CN114275689A - Full-electric high-precision crane - Google Patents
Full-electric high-precision crane Download PDFInfo
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- CN114275689A CN114275689A CN202111528656.7A CN202111528656A CN114275689A CN 114275689 A CN114275689 A CN 114275689A CN 202111528656 A CN202111528656 A CN 202111528656A CN 114275689 A CN114275689 A CN 114275689A
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Abstract
The invention discloses a fully-electric high-precision crane, and belongs to the technical field of hoisting equipment. The crane comprises a chassis tool, a pitch angle adjusting assembly and a loading and unloading manipulator, wherein one end of the pitch angle adjusting assembly is connected with the chassis tool through a rotation assembly, and the loading and unloading manipulator is connected with one end, far away from the rotation assembly, of the pitch angle adjusting assembly through a telescopic adjusting assembly. A safe hoisting track can be established, and automatic obstacle avoidance in the process of hoisting the cartridge can be ensured. Compared with a truck-mounted crane, the fully-electric crane realizes the search and type identification of the target object, can realize automatic alignment of the clamping and hoisting cartridge, is intelligent in whole process, does not need manual intervention, saves labor cost and improves working efficiency. The fully-electric crane adopts the planet roller screw pair as the electric cylinder of the transmission element, saves a plurality of complex mechanical structures and greatly improves the transmission efficiency. The control precision of the hoisting operation is greatly improved, and the hoisting operation requirements of weapons such as a cartridge and the like are met.
Description
Technical Field
The invention relates to a fully-electric high-precision crane, and belongs to the technical field of hoisting equipment.
Background
Between airports, docks, warehouses and transportation vehicles, it is often necessary to load, unload, transfer and reload goods. At present, the loading and unloading operation of goods is mainly realized on a freight wharf through large-scale hoisting machinery such as a bridge crane, a tower crane and the like; the loading and unloading and the transfer of the loaded goods are realized mainly through a special carrying platform and a carrying vehicle in an airport; the warehouse is generally internally provided with traveling cranes and stacking equipment for loading, stacking and warehousing operations of goods; the cargo loading, unloading and transferring among the cargo distribution points mainly adopts a vehicle-mounted hoisting system, and the vehicle-mounted hoisting system is an integrated system integrating a crane on an automobile, and is called a vehicle-mounted crane for short. The crane has the characteristics of flexible and simple use and the like, is widely applied to loading and unloading work of box ammunition (cartridge ammunition), plays an important role in the process of guaranteeing a weapon system, and is mainly a hydraulic crane at the present stage. Along with the stricter and stricter requirements of the cartridge weapon equipment on the battle response and the battle preparation time, the requirements on the speed and the accuracy of supporting and guaranteeing the equipment work are higher and higher, and the inherent defects of dead zones, large temperature change of control linearity, complex hydraulic station structure, easy leakage of hydraulic oil and the like of the traditional hydraulically-driven crane can not meet the requirements of the battle gradually.
Chinese patent publication No. CN214570266U discloses a hoisting device convenient to adjust, which comprises a base, a rotating frame and a supporting frame, wherein a supporting box is fixedly connected to the right side of the upper end of the base, the rotating frame penetrates through the supporting box, the rotating frame is rotatably connected with the supporting box, and a driven gear is fixedly connected to the bottom side of the rotating frame. Through setting up third motor, electronic slide rail and first electric jar, can make the clamping frame reach the object upper end of treating the transport, cooperate the second electric jar again, can control the clamping frame, make the clamping frame press from both sides the clamp and get fixedly to the object.
However, the device can only realize simple rotation, translation, lifting and clamping actions, and is difficult to meet the hoisting requirements of the weapon equipment.
Disclosure of Invention
In order to solve the technical problem, the invention provides a fully-electric high-precision crane.
The invention is realized by the following technical scheme:
the utility model provides a full-electric high accuracy loop wheel machine, includes chassis frock, pitch angle regulation assembly and loading and unloading manipulator, the one end of pitch angle regulation assembly is passed through the gyration assembly and is connected with the chassis frock, the loading and unloading manipulator is connected with the one end of keeping away from the gyration assembly on the pitch angle regulation assembly through flexible regulation assembly.
The rotary assembly comprises a base cross beam, an outer tooth type turntable bearing and a rotary driving component, wherein supporting leg electric cylinders are arranged at two ends of the base cross beam;
the rotary driving assembly comprises a worm gear speed reducer A, a planetary speed reducer and a servo motor, the worm gear speed reducer A is installed on the base cross beam, an output shaft of the worm gear speed reducer A is in gear transmission with an outer ring of the outer gear type turntable bearing, and the servo motor is in gear transmission with the worm gear speed reducer A through the planetary speed reducer.
The pitch angle adjusting assembly comprises a vertical arm and a swing arm, the vertical arm is arranged on the rotation assembly, one end of the swing arm is movably connected with one end of the vertical arm, the other end of the swing arm is movably connected with the telescopic adjusting assembly, one end of the vertical arm, which is close to the rotation assembly, is movably connected with the middle part of the swing arm through two sets of variable-amplitude electric cylinders which are arranged side by side, the middle part of the swing arm is movably connected with the telescopic adjusting assembly through two sets of variable-amplitude electric cylinders which are arranged side by side and a connecting frame A, and rotary encoders are arranged at the movable connecting points of the swing arm, the vertical arm, the swing arm and the telescopic adjusting assembly.
The telescopic adjusting assembly comprises a combined telescopic arm and a variable-amplitude three-electric cylinder, the variable-amplitude three-electric cylinder is movably connected with one end of the combined telescopic arm, which is far away from the pitch angle adjusting assembly, through two connecting frames B, and the variable-amplitude three-electric cylinder and the connecting frame B are movably connected with the loading and unloading manipulator;
the combined telescopic boom comprises a basic boom, a first telescopic boom and a second telescopic boom, wherein the first telescopic boom is positioned on the inner side of the basic boom and is connected with the basic boom in a sliding manner, the first telescopic boom is also connected with the basic boom through an electric cylinder of a section of boom, the second telescopic boom is positioned on the inner side of the first telescopic boom and is connected with the first telescopic boom in a sliding manner, the second telescopic boom is connected with the basic boom through an electric cylinder of a section of boom, a pull rope displacement sensor is arranged on the basic boom, and the pull rope displacement sensor is connected with one end, far away from the first telescopic boom, of the second telescopic boom.
