 235 and a gripper plate 236.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The application provides an automatic hoisting device for secondary maintenance of a sleeper and a control method thereof, and aims to solve the problems that a manual forklift needs higher production cost for transporting the sleeper, potential safety hazards exist and the sleeper is possibly damaged.
In a first aspect, referring to fig. 1, the application provides an automatic hoisting device for secondary maintenance of sleepers, the automatic hoisting device is used for transporting sleepers requiring secondary maintenance, before the sleepers, the station conveying line is used for transporting sleepers after demolding to a hoisting process, the automatic hoisting device comprises a steel frame 1 and a hoisting device arranged on the steel frame 1, wherein the station conveying line before the sleepers extends to one side of the steel frame 1 inside the steel frame 1 and is used for transporting target sleepers to a preset clamping point inside the steel frame 1 in the previous process, and the target sleepers are sleepers requiring secondary maintenance.
The steel frame 1 is fixed on a foundation and used for moving the target sleeper from a preset clamping point to a preset placing point.
The clamping device 2 can move along the guiding direction of the steel frame 1, and the clamping device 2 comprises a base 21 arranged on the upper surface of the steel frame 1, a lifting device 22 connected with the base 21 and a mechanical claw 23 connected with the lifting device 22.
When the target sleeper enters the preset clamping point in the steel frame 1 from the sleeper front station conveying line, the clamping device 2 moves to the preset clamping point, the lifting device 22 descends under the driving of the lifting motor 24, so that the mechanical claw 23 clamps the target sleeper, and when the target sleeper is clamped, the lifting device 22 resets under the driving of the lifting motor 24, so that the clamping device 2 moves the target sleeper to the preset placing point for secondary maintenance.
The sleeper front station conveying line extends from one side of the steel frame 1 to the inside of the steel frame 1 and is used for conveying a target sleeper from a previous process to a preset clamping point in the steel frame 1, the target sleeper is a sleeper needing secondary maintenance, preferably, the steel frame 1 is of a frame structure, at least one front station conveying line is arranged, the preset clamping point is the tail end of the front station conveying line, the steel frame 1 is at any position in the steel frame 1 and is at least provided with four supporting legs, and the top ends of the supporting legs are provided with cross beams, wherein any cross beam on the steel frame 1 is parallel to the moving direction of the target sleeper on the sleeper front station conveying line, the moving direction parallel to the target sleeper on the sleeper front station conveying line on the steel frame 1 is set to be longitudinal, the moving direction perpendicular to the target sleeper on the sleeper front station conveying line is set to be transverse, and the guiding direction of the steel, the plane of the upper surface of the steel frame 1 is provided with a clamping device 2, the clamping device 2 comprises a base 21 arranged on the steel frame 1, a lifting device 22 connected with the base 21 and a gripper 23 connected with the lifting device 22, the cross beam is provided with a matching component of the base 21, the base 21 can reciprocate longitudinally along the cross beam, the lifting device 22 drives the gripper 23 to reciprocate along the direction perpendicular to the upper surface of the steel frame 1 through a lifting motor 24, and the lifting device 22 can also reciprocate transversely on the base 21. The target sleeper enters a preset clamping point, the clamping device moves to a position right above the preset clamping point, the lifting device 22 descends under the driving of the lifting motor 24, the mechanical claw 23 is lowered to the preset clamping point, the mechanical claw 23 is convenient to clamp the target sleeper, after the mechanical claw 23 clamps the target sleeper, the lifting motor 24 drives the lifting device 22 to ascend, the lifting device 22 drives the mechanical claw to ascend to a height before the mechanical claw 23 descends, namely, reset, the height before the mechanical claw 23 descends is set as a first preset height, the base 21 moves longitudinally, the lifting device 22 moves transversely in the base 21 to transfer the target sleeper to a position right above the preset placing point, the lifting motor 24 drives the lifting device 22 to descend to lower the mechanical claw 23 to the preset placing point, the preset placing point is a position where secondary maintenance is directly carried out on a maintenance bin and the like, after the target sleeper is placed, the maintenance is waited, and the automatic lifting device is adopted, reduce production cost and solved the problem that current equipment put the inefficiency.
