CN113734968A

CN113734968A - Rotatable low-clearance bridge type carrying crane

Info

Publication number: CN113734968A
Application number: CN202111139326.9A
Authority: CN
Inventors: 刘永刚; 张雷; 孙帆; 张亚杰; 吴海召; 王磊; 刘宗元
Original assignee: Henan Weihua Heavy Machinery Co Ltd
Current assignee: Henan Weihua Heavy Machinery Co Ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2021-12-03

Abstract

A rotatable low-clearance bridge type transfer crane comprises a crane trolley running on a main beam, and is characterized in that: a rotary table which rotates horizontally is arranged on the hoisting trolley, a rotating part of the rotary table is connected with a plurality of sections of telescopic arms, and the plurality of sections of telescopic arms are stretched in the vertical direction under the traction of a winch; the lower end of the multi-section telescopic arm is connected with a material grabbing manipulator. The four degrees of freedom are provided for the material grabbing mechanical arm, the four degrees of freedom enable the material grabbing mechanical arm to grab goods in a motion space, after the material grabbing mechanical arm rotates for a certain angle, the goods are placed in another place, and the orientation problem of goods taking and placing is solved. Because the multi-section telescopic arm has good rigidity and low swinging amount, the accurate positioning of goods taking and placing can be realized. The invention does not need manual assistance, not only reduces the labor cost, but also is beneficial to the unmanned and intelligent bridge type carrying crane.

Description

Rotatable low-clearance bridge type carrying crane

Technical Field

The invention relates to the field of hoisting, in particular to a rotatable low-clearance bridge type carrying crane.

Background

Along with the technological progress, the material handling system gradually develops to unmanned and intelligent ways, and the material handling system is required to have the characteristics of high positioning precision, flexible fetching and the like. Compared with intelligent material handling equipment such as an AGV trolley and a handling robot, the bridge type handling crane has the advantages of large hoisting tonnage, wide coverage area of a handling area, no occupation of ground space, no limitation of material stacking height and the like. The bridge type carrying crane has the defects that most bridge type carrying cranes are only provided with a material grabbing device (grabbing manipulator) on the basis of the traditional hoisting crane, and due to the swinging property of the lifting rope, the defects that the positioning precision is poor, the material grabbing direction cannot be changed and the like are difficult to solve when the materials are taken and placed, and therefore manual assistance is needed during operation. The method not only increases the labor cost, but also does not meet the trend of bridge type carrying cranes toward unmanned and intelligent development.

Disclosure of Invention

In order to overcome the defects in the background art, the invention discloses a rotatable low-clearance bridge type carrying crane, which aims to: the accurate positioning of material taking and placing is realized, and the direction of the material taking and placing is changed.

In order to achieve the purpose, the invention adopts the following technical scheme:

a rotatable low-clearance bridge type transfer crane comprises a crane trolley running on a main beam, and is characterized in that: the hoisting trolley is provided with a rotary disc which rotates horizontally, a rotating part of the rotary disc is connected with a plurality of sections of telescopic arms, the lower ends of the plurality of sections of telescopic arms are connected with a material grabbing manipulator, and the plurality of sections of telescopic arms are stretched in the vertical direction under the traction of a winch.

The technical scheme is further improved, the upper end of the multi-section telescopic arm is connected with an upper frame, and the upper frame is rotatably connected with a trolley frame of the trolley through a turntable bearing.

The technical scheme is further improved, a gear and a rotary driving device for driving the gear to rotate are arranged on the small car frame, and a gear ring meshed with the gear is arranged on the upper frame.

According to the technical scheme, the multi-section telescopic arm comprises a fixed arm and a plurality of telescopic arms, a winch and a balance arm are connected to the fixed arm, a movable pulley block is connected to the telescopic arm at the lowest end, and the winch, the movable pulley block and the balance arm are connected through a steel wire rope.

Further improve technical scheme, be equipped with limit stop at the lower extreme of fixed arm and each flexible arm.

