CN113003434B

CN113003434B - Collapsible movable frame crane

Info

Publication number: CN113003434B
Application number: CN202110314766.7A
Authority: CN
Inventors: 赵章焰; 单庆洁; 王宇恒; 徐宇亮; 高帅; 李宗泽
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2023-02-03
Anticipated expiration: 2041-03-24
Also published as: CN113003434A

Abstract

The invention relates to a retractable movable frame crane which comprises a movable contraction part, a movable frame and a movable frame, wherein the movable contraction part comprises an outer side frame, mecanum wheels and a power motor; the lifting part comprises an outer cradle head, a middle cradle head and a cradle head connecting rod; a middle holding part which comprises a guide rail, a support connecting rod, a slide block and a centering connecting rod; a hook box part which comprises a top plate, a side plate and a hook. The telescopic movable frame crane obtains extremely high freedom of movement by using Mecanum wheels, so that the two outer side frames can move back and forth and can also do relative contraction or expansion movement; by arranging the plurality of box hooking parts, a plurality of goods can be grabbed at one time and transported, so that the working efficiency is greatly improved; meanwhile, the crane can grab the goods in an expanded state and transport the goods in a contracted state, so that the obstacle avoidance capability is greatly improved; and because the middle holding part is arranged, the middle box hooking part can be always positioned at the middle position of the whole crane, and the positioning accuracy is improved.

Description

Collapsible movable frame crane

Technical Field

The invention relates to the technical field of hoisting machinery, in particular to a retractable movable frame crane.

Background

The development trend of world cranes is large-scale and integrated, and China, as a world important crane manufacturing country, exports a large amount of crane equipment every year. The general structure of current hoist in the existing market is comparatively complicated, also is great danger source and can not lift by crane many boxes of goods simultaneously, and this makes current hoist occupation space great, and space utilization is lower and work efficiency is lower.

Disclosure of Invention

In view of the above, a retractable type movable frame crane is needed to solve the technical problems that the crane in the prior art cannot simultaneously clamp a plurality of cargoes and does not have obstacle avoidance capability.

The invention provides a retractable movable frame crane, which comprises: the fixing part comprises two outer side frames which are oppositely arranged and Mecanum wheel assemblies arranged at the bottoms of the outer side frames; the retractable cloud platform part comprises outer cloud platforms, a cloud platform connecting rod and a middle cloud platform, wherein the outer cloud platforms, the cloud platform connecting rod and the middle cloud platform are respectively arranged on the inner walls of the two outer frames; the lifting part is arranged on at least one outer side frame and is in transmission connection with the retractable cloud platform part to drive the retractable cloud platform part to do lifting motion along the outer side frame; the middle position holding part comprises a guide rail and a centering connecting rod, the guide rail is perpendicular to the tripod head connecting rod and is fixedly arranged on the middle tripod head, the hinged end of the centering connecting rod is connected with the guide rail in a sliding way, and two free ends of the centering connecting rod are respectively connected with the outer tripod heads in a rotating way so that the two outer tripod heads can synchronously adjust the distance relative to the middle tripod head; collude the case portion, be connected with outside cloud platform and middle cloud platform respectively, collude the case portion and be used for the hookup to wait to snatch the goods.

Furthermore, the Mecanum wheel assembly comprises a Mecanum wheel and a power motor in transmission connection with the Mecanum wheel.

Furthermore, the movable contraction part further comprises a contraction motor, a first winding shaft and a first traction wire, the contraction motor is arranged on one of the outer side frames and is in transmission connection with the first winding shaft, one end of the first traction wire is fixedly connected with the first winding shaft, and the other end of the first traction wire is wound on the first winding shaft and is fixedly connected with the other outer side frame.

Further, lift portion still includes elevator motor, second spool and second pull wire, and elevator motor sets up in outside frame top and is connected with the transmission of second spool, second pull wire one end fixed connection second spool, other end winding second spool and downwardly extending and outside cloud platform fixed connection.

Further, collude case portion and include roof, curb plate and hook, roof and guide rail or support link fixed connection, two piece at least relative arrangement's curb plate upper end and roof fixed connection all are provided with the hook on every curb plate, and the hook is relative to the oblique top of orientation.

Furthermore, collude case portion still includes the horizontal pole, horizontal pole and curb plate fixed connection, and the hook cover is located on the horizontal pole and rotates with the horizontal pole to be connected.