The loading and unloading manipulator comprises a posture adjusting holder and a lifting appliance, the top of the posture adjusting holder is movably connected with the telescopic adjusting assembly, and the lifting appliance is arranged at the bottom of the posture adjusting holder.
The posture adjusting cradle head comprises a lifting platform, a transverse platform, a longitudinal platform and a lower platform which are sequentially arranged from top to bottom, wherein the transverse platform is connected with the bottom of the lifting platform through a rotary mechanism, the longitudinal platform is movably connected with the bottom of the transverse platform and is connected with the transverse platform through a spiral lifter B, and the lower platform is movably connected with the bottom of the longitudinal platform and is connected with the longitudinal platform through a spiral lifter A.
The slewing mechanism comprises an outer-tooth-type worm and gear turntable bearing and a direct current motor A, the inner ring of the outer-tooth-type worm and gear turntable bearing is connected with a lifting platform, the outer ring of the outer-tooth-type worm and gear turntable bearing is connected with a transverse platform, the direct current motor A is arranged on the outer-tooth-type worm and gear turntable bearing and is connected with the worm input end in the outer-tooth-type worm and gear turntable bearing, the lifting platform is rotatably connected with a telescopic adjusting assembly through a pin shaft A and a pin shaft B, a longitudinal platform is rotatably connected with the transverse platform through a pin shaft C, a lower platform is rotatably connected with the longitudinal platform through a pin shaft D, and the pin shaft A, the pin shaft B and the pin shaft D are arranged in parallel and are perpendicular to the pin shaft C.
The lifting appliance comprises a mounting platform and a fixing frame, the fixing frame is located below the mounting platform, the fixing frame is connected with the mounting platform through a lifting driving mechanism and is movably connected with the bottom of the mounting platform through a plurality of anti-falling assemblies, and clamping mechanisms are arranged at two ends of the fixing frame.
The lifting driving mechanism comprises a worm and gear speed reducer B and two sets of synchronous reversing assemblies, the worm and gear speed reducer B is arranged at the top of the mounting platform, a synchronous lifting motor is arranged on the worm and gear speed reducer B, the two sets of synchronous reversing assemblies are arranged on the mounting platform side by side and are connected with two ends of an output shaft of the worm and gear speed reducer B in a one-to-one correspondence manner, two ends of each synchronous reversing assembly are connected with the fixed frame through a rope, the rope bypasses a fixed pulley arranged on the mounting platform, each synchronous reversing assembly comprises a gear reverser, one end of the output shaft of the gear reverser is provided with a left-handed trapezoidal screw rod, the other end of the output shaft of the gear reverser is provided with a right-handed trapezoidal screw rod, screw nuts are sleeved on the left-handed trapezoidal screw rod and the right-handed trapezoidal screw rod, and are connected with the mounting platform in a sliding manner and are connected with the fixed frame through the ropes;
the anti-falling assembly comprises an anti-falling rod and a limiting rod, one end of the anti-falling rod is movably connected with the bottom of the mounting platform through a ball head, the other end of the anti-falling rod penetrates through the fixing frame, the anti-falling rod is provided with a long-drawing hole, the limiting rod is positioned on the inner side of the long-drawing hole, and the two ends of the limiting rod are connected with the fixing frame;
clamping mechanism includes support frame and speed reducer, and the speed reducer is established on the support frame, is equipped with direct current motor B on the speed reducer, and the one end of speed reducer output shaft is equipped with the left-handed screw rod, and the other end is equipped with the dextrorotation screw rod, all overlaps on left-handed screw rod and the dextrorotation screw rod and is equipped with the jack catch, and jack catch and support frame sliding connection.
The lifting appliance further comprises a plurality of positioning guide mechanisms, each positioning guide mechanism comprises a barrel body, a sliding block and a guide groove block, one end of each barrel body is connected with the bottom of the mounting platform through a cushion block B, a cushion block A is connected with the bottom of the mounting platform, the sliding block is located on the inner side of the barrel body and is in sliding connection with the barrel body, one end of the sliding block is connected with the cushion block B through a spring, the other end of the sliding block is detachably connected with a conical guide head, the guide groove blocks are arranged at the top of the fixing frame, the top of each guide groove block is provided with a conical guide groove, the conical guide grooves and the conical guide head are coaxially arranged, a plurality of buffering support rods are arranged at the positions corresponding to the mounting platform at the top of the fixing frame, and a machine vision system is arranged on the fixing frame.
The invention has the beneficial effects that:
1. a safe hoisting track can be established, and automatic obstacle avoidance in the process of hoisting the cartridge can be ensured.
2. Compared with a truck-mounted crane, the fully-electric crane realizes the search and type identification of the target object, can realize automatic alignment of the clamping and hoisting cartridge, is intelligent in whole process, does not need manual intervention, saves labor cost and improves working efficiency.
3. The fully-electric crane adopts the planet roller screw pair as the electric cylinder of the transmission element, thus saving a plurality of complex mechanical structures and greatly improving the transmission efficiency; the transmission efficiency can reach more than 90%, and the transmission efficiency of the hydraulic cylinder and the air cylinder does not exceed 50% generally.
4. The electric cylinder is driven by the servo motor, so that the control precision of hoisting operation is greatly improved, and the hoisting operation requirements of weapons such as a cartridge and the like are met.
5. The electronic jar of landing leg extension and ground contact transversely form the support to the loop wheel machine, avoid the loop wheel machine to topple.