The guide direction of steelframe 1 is provided with translation guide rail 11, rack, base 21 is the rectangle truss structure, be equipped with on base 21 with translation guide rail 11 assorted slider and translation motor 211, the output shaft of translation motor 211 pass through gear mechanism with the rack toothing, in order to drive base 21 passes through the slider is in move on the translation guide rail 11.
In order to facilitate the movement of the base 21 on the cross beam, the cross beam parallel to the longitudinal direction is provided with a translation guide rail 11, a rack is also longitudinally arranged in the translation guide rail 11, the preferred base 21 is a rectangular truss structure which can be movably erected on the cross beam, the base 21 is provided with a plurality of sliding blocks matched with the translation guide rail 11, the sliding blocks are connected with the base 21 in a welding, riveting and bolt connection mode, the sliding blocks are uniformly divided into two groups and positioned on the translation guide rail 11, the base 21 is further provided with a translation motor 211, an output shaft of the translation motor 211 is sleeved with a gear, the translation motor 211 drives the gear to rotate, and the base 21 can reciprocate on the translation guide rail 11 through the sliding blocks by meshing of the gear and the rack.
Referring to fig. 2 to 3, the lifting device 22 includes a lifting pulley block 221, a transverse moving frame 222, and four telescopic guide posts 223, the transverse moving frame 222 is a rectangular frame structure that is transversely movably disposed on the base 21 on the plane of the upper surface of the steel frame 1, the lifting motor 24 and the lifting pulley block 221 are fixed on the transverse moving frame 222, and the four telescopic guide posts 223 are respectively connected to four angular positions of the transverse moving frame 222.
In order to enable the lifting device 22 to drive the mechanical claw 23 to vertically reciprocate along the upper surface of the steel frame 1, preferably, the transverse moving frame 222 is a rectangular frame structure which horizontally reciprocates in a plane where the upper surface of the steel frame 1 is located, the lifting motor 24 and the lifting pulley block 221 are fixed on the transverse moving frame 222, the four telescopic guide posts 223 are rigid guide posts and can only extend or shorten along one direction, in this application, the four telescopic guide posts 223 extend or shorten perpendicular to the plane where the upper surface of the steel frame 1 is located, when the lifting device 22 drives the mechanical claw 23 to ascend or descend, the mechanical claw 23 is prevented from swinging, and the four telescopic guide posts 223 are respectively located at four angular positions of the transverse moving frame 222.
The lifting pulley block 221 comprises at least one fixed pulley and one movable pulley which are connected through a transmission steel wire, the fixed pulley is fixed on the transverse moving frame 222, the movable pulley is connected with a lifting hook 25, one end of the transmission steel wire is fixed on the transverse moving frame 222, and the other end of the transmission steel wire is connected with the output end of the lifting motor 24 after being wound on the movable pulley and the fixed pulley.
Considering the power problem of the lifting motor, the lifting pulley block 221 at least comprises a fixed pulley and a movable pulley, the fixed pulley and the movable pulley are connected through a transmission steel wire, one end of the transmission steel wire is fixed on the transverse moving frame 222, the other end of the transmission steel wire is connected to the output end of the lifting motor 24 after being wound around the movable pulley and the fixed pulley, the lifting hook 25 is arranged on the movable pulley, the transmission steel wire is wound in the rotating process of the lifting motor 24, the transmission steel wire pulls the movable pulley to move upwards to drive the lifting hook 25 to move upwards, the lifting motor 24 rotates reversely to release the transmission steel wire, the lifting hook 25 moves downwards, the movable pulley can reduce the requirement on the power output of the lifting motor 24, the target sleeper can be lifted when the lifting motor 24 outputs small pulling force, and the fixed pulley is fixed on the transverse moving frame 222 to change the power output direction.
The transverse moving frame 222 is provided with a transverse moving motor 224 and a transverse moving roller 225, the transverse moving motor 224 is used for controlling the transverse moving roller 225 to rotate, and the transverse moving roller 225 is arranged on the base 21 in a walking manner and used for driving the transverse moving frame 222 to transversely move on the base 21.
In order to move the lifting device 22 laterally on the steel frame 1, a lateral moving motor 224 and a lateral moving roller 225 may be disposed on the lateral moving frame 222, the lateral moving roller 225 is sleeved on an output shaft of the lateral moving motor 224, a rotating plane of the lateral moving roller 225 is parallel to a lateral direction, the lateral moving roller 225 is in close contact with the upper surface of the base 21, when the target sleeper is lifted, a friction force between the lateral moving roller 225 and the upper surface of the base 21 is increased, which is beneficial to smooth movement of the lateral moving frame 222 on the base 21, that is, smooth movement of the lifting device 22 in the upper surface of the steel frame 1, and a gear-rack meshing manner may also be adopted for lateral movement of the lifting device 22 in the upper surface of the steel frame 1.