Furthermore, collude case portion still includes reset spring, and reset spring one end and curb plate fixed connection, the other end and hook fixed connection.

Furthermore, collude case portion still includes the safety rope, safety rope one end and curb plate fixed connection, the other end and hook fixed connection.

Furthermore, collude case portion still includes the spacing ring, and the fixed cover of spacing ring is located on the horizontal pole to two spacing rings set up respectively in the both sides of hook, are used for restricting the hook along the axis motion of horizontal pole.

Further, the outer side frame is provided with a protruding portion extending in the vertical direction, the outer side holder is provided with a groove portion corresponding to the protruding portion, and the outer side holder and the outer side frame are in sliding connection through the protruding portion and the groove portion in a matched mode.

Compared with the prior art, the telescopic movable frame crane obtains extremely high freedom of movement by using Mecanum wheels, so that the two outer side frames can move back and forth and can also do relative contraction or expansion movement; by arranging the box hooking parts, a plurality of goods can be grabbed and transported at one time, so that the working efficiency is greatly improved; meanwhile, the crane can grab the goods in an expanded state and transport the goods in a contracted state, so that the obstacle avoidance capability is greatly improved; and because the middle holding part is arranged, the middle box hooking part can be always positioned at the middle position of the whole crane, and the positioning accuracy is improved.

Drawings

FIG. 1 is a schematic structural diagram of a retractable type movable frame crane provided by the present invention;

FIG. 2 is a schematic view of the moving constriction of FIG. 1;

FIG. 3 is a schematic view of the lifting portion of FIG. 1;

FIG. 4 is an enlarged view of a portion of FIG. 3;

FIG. 5 is a schematic structural view of the middle holding part in FIG. 1;

FIG. 6 is a schematic structural view of the hooking part in FIG. 1;

fig. 7 is a side view of the hook of fig. 6.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

Referring to fig. 1 to 6, the retractable type loop crane includes a movable retracting portion 1, a retractable platform portion 2, a middle holding portion 3, and a hook box portion 4.

The mobile telescopic part 1 comprises an outer frame 11, mecanum wheels 12 and a power motor 13. Two outside frames 11 set up relatively, are provided with two at least mecanum wheels 12 in every outside frame 11 bottom, and a plurality of power motors 13 set up on outside frame 11 to be connected with mecanum wheel 12 one-to-one ground transmission, constitute mecanum wheel subassembly, drive mecanum wheel 12 and rotate, drive outside frame 11 motion.

The mecanum wheel is a patent from mecanum corporation, sweden. The omnibearing motion equipment based on the Mecanum wheel technology can realize the motion modes of advancing, transversely moving, obliquely moving, rotating, combining and the like. This omni-directional movement is based on the principle of a central wheel with many axles located at the periphery of the wheel, these angled peripheral axles translating a portion of the wheel steering force above a wheel normal force.

Depending on the direction and speed of the respective wheels, the resulting combination of these forces produces a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resulting resultant force vector without changing the direction of the wheels themselves. On its rim, many small rollers are obliquely distributed, so that the wheel can be transversely slided. The generatrix of the small rollers is particularly so that the envelope of each small roller is cylindrical when the wheel is turned around a fixed wheel spindle, so that the wheel can roll forward continuously. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel. 4 novel wheels are combined, so that the all-directional movement function can be realized more flexibly and conveniently.

Therefore, the power motor 13 drives the mecanum wheel 12 to drive the two outer frames 11 to move back and forth and relatively, so as to realize the contraction and expansion of the two outer frames 11. In order to prevent the two outer frames 11 from being slightly displaced forward and backward during the contraction and expansion movements, it is preferable to slidably couple the upper ends of the two outer frames 11. And the movable contraction part 1 further comprises a contraction motor 14, a first winding shaft 15 and a first traction wire 16, wherein the contraction motor 14 is arranged on one of the outer side frames 11 and is in transmission connection with the first winding shaft 15, one end of the first traction wire 16 is fixedly connected with the first winding shaft 15, and the other end of the first traction wire is wound on the first winding shaft 15 and extends to be fixedly connected with the other outer side frame 11. The rotation of the shrinking motor 14 drives the first front frame 16 to pull the outer frames 11, so that the two outer frames 11 are close to each other, and an auxiliary effect is provided when the two outer frames 11 are shrunk.