According to the technical scheme, the multi-section telescopic boom is provided with a distance sensor, and the distance sensor is used for measuring the telescopic distance of the multi-section telescopic boom.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

the four degrees of freedom are provided for the material grabbing mechanical arm, the four degrees of freedom enable the material grabbing mechanical arm to grab goods in a motion space, after the material grabbing mechanical arm rotates for a certain angle, the goods are placed in another place, and the orientation problem of goods taking and placing is solved. Because the multi-section telescopic arm has good rigidity and low swinging amount, compared with a lifting mode of a lifting rope, the multi-section telescopic arm can realize the accurate positioning of goods taking and placing. Secondly, the invention has the advantage of low headroom and improves the trafficability.

Compared with the background technology, the invention does not need manual assistance, not only reduces the labor cost, but also is beneficial to the unmanned and intelligent bridge type carrying crane.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a side view of fig. 2.

In the figure: 1. a trolley frame; 2. an upper frame; 3. a rotation driving device; 4. three sections of telescopic arms; 5. a winch; 6. a movable pulley block; 7. a balance arm; 8. a wire rope; 9. grab material manipulator erection joint.

Detailed Description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention. Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

A rotatable low-clearance bridge type transfer crane is shown in figures 1-2 and comprises a crane trolley running on a main beam, a trolley frame 1 of the crane trolley is provided with a turntable bearing capable of horizontally rotating, a rotating part of the turntable bearing is connected with an upper frame 2, and a gear ring is arranged on the upper frame 2. The trolley frame 1 is also provided with a gear and a rotary driving device 3 for driving the gear to rotate, wherein the gear is meshed with the gear ring. The rotary driving device 3 is composed of a motor and a speed reducer, and the motor drives the upper frame 2 to rotate when rotating. Four walking wheels on the trolley frame 1 act with the main beam guide rail to offset the rotating torque of the upper frame 2.

A plurality of telescopic arms are connected to the lower end of the upper frame 2, and in this embodiment, the plurality of telescopic arms are three telescopic arms 4. The three-section telescopic arm 4 is stretched and contracted along the vertical direction under the traction of the winch 5. Specifically, the three-section telescopic arm 4 comprises a fixed arm and two telescopic arms, the cross sections of the fixed arm and the telescopic arms are both rectangular tubular, the cross section area of the fixed arm is largest, and the rigidity is best; the lower section of the telescopic arm has the smallest cross-sectional area and the worst rigidity. In order to limit the telescopic travel of the two telescopic arms, limit stops are arranged at the lower ends of the fixed arm and the telescopic arms.

Two sides of the fixed arm are connected with two groups of windlasses 5 and a group of balance arms 7, a movable pulley block 6 is connected on the telescopic arm at the lowest end, and the windlasses 5, the movable pulley block 6 and the balance arms 7 are connected through a steel wire rope 8, so that the three telescopic arms 4 are stretched in the vertical direction. The fixed ends of the two groups of steel wire ropes 8 are connected with the balance arm 7, and the balance arm 7 is used for enabling the two groups of steel wire ropes 8 to be in a tightening state. The lower end of the lower section of telescopic arm is provided with a material grabbing manipulator mounting joint 9, the material grabbing manipulator mounting joint 9 is used for being connected with a material grabbing manipulator, and the material grabbing manipulator can be a fork, a lifting hook, a clamp and other material grabbing devices. For a warehouse with the height of 10 meters, after the three-section telescopic arm 4 is completely contracted, the material grabbing mechanical arm can pass above a shelf with the height of 5-6 meters. The more the number of the sections of the multi-section telescopic arm is, the larger the passing height of the material grabbing mechanical arm is, and the lower the clearance is.