The gripper 23 comprises a gripper main beam 231, a lifting hanging ring 232, gripping arms 233 and a gripping driving assembly 234, wherein the lifting hanging ring 232 is fixed in the middle of the top end of the gripper main beam 231 and used for connecting the lifting hook 25, the gripping arms 233 are hinged to two ends of the gripper main beam 231, and the gripping driving assembly 234 is connected with the gripping arms 233 to drive the gripping arms 233 to open or close.
The main gripper beam 231 is provided with a guide fixing frame 235 with a rectangular frame structure, the guide fixing frame 235 is positioned under the lifting device 22, and the four telescopic guide posts 223 are respectively connected to four angular positions of the guide fixing frame 235.
The grabbing driving assembly 234 is any one of a rack and pinion structure, a hydraulic cylinder structure or a screw rod structure which is arranged on the grabbing main beam 231, a driving rod of the grabbing driving assembly 234 is hinged to the top end of the grabbing arm 233, a clamping plate 236 is arranged at the bottom end of the grabbing arm 233, and the cross section of the clamping plate 236 is of an L-shaped structure and used for clamping two ends of a sleeper.
In the technical scheme provided by the application, the mechanical claw 23 can directly clamp a target sleeper on a sleeper front station conveying line through the grabbing arm 233, the clamping action can be completed without other transfer equipment, the lifting hanging ring 232 in the middle of the top end of the grabbing main beam 231 is connected with the lifting hook 25, the grabbing driving component 234 is a hydraulic cylinder arranged on the grabbing main beam 231, a gear rack or a lead screw can be adopted to replace the hydraulic cylinder, taking the hydraulic cylinder as an example, the hydraulic cylinder can push a piston to move through hydraulic action, so that the length of a driving rod is changed, further, the hinge angle of the grabbing arm 233 is changed, the opening or closing of the grabbing arm 233 is realized, for example, when the target sleeper on the sleeper front station conveying line is clamped, the piston in the hydraulic cylinder moves inwards, so that the grabbing driving component 234 generates an inward pulling force on the top end of the grabbing arm 233, and the middle part of the grabbing arm 233 is, therefore, the bottom ends of the gripping arms 233 are expanded outward, thereby increasing the expansion angle between the two gripping arms 233, and similarly, after the gripping arms 233 are moved to the predetermined position, the expansion angle between the two gripping arms 233 is decreased by reversely controlling the hydraulic cylinders.
In order to avoid that the target sleeper does not swing in the process of lifting or lowering, the main gripper beam 231 is provided with a guide fixing frame 235, the guide fixing frame 235 is of a rectangular frame structure and is located right below the transverse moving frame 222, the length and the width of the projection surface of the guide fixing frame 235 on the upper surface of the steel frame 1 are correspondingly greater than those of the projection surface of the transverse moving frame 222 on the upper surface of the steel frame 1, preferably, the projection surface of the guide fixing frame 235 on the upper surface of the steel frame 1 is coincident with that of the transverse moving frame 222 on the upper surface of the steel frame 1, and the bottoms of the four telescopic guide columns 223 are fixed at four angular positions of the guide fixing frame 235.
An L-shaped holding plate 236 is further provided at the bottom of the grabber arms 233 for holding the bottom of the target tie so that the target tie is between the two grabber arms 233. In order to further improve the connection strength between the grabbing arm 233 and the clamping plate 236, a reinforcing rib may be installed between the grabbing arm 233 and the clamping plate 236, so that the clamping plate 236 and the grabbing arm 233 are always kept in a vertical state, and in the process of grabbing the target sleeper by the grabbing arm 233, in order to ensure that the contact portion of the target sleeper with the clamping plate 236 is not damaged, an elastic member, such as a rubber pad, may be disposed on the inner wall of the clamping plate 236, and the rubber pad may play a role in buffering at the moment when the clamping plate 236 contacts the target sleeper, and also improve the stability of the contact of the target sleeper with the clamping plate 236.