6. The longitudinal platform transverse rolling motion and the lower platform pitching motion are used for finely adjusting the longitudinal pose and the transverse pose of the lifting appliance to enable the clamping jaws to be quickly aligned with the lifting lugs on the cartridge bomb, so that the clamping mechanism can quickly clamp the cartridge bomb lifting lugs, and adjusting each space pose angle of the lifting appliance in the lifting process to realize that the lower platform is always parallel to the ground in the lifting process, namely the cartridge bomb is parallel to the ground, so that the risk that the cartridge bomb collides with other objects is reduced, and the lifting safety of the cartridge bomb is improved.
7. The horizontal platform can realize 360 gyrations, firstly, the lifting appliance can lift the cylinder bomb placed in each position, secondly, the platform is vertically kept consistent with the longitudinal position of the chassis tool all the time in the lifting process, namely, the cylinder bomb is vertically kept consistent with the chassis tool, and the overturning of the crane is avoided.
8. The spiral lifter is adopted to adjust the rotation angles of the longitudinal platform and the lower platform, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of the screw rod is utilized to ensure the angle adjustment precision; in addition, the pose of the lifting appliance and the cartridge is adjusted through the pose adjusting cradle head, so that the cartridge can be aligned with the loading position on the carrier, and the lifting efficiency of the cartridge is greatly improved.
9. The anticreep subassembly can ensure under the cracked condition of rope that the mount still can reliably be connected with mounting platform, prevents to appear mount and section of thick bamboo bullet and drop subaerial dangerous condition because of the rope fracture.
10. The lifting appliance has a rigid-flexible conversion function, and during flexible connection, the posture of the lifting appliance is conveniently adjusted by the posture adjusting holder so that the clamping mechanism clamps the lifting lugs on the drum bullets; the cylinder bomb can be prevented from shaking greatly in the hoisting moving process during rigid connection, so that safe hoisting is realized.
11. The multi-degree-of-freedom coupling control and adjustment of the lifting appliance are realized, and the lifting requirements of the cartridge bullets placed in different directions and different inclination angles are met.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic view of a swing assembly of the present invention;
FIG. 4 is a front view of the telescoping adjustment assembly of the present invention;
FIG. 5 is a schematic top view of the structure of FIG. 4;
FIG. 6 is a schematic view of the main structure of the attitude adjusting head according to the present invention;
FIG. 7 is a schematic top view of the structure of FIG. 6;
FIG. 8 is a left side view of the structure of FIG. 6;
FIG. 9 is a schematic structural diagram of an external gear worm turntable bearing according to the present invention;
fig. 10 is a front view schematic diagram of a spreader of the present invention;
FIG. 11 is a schematic top view of the structure of FIG. 10;
FIG. 12 is a left side view of the structure of FIG. 10;
FIG. 13 is an enlarged partial schematic view of FIG. 10 at I;
FIG. 14 is a schematic view of the internal structure of the clamping mechanism of the present invention;
FIG. 15 is a schematic top view of the structure of FIG. 14;
FIG. 16 is a schematic view of a hoisting pose main view structure of the present invention;
fig. 17 is a schematic top view of the structure of fig. 16.
In the figure: 1-chassis tool, 2-electric control system, 3-rotation assembly, 30-base beam, 31-external tooth type turntable bearing, 32-worm gear reducer A, 33-planetary reducer, 34-servo motor, 35-landing leg electric cylinder, 4-vertical arm, 5-amplitude-changing one electric cylinder, 6-swing arm, 7-amplitude-changing two electric cylinders, 8-telescopic adjustment assembly, 80-basic arm, 81-one-pitch arm electric cylinder, 82-first telescopic arm, 83-two-pitch arm electric cylinder, 84-second telescopic arm, 85-amplitude-changing three electric cylinders, 86-pull rope displacement sensor, 9-loading and unloading manipulator, 10-attitude adjustment platform, 100-lifting platform, 101-external tooth type worm gear turntable bearing, 102-direct current motor A, 103-longitudinal platform, 104-lower platform, 105-spiral elevators A, 106-transverse platform, 107-spiral elevator B, 11-installation platform, 12-lifting driving mechanism, 120-synchronous lifting motor, 121-synchronous reversing component, 122-rope, 123-fixed pulley, 13-clamping mechanism, 130-support frame, 131-left-handed screw, 132-speed reducer, 133-right-handed screw, 134-claw, 135-direct current motor B, 14-fixing frame, 15-anti-drop component, 16-machine vision system, 17-buffer support rod, 18-positioning guide mechanism, 180-cushion block A, 181-cushion block B, 182-spring, 183-barrel, 184-slider, 185-conical guide head, 186-guide groove block.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
As shown in fig. 1 to 17, the fully-electric high-precision crane provided by the invention comprises a chassis tool 1, a pitch angle adjusting assembly and a loading and unloading manipulator 9, wherein one end of the pitch angle adjusting assembly is connected with the chassis tool 1 through a rotation assembly 3, and the loading and unloading manipulator 9 is connected with one end, far away from the rotation assembly 3, of the pitch angle adjusting assembly through a telescopic adjusting assembly 8.
The slewing assembly 3 comprises a base cross beam 30, an outer tooth type turntable bearing 31 and a slewing drive component, wherein supporting leg electric cylinders 35 are mounted at two ends of the base cross beam 30, the outer tooth type turntable bearing 31 is mounted in the middle of the base cross beam 30, the inner ring of the outer tooth type turntable bearing 31 is fixedly connected with the base cross beam 30, the outer ring of the outer tooth type turntable bearing is connected with the pitch angle adjusting assembly, and the slewing drive component is mounted on the base cross beam 30 and can drive the outer ring of the outer tooth type turntable bearing 31 to rotate forward and backward;
the rotary driving assembly comprises a worm gear speed reducer A32, a planetary speed reducer 33 and a servo motor 34, the worm gear speed reducer A32 is installed on the base cross beam 30, an output shaft of the worm gear speed reducer A32 is in transmission with an outer ring gear of the outer tooth type turntable bearing 31, and the servo motor 34 is in transmission with the worm gear speed reducer A32 through the planetary speed reducer 33. When the support leg electric cylinder 35 is used, the support leg electric cylinder extends to be in contact with the ground, so that the support is transversely formed on the crane, and the crane is prevented from overturning. The servo motor 34 drives the external tooth type turntable bearing 31 to rotate forwards or backwards through the planetary speed reducer 33, the worm gear speed reducer A32 and the gear to form three-stage transmission, and the vertical arm 4 rotates in a two-way 360-degree mode.