When the three sections of telescopic arms 4 extend, the winch 5 releases the rope, the lower section of telescopic arm starts to move downwards, and the upper section of telescopic arm also moves downwards under the action of gravity. Because relative movement exists between the upper telescopic arm and the fixed arm, and the lower telescopic arm does not basically move relative to the upper telescopic arm, the whole rigidity is better, and the swinging amount is not large. Along with the increase of the rope releasing amount, the lower telescopic arm starts to move relative to the upper telescopic arm, and the swinging amount tends to increase. Obviously, the opposite extension mode of the fishing rod operation reduces the swinging amount as much as possible when the goods are grabbed and placed downwards, and improves the goods grabbing and placing accuracy. When the three sections of telescopic arms 4 contract, the winch 5 retracts the rope, the lower section of telescopic arm starts to move upwards, the upper section of telescopic arm does not move relative to the fixed arm under the action of gravity, the upper section of telescopic arm starts to move relative to the fixed arm along with the increase of rope retracting amount, the rigidity gradually increases, and the swinging amount gradually decreases. Obviously, the retraction mode opposite to the fishing rod retracting operation reduces the swinging amount as much as possible when the goods are grabbed and placed in a lifting mode, and improves the goods grabbing and placing accuracy.

Therefore, the lifting trolley grabs the goods through the three-section telescopic arm 4, so that the material grabbing manipulator has the moving freedom degree in the Z direction; the rotation of the upper frame 2 relative to the trolley frame 1 enables the material grabbing manipulator to have the freedom degree of rotation along the Z axis; the hoisting trolley transversely moves along the main beam, so that the material grabbing manipulator has X-direction movement freedom; the main beam moves along with the longitudinal movement of the cart, so that the material grabbing manipulator has the moving freedom degree in the Y direction. The four degrees of freedom enable the material grabbing manipulator to grab goods in a motion space, and after the material grabbing manipulator rotates a certain angle, the goods are placed in another place. Because three sections telescopic boom 4 have good rigidity and very low volume of swaying, compare the lift mode of lifting rope, can realize the accurate positioning that goods were put and were put.

In order to meet the trend of unmanned and intelligent development of the bridge type carrying crane, the motor in the rotary driving device 3 can be a servo motor, and the servo motor can enable goods to rotate along the Z axis at a fixed angle. An encoder can also be arranged on the turntable bearing and used for feeding back the rotation angle. Similarly, distance sensors are arranged on the three telescopic arms 4 and used for measuring the telescopic distances of the three telescopic arms 4 so as to control the moving distance of the material grabbing manipulator along the Z direction.

The details of which are not described in the prior art. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A rotatable low-clearance bridge type transfer crane comprises a crane trolley running on a main beam, and is characterized in that: the hoisting trolley is provided with a rotary disc which rotates horizontally, a rotating part of the rotary disc is connected with a plurality of sections of telescopic arms, the lower ends of the plurality of sections of telescopic arms are connected with a material grabbing manipulator, and the plurality of sections of telescopic arms are stretched in the vertical direction under the traction of a winch.

2. A rotatable low overhead bridge handling crane as claimed in claim 1 further comprising: the upper end of the multi-section telescopic arm is connected with an upper frame which is rotationally connected with a trolley frame of the trolley through a turntable bearing.

3. A rotatable low overhead bridge handling crane as claimed in claim 2, wherein: the small rack is provided with a gear and a rotary driving device for driving the gear to rotate, and the upper rack is provided with a gear ring meshed with the gear.

4. A rotatable low overhead bridge handling crane as claimed in claim 1 further comprising: the multi-section telescopic arm comprises a fixed arm and a plurality of telescopic arms, a winch and a balance arm are connected to the fixed arm, a movable pulley block is connected to the telescopic arm at the lowest end, and the winch, the movable pulley block and the balance arm are connected through a steel wire rope.

5. The rotatable low overhead bridge handling crane of claim 4 further comprising: and limit stops are arranged at the lower ends of the fixed arm and each telescopic arm.

6. A rotatable low overhead bridge handling crane as claimed in claim 1 further comprising: the multi-section telescopic boom is provided with a distance sensor, and the distance sensor is used for measuring the telescopic distance of the multi-section telescopic boom.