In some embodiments of the present application, the apparatus further comprises an upper computer electrically connected to the translation motor 211, the lifting motor 24, the traverse motor 224, and the grabbing drive component 234, respectively.
The upper computer can be a computer, a mobile phone or a flat board, a control program is installed on the upper computer, and the starting time of the translation motor 211, the lifting motor 24, the transverse moving motor 224 and the grabbing driving assembly 234 is controlled through the preset control program, so that the target sleeper is accurately placed.
The application provides an automatic hoisting device for secondary maintenance of sleepers, the device is used for transporting sleepers needing secondary maintenance, a station conveying line before the sleepers is used for transporting the sleepers after demoulding to a hoisting process, the device comprises a steel frame 1 and a clamping device 2 hung on the steel frame 1, the station conveying line before the sleepers extends from one side of the steel frame to the inside of the steel frame and is used for transporting the sleepers needing secondary maintenance to a preset clamping point inside the steel frame from the previous process, the steel frame 1 is fixed on a foundation, the clamping device 2 can move along the guide direction of the steel frame 1, the clamping device comprises a base arranged on the steel frame, a lifting device connected with the base and a mechanical claw connected with the lifting device, when the sleepers needing secondary maintenance enter the preset clamping point inside the steel frame from the station conveying line before the sleepers, the clamping device moves to the preset clamping point, and the lifting device descends under the driving of a lifting motor, so that the gripper presss from both sides the sleeper that needs secondary maintenance, when pressing from both sides the sleeper that needs secondary maintenance, elevating gear resets under elevator motor's drive to press from both sides the sleeper that gets the device and will need secondary maintenance and move to predetermineeing the locating point and carry out secondary maintenance. Through above-mentioned automatic hoist device, get the sleeper directly from station transfer line before the sleeper on the clamp, need not through staff and other transportation equipment, eliminated the potential safety hazard to the staff, improved the transportation of sleeper and put the space utilization of efficiency and placement point.
In a second aspect, referring to fig. 4, the application provides a control method for an automatic hoisting device for secondary maintenance of a sleeper, where the control method is applied to an upper computer in the automatic hoisting device, and the control method includes:
step S1, when the target sleeper is located at a preset clamping point in the steel frame 1, the upper computer controls the clamping device 2 to move right above the preset clamping point, and the upper computer controls the lifting device 22 to drive the mechanical claw 23 to be lowered to the preset clamping point;
in this step, the target sleeper is transported to the preset clipping point in the steel frame 1 by the sleeper front station transport line, the position detection assembly is needed to detect that the target sleeper reaches the preset clipping point, when the position detection assembly detects that the target sleeper reaches the preset clipping point, if the clipping device 2 is close to the preset clipping point, the translation motor 211 rotates forwards, the transverse moving motor 224 rotates forwards, the lifting motor 24 rotates forwards, the upper computer controls the translation motor 211 to rotate forwards, the output shaft of the translation motor 211 is meshed with the rack on the translation guide rail 11 through the gear mechanism, so as to drive the base 21 to move along the first longitudinal direction, when the position detection assembly detects that the base 21 is positioned right above the preset clipping point, the upper computer controls the translation motor 211 to stop rotating, the upper computer controls the transverse moving motor 224 to rotate forwards, the output shaft of the transverse moving motor 224 is in close contact with the base 21 through the transverse moving, thereby drive elevating gear 22 and remove along first transverse direction, when position detecting element detected elevating gear 22 to be located and predetermine when pressing from both sides directly over getting the point, upper computer control transverse movement motor 224 stall, upper computer control elevator motor 24 corotation, elevating gear 22 drives gripper 23 and transfers to predetermineeing and press from both sides and get the point, detects gripper 23 and transfers to predetermineeing when position detecting element and press from both sides and get the point, upper computer control elevator motor 24 stall. Wherein, the clamping device 2 is assumed to be located at any position of the upper surface of the steel frame 1.
Step S2, the upper computer controls the mechanical claw 23 to clamp the target sleeper;
in this step, the position detection assembly detects that the gripper 23 is lowered to the preset clamping point, the upper computer controls the lifting motor 24 to stop rotating, the upper computer controls the hydraulic cylinder to start, the piston in the hydraulic cylinder moves inwards, so that the grabbing driving assembly 234 generates an inward pulling force on the top end of the grabbing arm 233, the middle part of the grabbing arm 233 is hinged to the grabbing main beam 231, so that the bottom end of the grabbing arm 233 opens outwards, thereby increasing the opening angle between the two grabbing arms 233, and the same principle can be known.