The angle of pitch is adjusted the assembly and is included standing arm 4 and swing arm 6, stand arm 4 and install on gyration assembly 3, the one end of swing arm 6 is rotated with the one end of standing arm 4 and is connected, the other end rotates with flexible regulation assembly 8 to be connected, the one end that is close to gyration assembly 3 on standing arm 4 rotates with the middle part of swing arm 6 through two sets of one electronic jar 5 of the width of cloth that become that arrange side by side, the middle part of swing arm 6 rotates with flexible regulation assembly 8 through two sets of two electronic jars 7 of the width of cloth that become that arrange side by side and link A and is connected, swing arm 6 and standing arm 4, swing arm 6 all installs rotary encoder with flexible regulation assembly 8's rotation junction. When the telescopic adjusting assembly is used, the connecting point of the swing arm 6 and the telescopic adjusting assembly 8, the connecting point of the variable-amplitude two electric cylinder 7 and the telescopic adjusting assembly 8 and the connecting point of the variable-amplitude two electric cylinder 7 and the swing arm 6 are not on the same straight line, namely the three points are arranged in a triangle, so that the telescopic adjusting assembly 8 can reliably rotate relative to the swing arm 6. Adjust the turned angle of the relative vertical arm 4 of swing arm 6 through becoming width of cloth one electronic jar 5, adjust the turned angle of the relative swing arm 6 of flexible regulation assembly 8 through becoming width of cloth two electronic jar 7, can make flexible regulation assembly 8 be pitching motion, make loading and unloading manipulator 9 realize going up and down, be convenient for snatch a section of thick bamboo bullet, and become width of cloth one electronic jar 5, become width of cloth two electronic jar 7 and all adopt the double-cylinder, improved the stability that flexible regulation assembly 8 every single move and loading and unloading manipulator 9 go up and down. The relative rotation angle of the rotation connection point is detected through the rotary encoder.
The telescopic adjusting assembly 8 comprises a combined telescopic boom and a variable-amplitude three electric cylinder 85, the variable-amplitude three electric cylinder 85 is movably connected with one end, far away from the pitch angle adjusting assembly, of the combined telescopic boom through two connecting frames B, and the variable-amplitude three electric cylinder 85 and the connecting frame B are both movably connected with the loading and unloading manipulator 9. As shown in fig. 1, the connecting frame B is triangular, a first angular point is fixedly connected with the combined telescopic boom, a second angular point is rotatably connected with the cylinder body of the variable-amplitude three electric cylinder 85, and a third angular point is rotatably connected with the loading and unloading manipulator 9. The amplitude-variable three electric cylinders 85 can drive the loading and unloading manipulator 9 to rotate for a certain angle.
The combined telescopic boom comprises a basic boom 80, a first telescopic boom 82 and a second telescopic boom 84, wherein the first telescopic boom 82 is located on the inner side of the basic boom 80 and is in sliding connection with the basic boom 80, the first telescopic boom 82 is further connected with the basic boom 80 through an arm electric cylinder 81, the second telescopic boom 84 is located on the inner side of the first telescopic boom 82 and is in sliding connection with the first telescopic boom 82, the second telescopic boom 84 is connected with the basic boom 80 through an arm electric cylinder 83, a pull rope displacement sensor 86 is mounted on the basic boom 80, and the pull rope displacement sensor 86 is connected with one end, far away from the first telescopic boom 82, of the second telescopic boom 84. The combined telescopic boom is made to stretch through the one-section boom electric cylinder 81 and the two-section boom electric cylinder 83 so as to adjust the total length of the combined telescopic boom and meet the hoisting operation requirements of different distance units.
The loading and unloading manipulator 9 comprises a posture adjusting cloud platform 10 and a lifting appliance, the top of the posture adjusting cloud platform 10 is movably connected with the telescopic adjusting assembly 8, and the lifting appliance is installed at the bottom of the posture adjusting cloud platform 10.
The posture adjusting holder 10 comprises a lifting platform 100, a transverse platform 106, a longitudinal platform 103 and a lower platform 104 which are sequentially arranged from top to bottom, wherein the transverse platform 106 is connected with the bottom of the lifting platform 100 through a swing mechanism, the longitudinal platform 103 is movably connected with the bottom of the transverse platform 106 and is connected with the transverse platform 106 through a spiral lifter B107, and the lower platform 104 is movably connected with the bottom of the longitudinal platform 103 and is connected with the longitudinal platform 103 through a spiral lifter A105. The rotation angles of the longitudinal platform 103 and the lower platform 104 are adjusted by adopting a spiral lifter, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of the screw rod is utilized to ensure the angle adjustment precision. In addition, the pose of the lifting appliance and the cartridge bomb is adjusted through the pose adjusting cradle head 10, so that the cartridge bomb can be aligned with the loading position on a carrier (such as an automobile), and the lifting efficiency of the cartridge bomb is greatly improved.