The retractable platform part 2 comprises an outer platform 22, an intermediate platform 23 and a platform link 24. The lifting part 21 is respectively arranged on the two outer side frames 11 and is respectively in transmission connection with the two outer side holders 22, the outer side holders 22 can be driven to lift, the middle holder 23 is arranged between the two outer side holders 22, the middle part of the holder connecting rod 24 is fixedly connected with the middle holder 23, and the movable span is arranged between the two outer side holders 22. When the two outer frames 1 move relatively or back to back, the two outer holders 22 can move relative to the holder connecting rod 24, so that the two outer holders 22 can adjust the distance relative to the middle holder 23.

In this embodiment, lift portion 21 still includes elevator motor, second spool and second pull wire, and elevator motor sets up and is connected in 11 tops of outside frame and with the transmission of second spool, and second pull wire one end fixed connection second spool, other end winding second spool and downwardly extending and outside cloud platform 22 fixed connection, the rotation through elevator motor just can drive the lift of contraction type cloud platform portion 2.

And the outer side frame 11 has a protruding portion 111 extending in the vertical direction, the outer side pan/tilt head 22 has a groove portion 221 corresponding to the protruding portion 111, and the outer side frame 11 and the outer side pan/tilt head 22 are in sliding connection through the protruding portion 111 and the groove portion 221. The groove portions 221 hold the two sides of the protruding portion 111 close to the middle pan/tilt head 23 and far from the middle pan/tilt head 23, so that when the two outer frames 1 are contracted or expanded, the protruding portion 111 can apply thrust to the groove portions 221 to push the outer pan/tilt head 22 to move close to the middle pan/tilt head 23 or far from the middle pan/tilt head 23.

The neutral holding portion 3 includes a guide rail 31, a support link 32, a slider 33, a centering link 34, and a bearing 35. The guide rail 31 is fixedly connected to the lower surface of the middle cradle head 23, and the two support links 32 are respectively fixedly connected to the lower surfaces of the two outer cradle heads 22. The sliding block 33 is connected with the guide rail 31 in a sliding mode, one end of the centering connecting rod 34 is connected with the sliding block 33 in a rotating mode through a bearing 35, and the other end of the centering connecting rod 34 is connected with the supporting connecting rod 32 in a rotating mode through the bearing 35.

Thus, the whole middle holding part is of a symmetrical structure, when the two outer frames 11 are folded or unfolded, under the action of the centering connecting rod 34, the two supporting connecting rods 32 can drive the box hooking parts 4 connected to the two outer frames to move symmetrically, so that the box hooking parts 4 connected to the guide rails 31 are always positioned in the middle of the box hooking parts 4 on the two sides.

The box hooking part 4 comprises a top plate 41, side plates 42 and hooks 43, the top plate 41 is fixedly connected with the guide rail 31 or the support connecting rod 32, the upper ends of at least two oppositely arranged side plates 42 are fixedly connected with the top plate 41, and the side plates 42 can be a whole plate or a hollow frame structure. Each side plate 42 is provided with a hook 43, the hook 43 faces obliquely upwards to the inner side of the box hooking part 4, and the hooks 43 on the two side plates 42 can be matched with the protruding parts on the two sides of the cargo box.

To facilitate lifting of the container, the box portion 4 further includes a cross bar 44. The lower part of each side plate 42 is provided with a cross bar 44, the cross bar 44 is fixedly connected with the side plates 42, and the hook 43 is sleeved on the cross bar 44 and is rotatably connected with the cross bar 44. In order to prevent the hooks from sliding axially along the cross bar 44, a retainer ring 47 is also fixedly provided on the cross bar 44, and the retainer ring 47 is disposed on both sides of the hooks 43 so as to restrict the sliding of the hooks 43.

The hooking box part 4 further comprises a return spring 45 and a safety rope 46, wherein one end of the return spring 45 is fixedly connected with the side plate 42, and the other end of the return spring is fixedly connected with the hook 43. The safety line is also fixedly connected with the side plate 42 at one end 46 and fixedly connected with the hook 43 at the other end. But the length of the safety line 46 is greater than the length of the return spring 45.

When the box hooking part 4 grabs the container, the box hooking part 4 is moved right above the container and then vertically moves downwards, so that the container enters the box hooking part 4, the hook 43 is pushed to rotate upwards, and the return spring 45 is compressed. When the lug on the outside of the cargo box moves above the hook 43, the hook 43 rotates reversely by the return spring 45 to catch the lug.