Step S3, the upper computer controls the lifting device 22 to drive the gripper 23 to lift to a first preset height;
in this step, after the position detection assembly detects that the gripper 23 finishes clamping the target sleeper, the upper computer controls the lifting motor 24 to rotate reversely, the lifting motor 24 winds the transmission steel wire to drive the movable pulley to ascend, the lifting hook 25 on the movable pulley is connected with the lifting hanging ring 232 to drive the gripper 23 to ascend, and when the position detection assembly detects that the gripper 23 ascends to a first preset height, the upper computer controls the lifting motor 24 to stop rotating.
Step S4, when the gripper 23 is lifted to the first preset height and the upper computer controls the gripping device 2 to move to a position right above the preset placing point, the upper computer controls the lifting device 22 to drive the gripper 23 to lower to the preset placing point;
in this step, when the position detecting component detects that the gripper 23 is lifted to a first preset height, the upper computer controls the lifting motor 24 to stop rotating, the upper computer controls the translation motor 211 to rotate reversely, an output shaft of the translation motor 211 is meshed with a rack on the translation guide rail 11 through a gear mechanism, so as to drive the base 21 to move along a second longitudinal direction, when the position detecting component detects that the base 21 is positioned right above a preset placing point, the upper computer controls the translation motor 211 to stop rotating, the upper computer controls the transverse moving motor 224 to rotate reversely, an output shaft of the transverse moving motor 224 is in close contact with the base 21 through the transverse moving roller 225, so as to drive the lifting device 22 to move along the second transverse direction, when the position detecting component detects that the lifting device 22 is positioned right above the preset placing point, the upper computer controls the transverse moving motor 224 to stop rotating, and the upper computer, elevating gear 22 drives gripper 23 and transfers to predetermineeing the placement point, and when position detecting component detected gripper 23 and transferred to predetermineeing the placement point, upper computer control elevator motor 24 stall.
Step S5, the upper computer controls the mechanical claw 23 to loosen the target sleeper;
in this step, the position detection assembly detects that the gripper 23 is lowered to the preset placing point, the upper computer controls the lifting motor 24 to stop rotating, the upper computer controls the hydraulic cylinder to start, the piston in the hydraulic cylinder moves inwards, so that the grabbing driving assembly 234 generates an inward pulling force on the top end of the grabbing arm 233, the middle part of the grabbing arm 233 is hinged to the grabbing main beam 231, the bottom end of the grabbing arm 233 opens outwards, the opening angle between the two grabbing arms 233 is increased, the gripper 23 is loosened from a target sleeper, and the target sleeper placement is completed.
Step S6, the upper computer controls the lifting device 22 to drive the gripper 23 to lift to a second preset height;
in this step, after the position detection assembly detects that the gripper 23 finishes placing the target sleeper, the upper computer controls the lifting motor 24 to rotate reversely, the lifting motor 24 winds the transmission steel wire to drive the movable pulley to ascend, the lifting hook 25 on the movable pulley is connected with the lifting hanging ring 232 to drive the gripper 23 to ascend, and when the position detection assembly detects that the gripper 23 ascends to the second preset height, the upper computer controls the lifting motor 24 to stop rotating.
Step S7, when the gripper 23 is lifted to the second preset height, the upper computer controls the gripping device 2 to move right above the preset gripping point, and the upper computer controls the lifting device 22 to drive the gripper 23 to lower to the preset gripping point;
when the position detection assembly detects that the mechanical claw 23 is lifted to a second preset height, the upper computer controls the lifting motor 24 to stop rotating, and simultaneously when the position detection assembly detects that the target sleeper reaches a preset clamping point, the upper computer controls the translation motor 211 to rotate positively, an output shaft of the translation motor 211 is meshed with a rack on the translation guide rail 11 through a gear mechanism so as to drive the base 21 to move along the first longitudinal direction, when the position detection assembly detects that the base 21 is positioned right above the preset clamping point, the upper computer controls the translation motor 211 to stop rotating, the upper computer controls the transverse movement motor 224 to rotate positively, an output shaft of the transverse movement motor 224 is in close contact with the base 21 through the transverse movement roller 225 so as to drive the lifting device 22 to move along the first transverse direction, and when the position detection assembly detects that the lifting device 22 is positioned right above the preset clamping point, the upper computer controls the transverse movement, host computer control elevator motor 24 corotation, elevating gear 22 drives gripper 23 and transfers to predetermineeing the clamp point of getting, detects gripper 23 and transfers to predetermineeing the clamp point of getting when the position detecting subassembly, and host computer control elevator motor 24 stall.