The slewing mechanism comprises an outer-tooth-type worm and gear turntable bearing 101 and a direct current motor A102, wherein the inner ring of the outer-tooth-type worm and gear turntable bearing 101 is connected with a lifting platform 100, the outer ring of the outer-tooth-type worm and gear turntable bearing 101 is connected with a transverse platform 106, the direct current motor A102 is installed on the outer-tooth-type worm and gear turntable bearing 101 and is connected with the worm input end in the outer-tooth-type worm and gear turntable bearing 101, the lifting platform 100 is rotatably connected with a telescopic adjusting assembly 8 through a pin shaft A and a pin shaft B, a longitudinal platform 103 is rotatably connected with the transverse platform 106 through a pin shaft C, a lower platform 104 is rotatably connected with the longitudinal platform 103 through a pin shaft D, and the pin shaft A, the pin shaft B and the pin shaft D are arranged in parallel and are perpendicular to the pin shaft C. In use, screw lifts a105 and B107 are both driven by dc motors. The longitudinal platform 103 is driven to rotate around a pin shaft C by a spiral lifter B107, namely, the transverse rolling motion is carried out, and the transverse rolling angle is +/-3 degrees; the lower platform 104 is driven by the spiral lifter a105 to rotate around the pin D, i.e., to perform pitching motion, and the pitching angle is ± 3 °. Firstly, finely tune the vertical and horizontal position appearance of hoist, make jack catch 134 can be adjusted well with the lug on the section of thick bamboo bullet fast to clamping mechanism 13 presss from both sides a section of thick bamboo bullet lug fast, secondly adjust each space gesture angle of hoist at the hoist and mount in-process, realize that lower platform 104 is parallel with ground all the time at the hoist and mount in-process, and a section of thick bamboo bullet keeps parallel with ground promptly, has reduced the risk that a section of thick bamboo bullet collided other objects, has improved the security of a section of thick bamboo bullet hoist and mount simultaneously. The rotation angles of the longitudinal platform 103 and the lower platform 104 are adjusted by adopting a spiral lifter, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of the screw rod is utilized to ensure the angle adjustment precision. In addition, the pose of the lifting appliance and the cartridge bomb is adjusted through the pose adjusting cradle head 10, so that the cartridge bomb can be aligned with the loading position on a carrier (such as an automobile), and the lifting efficiency of the cartridge bomb is greatly improved. Under the driving of the direct current motor A102, the transverse platform 106 can rotate 360 degrees, so that the hoisting requirements of the hoisting tool on the cartridge bullets placed in all directions are met, and the lower platform 104 is longitudinally and always consistent with the longitudinal direction of the chassis tool 1 in the hoisting process, namely the cartridge bullets are longitudinally consistent with the chassis tool 1, and the overturning of the hoisting machine is avoided.
The lifting appliance comprises a mounting platform 11 and a fixing frame 14, wherein the fixing frame 14 is located below the mounting platform 11, the fixing frame 14 is connected with the mounting platform 11 through a lifting driving mechanism 12 and is movably connected with the bottom of the mounting platform 11 through a plurality of anti-falling assemblies 15, and clamping mechanisms 13 are mounted at two ends of the fixing frame 14. In use, the mounting platform 11 is attached to the bottom of the lower platform 104.
The lifting driving mechanism 12 comprises a worm gear speed reducer B and two sets of synchronous reversing assemblies 121, the worm gear speed reducer B is arranged at the top of the mounting platform 11, a synchronous lifting motor 120 is arranged on the worm gear speed reducer B, the two sets of synchronous reversing assemblies 121 are arranged on the mounting platform 11 side by side, and are connected with the two ends of the output shaft of the worm gear speed reducer B in a one-to-one correspondence manner, the two ends of the synchronous reversing assembly 121 are both connected with the fixed frame 14 through ropes 122, and the rope 122 bypasses the fixed pulley 123 installed on the mounting platform 11, the synchronous reversing assembly 121 comprises a gear reverser, one end of an output shaft of the gear reverser is provided with a left-handed trapezoidal screw, the other end of the output shaft of the gear reverser is provided with a right-handed trapezoidal screw, the left-handed trapezoidal screw and the right-handed trapezoidal screw are respectively sleeved with a screw nut, and the screw nuts are slidably connected with the mounting platform 11 and are connected with the fixed frame 14 through the rope 122. When the gear reverser is used, a pair of mutually meshed bevel gears is installed in the gear reverser, one bevel gear is sleeved in the middle of the output shaft, the other bevel gear is sleeved on the input shaft, and the input shaft is connected with the end part of the output shaft of the worm gear reducer B through a coupler; the synchronous lifting motor 120 drives the left-handed trapezoidal screw and the right-handed trapezoidal screw to synchronously rotate forwards or reversely through the worm gear speed reducer B and the synchronous reversing assembly 121, so that two screw nuts in the same synchronous reversing assembly 121 move towards or away from each other at the same time, and the fixing frame 14 and the clamping mechanism 13 are driven to move up and down through the rope 122.
The anti-falling assembly 15 comprises an anti-falling rod and a limiting rod, one end of the anti-falling rod is movably connected with the bottom of the mounting platform 11 through a ball head, the other end of the anti-falling rod penetrates through the fixing frame 14, an elongated hole is formed in the anti-falling rod, the limiting rod is located on the inner side of the elongated hole, and two ends of the limiting rod are connected with the fixing frame 14; when using, the equipartition has four anticreep subassemblies 15 between mounting platform 11 and the mount 14, and anticreep subassembly 15 can ensure that mount 14 still can reliably be connected with mounting platform 11 under the cracked condition of rope 122, prevents to appear mount 14 and a section of thick bamboo bullet because of the rope 122 fracture and drop subaerial dangerous situation.
The clamping mechanism 13 comprises a support frame 130 and a speed reducer 132, the speed reducer 132 is installed on the support frame 130, a direct current motor B135 is installed on the speed reducer 132, a left-handed screw 131 is installed at one end of an output shaft of the speed reducer 132, a right-handed screw 133 is installed at the other end of the output shaft of the speed reducer 132, clamping jaws 134 are sleeved on the left-handed screw 131 and the right-handed screw 133, and the clamping jaws 134 are connected with the support frame 130 in a sliding mode. When the clamping mechanism is used, the two clamping jaws 134 in the clamping mechanism 13 are symmetrically arranged, the direct current motor B135 drives the left-handed screw 131 and the right-handed screw 133 to synchronously rotate forwards or reversely through the speed reducer 132, so that the two clamping jaws 134 move towards the direction close to or away from each other at the same time to lock or loosen the cylinder elastic lifting lug, the threads have a self-locking function, and the clamping jaws 134 can reliably clamp the lifting lug. The jaws 134 are J-shaped, and the two jaws 134 in the same clamping mechanism 13 are symmetrically arranged.