When the grabbed cargo box is transported, the power motor 13 drives the Mecanum wheels 12 to realize a required movement path, and meanwhile, the safety rope 46 pulls the hook 43, so that the cargo box is prevented from falling off from the box hooking part 4 due to transition rotation of the hook 46 under the action of gravity of the cargo box.

The embodiment of the invention has the following beneficial effects: the telescopic movable frame crane obtains extremely high freedom of movement by using Mecanum wheels, so that the two outer side frames can move back and forth and can also do relative contraction or expansion movement; by arranging the box hooking parts, a plurality of goods can be grabbed and transported at one time, so that the working efficiency is greatly improved; meanwhile, the crane can grab the goods in an expanded state and transport the goods in a contracted state, so that the obstacle avoidance capability is greatly improved; and because the middle position maintaining part is arranged, the middle box hooking part can be ensured to be always positioned in the middle position of the whole crane, and the positioning accuracy is improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims

1. A collapsible drop frame crane, comprising:

the movable contraction part comprises two outer side frames which are oppositely arranged and Mecanum wheel assemblies arranged at the bottoms of the outer side frames;

the retractable cloud platform part comprises outer cloud platforms, cloud platform connecting rods and a middle cloud platform, wherein the outer cloud platforms, the cloud platform connecting rods and the middle cloud platform are respectively arranged on the inner walls of the two outer frames;

the lifting part is arranged on at least one outer side frame, is in transmission connection with the retractable cloud platform part and drives the retractable cloud platform part to do lifting motion along the outer side frame;

the middle position maintaining part comprises a guide rail and a centering connecting rod, the guide rail is perpendicular to the tripod head connecting rod and is fixedly arranged on the middle tripod head, the hinged end of the centering connecting rod is connected with the guide rail in a sliding way, and two free ends of the centering connecting rod are respectively connected with the outer tripod heads in a rotating way so that the two outer tripod heads can synchronously adjust the distance relative to the middle tripod head;

collude case portion, be connected with outside cloud platform and middle cloud platform respectively, collude case portion and be used for the hookup to wait to snatch the goods.

2. A retractable subframe crane as claimed in claim 1 wherein said mecanum wheel assembly comprises mecanum wheels and a power motor drivingly connected to said mecanum wheels.

3. The retractable type movable frame crane according to claim 2, wherein the movable contraction part further comprises a contraction motor, a first spool and a first traction wire, the contraction motor is disposed on one of the outer frames and is in transmission connection with the first spool, one end of the first traction wire is fixedly connected with the first spool, and the other end of the first traction wire is wound around the first spool and is fixedly connected with the other outer frame.

4. The retractable type movable frame crane according to claim 3, wherein the lifting part further comprises a lifting motor, a second spool and a second traction wire, the lifting motor is disposed on the top of the outer frame and is in transmission connection with the second spool, one end of the second traction wire is fixedly connected with the second spool, and the other end of the second traction wire is wound around the second spool and extends downwards to be fixedly connected with the outer cradle head.

5. A retractable movable frame crane according to claim 1, wherein the box hooking portion comprises a top plate, side plates and hooks, the top plate is fixedly connected with the guide rail, the upper ends of at least two oppositely arranged side plates are fixedly connected with the top plate, each side plate is provided with the hook, and the hook faces obliquely upward relatively.

6. The retractable type movable frame crane according to claim 5, wherein the box hooking part further comprises a cross bar, the cross bar is fixedly connected with the side plate, and the hook is sleeved on the cross bar and rotatably connected with the cross bar.

7. A retractable type movable frame crane according to claim 6, wherein the box hooking part further comprises a return spring, one end of the return spring is fixedly connected with the side plate, and the other end of the return spring is fixedly connected with the hook.

8. A retractable type movable frame crane according to claim 7, wherein the box hooking portion further comprises a safety rope, one end of the safety rope is fixedly connected with the side plate, and the other end of the safety rope is fixedly connected with the hook.

9. The retractable type movable frame crane according to claim 8, wherein the box hooking portion further comprises a limiting ring, the limiting ring is fixedly sleeved on the cross bar, and two limiting rings are respectively disposed on two sides of the hook for limiting the hook to move along the axis of the cross bar.

10. The retractable type movable frame crane according to claim 1, wherein the outer frame has a protrusion extending in a vertical direction, the outer cradle head has a groove corresponding to the protrusion, and the outer cradle head and the outer frame are slidably connected by the protrusion and the groove.