Step S8, step one to step seven are repeatedly executed.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (10)
1. The utility model provides an automatic hoist device of sleeper secondary maintenance, automatic hoist device is used for transporting the sleeper that needs secondary maintenance, station transfer chain is used for transporting the sleeper after the drawing of patterns to handling process before the sleeper, its characterized in that, automatic hoist device includes: the sleeper maintenance device comprises a steel frame (1) and a clamping device (2) hung on the steel frame (1), wherein a sleeper front station conveying line extends from one side of the steel frame (1) to the inside of the steel frame (1) and is used for conveying a target sleeper from a previous process to a preset clamping point in the steel frame (1), and the target sleeper is a sleeper needing secondary maintenance; wherein the content of the first and second substances,
the steel frame (1) is fixed on a foundation and used for moving the target sleeper from a preset clamping point to a preset placing point;
the clamping device (2) can move along the guide direction of the steel frame (1), and the clamping device (2) comprises a base (21) arranged on the steel frame (1), a lifting device (22) connected with the base (21) and a mechanical claw (23) connected with the lifting device (22);
when the target sleeper enters an internal preset clamping point of the steel frame (1) from a sleeper front station conveying line, the clamping device (2) moves to the preset clamping point, the lifting motor (24) drives the lifting device (22) to descend so that the mechanical claw (23) can clamp the target sleeper, and when the target sleeper is clamped, the lifting device (22) resets under the driving of the lifting motor (24) so that the clamping device (2) can move the target sleeper to the preset placing point for secondary maintenance.
2. The automatic hoisting device according to claim 1, wherein the steel frame (1) is provided with a translation guide rail (11) and a rack in the guide direction;
the base (21) is of a rectangular truss structure, a sliding block and a translation motor (211) which are matched with the translation guide rail (11) are arranged on the base (21), and an output shaft of the translation motor (211) is meshed with the rack through a gear mechanism so as to drive the base (21) to move on the translation guide rail (11) through the sliding block.
3. The automatic lifting device according to claim 1, characterized in that the lifting device (22) comprises a lifting pulley block (221), a transverse moving frame (222) and four telescopic guide posts (223);
the transverse moving frame (222) is a rectangular frame structure which is transversely movably arranged on the base (21);
the lifting motor (24) and the lifting pulley block (221) are fixed on the transverse moving frame (222), and the four telescopic guide posts (223) are respectively connected to four angular positions of the transverse moving frame (222).
4. Automatic lifting device according to claim 3, characterized in that said set of lifting pulleys (221) comprises at least one fixed pulley and one movable pulley connected by a transmission wire;
the fixed pulley is fixed on the transverse moving frame (222), the movable pulley is connected with a hoisting hook (25), one end of the transmission steel wire is fixed on the transverse moving frame (222), and the other end of the transmission steel wire is connected to the output end of the lifting motor (24) after being wound on the movable pulley and the fixed pulley.
5. The automatic lifting device as claimed in claim 3, wherein the traverse frame (222) is provided with a traverse motor (224) and a traverse roller (225);
the transverse moving motor (224) is used for controlling the transverse moving roller (225) to rotate, and the transverse moving roller (225) is arranged on the base (21) in a walking mode and used for driving the transverse moving frame (222) to transversely move on the base (21).
6. The automatic lifting device as claimed in claim 4, wherein the gripper (23) comprises a gripper main beam (231), a lifting hoist ring (232), a gripper arm (233) and a gripper drive assembly (234);
the lifting hanging ring (232) is fixed in the middle of the top end of the gripper main beam (231), the lifting hanging ring (232) is used for being connected with the lifting hook (25), the grabbing arms (233) are hinged to two ends of the gripper main beam (231), and the grabbing driving assembly (234) is connected with the grabbing arms (233) to drive the grabbing arms (233) to be opened or closed.