The lifting appliance further comprises four groups of positioning guide mechanisms 18, each positioning guide mechanism 18 comprises a cylinder body 183, a sliding block 184 and a guide groove block 186, one end of each cylinder body 183 is connected with the bottom of the mounting platform 11 through a cushion block B181 and a cushion block A180, each sliding block 184 is located on the inner side of the corresponding cylinder body 183 and is in sliding connection with the corresponding cylinder body 183, one end of each sliding block 184 is connected with the corresponding cushion block B181 through a spring 182, the other end of each sliding block 184 is detachably connected with a conical guide head 185, each guide groove block 186 is mounted at the top of the corresponding fixing frame 14, each conical guide groove is machined at the top of the corresponding guide groove block 186 and is coaxially arranged with the corresponding conical guide head 185, a plurality of buffer support rods 17 are mounted at the top of the corresponding mounting platform 11, and a machine vision system 16 is mounted on the corresponding fixing frame 14. When in use, the shape and the size of the conical guide groove are matched with those of the conical guide head 185, the positioning guide mechanism 18 has a positioning guide effect on the fixed frame 14, and when the conical guide head 185 is contacted with the cylinder 183, the positioning guide mechanism 18 also has a limiting effect on the fixed frame 14, so that the fixed frame 14 is prevented from rotating relative to the mounting platform 11 on a horizontal plane. The buffer support rod 17 can be made of elastic materials such as rubber, and the buffer support rod 17 has mechanical limiting and buffering functions in the ascending process of the fixed frame 14. The machine vision system 16 converts the object to be shot into image signals through a machine vision product (namely, an image shooting device, which is divided into a CMOS (complementary metal oxide semiconductor) and a CCD (charge coupled device)), transmits the image signals to a special image processing system to obtain the form information of the object to be shot, and converts the form information into digital signals according to the information of pixel distribution, brightness, color and the like; the image system performs various operations on the signals to extract the features of the target, and then controls the on-site device action according to the result of the discrimination, and the machine vision system 16 is the prior art and is not described herein again. The lifting appliance has a rigid-flexible conversion function, when the conical guide head 185 is positioned above the cylinder 183, the fixed frame 14 is movable relative to the mounting platform 11, namely the fixed frame 14 is flexibly connected with the mounting platform 11, so that the pose is conveniently adjusted to enable the clamping mechanism 13 to clamp a lifting lug on a cylinder bullet; when the conical guide head 185 contacts the cylinder 183, the positioning guide mechanism 18 limits the fixed frame 14, so that the fixed frame and the mounting platform 11 are relatively fixed, the conversion from flexibility to rigidity is completed, and the cylinder bomb is prevented from greatly shaking in the hoisting moving process, so that safe hoisting is realized.
Specifically, the crane further comprises an electric control system 2, and the electric control system 2 is installed on the chassis tool 1 and used for overall control over the crane.
The fully-electric high-precision crane has the following working principle or using process:
the full-electrochemical crane finishes the pose scanning of the cartridge bomb to be hoisted through a machine vision system 16 arranged on a loading and unloading manipulator 9, stores the pose scanning, sets the loading and unloading tasks, automatically plans the ascending, the translating, the descending and other paths of the loading and unloading manipulator 9 through an electric control system 2, calculates the control quantity of each joint according to the inverse kinematics, and controls an electric cylinder or a motor in a rotary assembly 3, a pitch angle adjusting assembly, a telescopic adjusting assembly and the like in the full-electrochemical crane to automatically finish the operations of grabbing and placing the cartridge bomb.
In order to monitor the rotation (or movement) of each joint of the crane, the rotation angle of the rotary joint and the elongation of the movable joint are monitored by arranging a rotary encoder and a pull rope displacement sensor 86, the electric control system 2 acquires joint action information in real time through the sensors and drives each actuating mechanism to complete a multi-freedom-degree coupling control function in a negative feedback mode.
The fully-electric high-precision crane provided by the invention has the beneficial effects that:
1. a safe hoisting track can be established, and automatic obstacle avoidance in the process of hoisting the cartridge can be ensured.
2. Compared with a truck-mounted crane, the fully-electric crane realizes the search and type identification of the target object, can realize automatic alignment of the clamping and hoisting cartridge, is intelligent in whole process, does not need manual intervention, saves labor cost and improves working efficiency.
3. The fully-electric crane adopts the planet roller screw pair as the electric cylinder of the transmission element, thus saving a plurality of complex mechanical structures and greatly improving the transmission efficiency; the transmission efficiency can reach more than 90%, and the transmission efficiency of the hydraulic cylinder and the air cylinder does not exceed 50% generally.
4. The electric cylinder is driven by the servo motor, so that the control precision of hoisting operation is greatly improved, and the hoisting operation requirements of weapons such as a cartridge and the like are met.
5. The electric cylinder 35 of the supporting leg is extended to contact with the ground, so that the crane is transversely supported, and the crane is prevented from overturning.
6. The transverse rolling motion of the longitudinal platform 103 and the pitching motion of the lower platform 104 are used for finely adjusting the longitudinal pose and the transverse pose of the lifting appliance to enable the clamping jaws 134 to be quickly aligned with the lifting lugs on the cartridge bomb, so that the clamping mechanisms 13 can quickly clamp the lifting lugs of the cartridge bomb, and adjusting each space pose angle of the lifting appliance in the lifting process to realize that the lower platform 104 is always parallel to the ground in the lifting process, namely the cartridge bomb is parallel to the ground, so that the risk of collision of the cartridge bomb with other objects is reduced, and the lifting safety of the cartridge bomb is improved.
7. The transverse platform 106 can rotate 360 degrees, so that the lifting appliance can lift the tube bomb placed in each direction, and the lower platform 104 is longitudinally and always consistent with the longitudinal direction of the chassis tool 1 in the lifting process, namely the tube bomb is longitudinally consistent with the chassis tool 1, and the overturning of the crane is avoided.
8. The rotation angles of the longitudinal platform 103 and the lower platform 104 are adjusted by adopting a spiral lifter, so that firstly, stepless angle adjustment can be realized, and secondly, the self-locking capability of a screw rod is utilized to ensure the angle adjustment precision; in addition, the pose of the lifting appliance and the cartridge bomb is adjusted through the pose adjusting cloud deck 10, the cartridge bomb can be aligned with the loading position on the carrier, and the lifting efficiency of the cartridge bomb is greatly improved.
9. The anti-dropping assembly 15 can ensure that the fixing frame 14 can still be reliably connected with the mounting platform 11 under the condition that the rope 122 is broken, and prevent the dangerous condition that the fixing frame 14 and the cylinder bomb fall onto the ground due to the breakage of the rope 122.
10. The lifting appliance has a rigid-flexible conversion function, and during flexible connection, the posture of the lifting appliance is conveniently adjusted by the posture adjusting cradle head 10, so that the clamping mechanism 13 clamps a lifting lug on the barrel bullet; the cylinder bomb can be prevented from shaking greatly in the hoisting moving process during rigid connection, so that safe hoisting is realized.
11. The multi-degree-of-freedom coupling control and adjustment of the lifting appliance are realized, and the lifting requirements of the cartridge bullets placed in different directions and different inclination angles are met.
Claims (10)
1. The utility model provides a full-electric high accuracy loop wheel machine which characterized in that: including chassis frock (1), angle of pitch regulation assembly and loading and unloading manipulator (9), the one end of angle of pitch regulation assembly is passed through gyration assembly (3) and is connected with chassis frock (1), loading and unloading manipulator (9) are connected through flexible one end of adjusting assembly (8) and angle of pitch regulation assembly and keeping away from gyration assembly (3).
2. The fully-electric high-precision crane according to claim 1, characterized in that: the rotary assembly (3) comprises a base cross beam (30), an outer tooth type turntable bearing (31) and a rotary driving component, wherein supporting leg electric cylinders (35) are arranged at two ends of the base cross beam (30), the outer tooth type turntable bearing (31) is arranged in the middle of the base cross beam (30), an inner ring of the outer tooth type turntable bearing is fixedly connected with the base cross beam (30), an outer ring of the outer tooth type turntable bearing is connected with a pitch angle adjusting assembly, and the rotary driving component is arranged on the base cross beam (30) and can drive an outer ring of the outer tooth type turntable bearing (31) to rotate forwards and reversely;
the rotary driving assembly comprises a worm gear speed reducer A (32), a planetary speed reducer (33) and a servo motor (34), the worm gear speed reducer A (32) is installed on the base cross beam (30), an output shaft of the worm gear speed reducer A is in gear transmission with an outer ring of the outer tooth type turntable bearing (31), and the servo motor (34) is in gear transmission with the worm gear speed reducer A (32) through the planetary speed reducer (33).
3. The fully-electric high-precision crane according to claim 1, characterized in that: the pitch angle adjusting assembly comprises a vertical arm (4) and a swing arm (6), the vertical arm (4) is arranged on the rotary assembly (3), one end of the swing arm (6) is movably connected with one end of the vertical arm (4), the other end of the swing arm is movably connected with the telescopic adjusting assembly (8), one end of the vertical arm (4) close to the rotary assembly (3) is movably connected with the middle part of the swing arm (6) through two sets of amplitude-variable one electric cylinders (5) which are arranged side by side, and the middle part of the swing arm (6) is movably connected with the telescopic adjusting assembly (8) through two sets of amplitude-variable two electric cylinders (7) which are arranged side by side and a connecting frame A; rotary encoders are arranged at the movable connection points of the swing arm (6) and the vertical arm (4) and the swing arm (6) and the telescopic adjusting assembly (8).
4. The fully-electric high-precision crane according to claim 1, characterized in that: the telescopic adjusting assembly (8) comprises a combined telescopic arm and a variable-amplitude three electric cylinder (85), the variable-amplitude three electric cylinder (85) is movably connected with one end, far away from the pitch angle adjusting assembly, of the combined telescopic arm through two connecting frames B, and the variable-amplitude three electric cylinder (85) and the connecting frame B are movably connected with the loading and unloading manipulator (9);
the combined telescopic boom comprises a basic boom (80), a first telescopic boom (82) and a second telescopic boom (84), wherein the first telescopic boom (82) is positioned on the inner side of the basic boom (80) and is in sliding connection with the basic boom (80), the first telescopic boom (82) is also connected with the basic boom (80) through a section of boom electric cylinder (81), the second telescopic boom (84) is positioned on the inner side of the first telescopic boom (82) and is in sliding connection with the first telescopic boom (82), and the second telescopic boom (84) is connected with the basic boom (80) through a section of boom electric cylinder (83); the basic arm (80) is provided with a pull rope displacement sensor (86), and the pull rope displacement sensor (86) is connected with one end of the second telescopic arm (84) far away from the first telescopic arm (82).
5. The fully-electric high-precision crane according to claim 1, characterized in that: the loading and unloading manipulator (9) comprises a posture adjusting tripod head (10) and a lifting appliance, the top of the posture adjusting tripod head (10) is movably connected with the telescopic adjusting assembly (8), and the lifting appliance is arranged at the bottom of the posture adjusting tripod head (10).
6. The fully-electric high-precision crane according to claim 5, characterized in that: the posture adjusting holder (10) comprises a lifting platform (100), a transverse platform (106), a longitudinal platform (103) and a lower platform (104) which are sequentially arranged from top to bottom, wherein the transverse platform (106) is connected with the bottom of the lifting platform (100) through a rotary mechanism, the longitudinal platform (103) is movably connected with the bottom of the transverse platform (106) and is connected with the transverse platform (106) through a spiral lifter B (107), and the lower platform (104) is movably connected with the bottom of the longitudinal platform (103) and is connected with the longitudinal platform (103) through a spiral lifter A (105).