7. The automatic lifting device according to claim 6, wherein a guide fixing frame (235) with a rectangular frame structure is arranged on the gripper main beam (231), the guide fixing frame (235) is located right below the lifting device (22), and the four telescopic guide posts (223) are respectively connected to four angular positions of the guide fixing frame (235).
8. The automatic lifting device according to claim 6, wherein the grabbing driving assembly (234) is any one of a rack and pinion structure, a hydraulic cylinder structure or a lead screw structure arranged on the grabbing main beam (231);
the driving rod of the grabbing driving assembly (234) is hinged to the top end of the grabbing arm (233), the bottom end of the grabbing arm (233) is provided with a clamping plate (236), and the cross section of the clamping plate (236) is of an L-shaped structure and used for clamping two ends of a sleeper.
9. The automatic hoisting device of claim 1, further comprising an upper computer electrically connected to the translation motor (211), the lifting motor (24), the traverse motor (224), and the grabbing drive assembly (234), respectively.
10. A control method of an automatic sleeper secondary maintenance hoisting system device is applied to an upper computer in the automatic hoisting device according to claim 9, and is characterized by comprising the following steps:
when a target sleeper is located at a preset clamping point in a steel frame (1), an upper computer controls a clamping device (2) to move right above the preset clamping point, and the upper computer controls a lifting device (22) to drive a mechanical claw (23) to be lowered to the preset clamping point;
step two, the upper computer controls the mechanical claw (23) to clamp the target sleeper;
step three, the upper computer controls the lifting device (22) to drive the mechanical claw (23) to lift to a first preset height;
step four, when the mechanical claw (23) is lifted to a first preset height and the upper computer controls the clamping device (2) to move right above a preset placing point, the upper computer controls the lifting device (22) to drive the mechanical claw (23) to be lowered to the preset placing point;
fifthly, the upper computer controls the mechanical claw (23) to loosen the target sleeper;
sixthly, the upper computer controls the lifting device (22) to drive the mechanical claw (23) to lift to a second preset height;
step seven, when the mechanical claw (23) is lifted to a second preset height, the upper computer controls the clamping device (2) to move right above the preset clamping point, and the upper computer controls the lifting device (22) to drive the mechanical claw (23) to be lowered to the preset clamping point;
and step eight, repeatedly executing the step one to the step seven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010088910.5A CN111186773A (en) | 2020-02-12 | 2020-02-12 | Automatic hoisting device for secondary maintenance of sleeper and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010088910.5A CN111186773A (en) | 2020-02-12 | 2020-02-12 | Automatic hoisting device for secondary maintenance of sleeper and control method thereof |
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| CN111186773A true CN111186773A (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010088910.5A Pending CN111186773A (en) | 2020-02-12 | 2020-02-12 | Automatic hoisting device for secondary maintenance of sleeper and control method thereof |
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| CN (1) | CN111186773A (en) |
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| CN112173986A (en) * | 2020-09-02 | 2021-01-05 | 苏州朗坤自动化设备股份有限公司 | Large-scale aluminum product shifts equipment |
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| CN112722736A (en) * | 2020-12-31 | 2021-04-30 | 武汉锂鑫自动化科技有限公司 | U-rib stacker-reclaimer |
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| CN113530259A (en) * | 2021-07-20 | 2021-10-22 | 吴智鹏 | Construction equipment for forming wall base |
| CN113786084A (en) * | 2021-09-15 | 2021-12-14 | 图森木业有限公司 | Middle island platform and installation method thereof |
| CN114988092A (en) * | 2022-06-09 | 2022-09-02 | 江苏迪普机械科技有限公司 | Gear transmission transplanting vehicle and operation method thereof |
| CN115123935A (en) * | 2022-06-29 | 2022-09-30 | 北京建工集团有限责任公司 | Production line is assembled to rail mounted template |
| CN116495129A (en) * | 2023-06-12 | 2023-07-28 | 江苏华阳重工股份有限公司 | Twist supporting mechanism of bulb twist rudder |
| CN117142320A (en) * | 2023-10-30 | 2023-12-01 | 南通海国机械有限公司 | Mechanical equipment lifting frame |
| CN117142320B (en) * | 2023-10-30 | 2023-12-22 | 南通海国机械有限公司 | Mechanical equipment lifting frame |
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