7. The fully-electric high-precision crane according to claim 6, characterized in that: the slewing mechanism comprises an outer-tooth type worm gear turntable bearing (101) and a direct current motor A (102), wherein the inner ring of the outer-tooth type worm gear turntable bearing (101) is connected with the hoisting platform (100), the outer ring of the outer-tooth type worm gear turntable bearing is connected with the transverse platform (106), and the direct current motor A (102) is arranged on the outer-tooth type worm gear turntable bearing (101) and is connected with the worm input end in the outer-tooth type worm gear turntable bearing (101); the lifting platform (100) is rotatably connected with the telescopic adjusting assembly (8) through a pin shaft A and a pin shaft B, the longitudinal platform (103) is rotatably connected with the transverse platform (106) through a pin shaft C, the lower platform (104) is rotatably connected with the longitudinal platform (103) through a pin shaft D, and the pin shaft A, the pin shaft B and the pin shaft D are arranged in parallel and are perpendicular to the pin shaft C.
8. The fully-electric high-precision crane according to claim 5, characterized in that: the lifting appliance comprises an installation platform (11) and a fixed frame (14), wherein the fixed frame (14) is located below the installation platform (11), the fixed frame (14) is connected with the installation platform (11) through a lifting driving mechanism (12) and is movably connected with the bottom of the installation platform (11) through a plurality of anti-falling assemblies (15), and clamping mechanisms (13) are arranged at two ends of the fixed frame (14).
9. The fully-electric high-precision crane according to claim 8, characterized in that: the lifting driving mechanism (12) comprises a worm and gear speed reducer B and two sets of synchronous reversing assemblies (121), the worm and gear speed reducer B is arranged at the top of the mounting platform (11), a synchronous lifting motor (120) is arranged on the worm and gear speed reducer B, the two sets of synchronous reversing assemblies (121) are arranged on the mounting platform (11) side by side and are connected with two ends of an output shaft of the worm and gear speed reducer B in a one-to-one correspondence manner, two ends of each synchronous reversing assembly (121) are connected with the fixing frame (14) through ropes (122), and the ropes (122) bypass fixed pulleys (123) arranged on the mounting platform (11); the synchronous reversing assembly (121) comprises a gear reverser, one end of an output shaft of the gear reverser is provided with a left-handed trapezoidal screw rod, the other end of the output shaft of the gear reverser is provided with a right-handed trapezoidal screw rod, screw nuts are respectively sleeved on the left-handed trapezoidal screw rod and the right-handed trapezoidal screw rod, and the screw nuts are connected with the mounting platform (11) in a sliding manner and are connected with the fixed frame (14) through ropes (122);
the anti-falling component (15) comprises an anti-falling rod and a limiting rod, one end of the anti-falling rod is movably connected with the bottom of the mounting platform (11) through a ball head, the other end of the anti-falling rod penetrates through the fixing frame (14), an elongated hole is formed in the anti-falling rod, the limiting rod is located on the inner side of the elongated hole, and two ends of the limiting rod are connected with the fixing frame (14);
clamping mechanism (13) are including support frame (130) and speed reducer (132), and establish on support frame (130) speed reducer (132), are equipped with direct current motor B (135) on speed reducer (132), and the one end of speed reducer (132) output shaft is equipped with left-handed screw (131), and the other end is equipped with dextrorotation screw (133), all overlaps on left-handed screw (131) and dextrorotation screw (133) and is equipped with jack catch (134), and jack catch (134) and support frame (130) sliding connection.
10. The fully-electric high-precision crane according to claim 5, characterized in that: the lifting appliance further comprises a plurality of positioning guide mechanisms (18), each positioning guide mechanism (18) comprises a cylinder body (183), a sliding block (184) and a guide groove block (186), one end of each cylinder body (183) is connected with the bottom of the mounting platform (11) through a cushion block B (181) and a cushion block A (180), each sliding block (184) is located on the inner side of each cylinder body (183) and is in sliding connection with the corresponding cylinder body (183), one end of each sliding block (184) is connected with the corresponding cushion block B (181) through a spring (182), the other end of each sliding block is detachably connected with a conical guide head (185), each guide groove block (186) is arranged at the top of the corresponding fixed frame (14), each conical guide groove is formed in the top of each guide groove block (186), and the conical guide grooves and the conical guide heads (185) are coaxially arranged; the top of the fixed frame (14) is provided with a plurality of buffer supporting rods (17) at the positions corresponding to the mounting platform (11); the fixed frame (14) is provided with a machine vision system (16).
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| CN202111528656.7A CN114275689A (en) | 2021-12-14 | 2021-12-14 | Full-electric high-precision crane |
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| CN202111528656.7A CN114275689A (en) | 2021-12-14 | 2021-12-14 | Full-electric high-precision crane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275674A (en) * | 2021-12-14 | 2022-04-05 | 贵州航天特种车有限责任公司 | Multi freedom transfers appearance hoist device |
| CN115446853A (en) * | 2022-09-08 | 2022-12-09 | 江苏聚力智能机械股份有限公司 | Feeding and discharging manipulator for processing production of upper and lower beams of elevator |
| CN118306911A (en) * | 2024-06-11 | 2024-07-09 | 青岛丰东热工技术有限公司 | Heat treatment workpiece transferring and hoisting equipment |
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Effective date of registration: 20240428 Address after: 563108 golden knife village, duck Town, Zunyi Prefecture, Guizhou Province Applicant after: GUIZHOU AEROSPACE SPECIAL VEHICLE Co.,Ltd. Country or region after: China Applicant after: China Astronautic Automobile Co.,Ltd. Address before: 563100 Jindao village, Yaxi Town, Bozhou District, Zunyi City, Guizhou Province Applicant before: GUIZHOU AEROSPACE SPECIAL VEHICLE Co.,Ltd. Country or region before: China |
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