WO2022095228A1 - 一种带有自动摘挂装置的无人起重机及其操作方法 - Google Patents

一种带有自动摘挂装置的无人起重机及其操作方法 Download PDF

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Publication number
WO2022095228A1
WO2022095228A1 PCT/CN2020/136408 CN2020136408W WO2022095228A1 WO 2022095228 A1 WO2022095228 A1 WO 2022095228A1 CN 2020136408 W CN2020136408 W CN 2020136408W WO 2022095228 A1 WO2022095228 A1 WO 2022095228A1
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WIPO (PCT)
Prior art keywords
load
trolley
ground
guide
frame
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PCT/CN2020/136408
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English (en)
French (fr)
Inventor
孙秀军
李文杰
吴庆祺
吴刚
蔡昌伟
韩成军
王润龙
Original Assignee
大连华锐重工起重机有限公司
大连华锐重工集团股份有限公司
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Priority claimed from CN202011232610.6A external-priority patent/CN112225082B/zh
Priority claimed from CN202022557278.2U external-priority patent/CN213445862U/zh
Application filed by 大连华锐重工起重机有限公司, 大连华锐重工集团股份有限公司 filed Critical 大连华锐重工起重机有限公司
Priority to EP20960685.4A priority Critical patent/EP4242161A4/en
Publication of WO2022095228A1 publication Critical patent/WO2022095228A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/34—Crane hooks
    • B66C1/38—Crane hooks adapted for automatic disengagement from loads on release of cable tensions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions

Definitions

  • the invention relates to the technical field of cranes, in particular to an unmanned crane with an automatic pick-up and hang-off device and an operation method thereof.
  • the hoisting mechanism of the existing similar cranes is mostly a flexible system.
  • the swing of the spreader during the lifting and braking process of the crane and the unbalanced center of gravity of the spreader have a great disturbance on the hooking action between the crane and the load. It is difficult to achieve accurate hooking, especially in the unmanned state, the effect is even less ideal;
  • an unmanned crane with an automatic lifting device and an operation method thereof are provided.
  • the invention mainly realizes the function of automatic loading and unloading of the unmanned crane through the joint action of the rigid frame of the hoisting trolley, the device with automatic lifting function and the ground frame, and at the same time ensures high reliability. and security.
  • the technical means adopted in the present invention are as follows:
  • An unmanned crane with an automatic lifting and hanging device includes a rigid guide trolley, a ground auxiliary frame and a ground load conveying device, the rigid guide trolley can be laterally displaced along the bridge, and the rigid guide trolley is connected with a A hoisting mechanism in which the load has no horizontal displacement during the lifting process, the bottom end of the hoisting mechanism is provided with an automatic picking and hanging device, the ground auxiliary frame is rigidly connected to the ground, the automatic picking and hanging device includes a guide wheel, the guide The bottom of the trolley is rigidly connected with a first guide rail matching the guide wheel, and the ground auxiliary frame is provided with a second guide rail matching the guide wheel.
  • the hoisting mechanism includes a transmission mechanism, a drum, a wire rope and a pulley lifting mechanism, the transmission mechanism is connected to the drum, the wire rope is wound on the drum, and the two ends of the wire rope respectively bypass different
  • the pulley lifting mechanism is fixed afterward, and two lifting points are formed by winding.
  • the hoisting mechanism forms 4 multi-suspension-point hoisting systems of n times by winding the wire rope.
  • the pulley lifting mechanism includes at least two fixed pulleys and movable pulleys matching the number thereof, the two fixed pulleys are fixed on the upper surface of the trolley, and the tail end of the wire rope bypassing the pulley lifting mechanism is fixedly connected to the balance of the lifting mechanism. on the arm.
  • the transmission mechanism includes an electric motor, a brake and a reducer connected in sequence, the electric motor is connected with the brake through a transmission shaft and a high-speed shaft coupling, and the brake is connected with the reducer through the brake coupling, so The reducer is connected to the drum through a low-speed shaft coupling.
  • the lifting and hanging device includes a support structure hinged with the movable pulley, the support structure is provided with a plate hook and a plate hook opening and closing device connected with it for controlling its opening and closing, and the guide wheel is arranged on the support structure. superior.
  • first guide rail at the bottom of the guide trolley is supported by its outer frame
  • second guide rail is supported by its outer ground auxiliary frame
  • An operation method of an unmanned crane with an automatic lifting device comprising the following steps:
  • the unmanned crane runs to the designated position above the ground frame with the assistance of the positioning system;
  • the automatic lifting device descends to the ground frame, the guide wheel descends to the specified height along the second guide rail and stops, and the opening and closing mechanism on the automatic lifting device acts to keep the hook in the open state and then stand by;
  • the load conveying device conveys the load to the ground auxiliary frame, and through the positioning device between the two, the load is accurately stopped at the designated position and locked;
  • the action of the opening and closing mechanism on the automatic lifting and hanging device makes the plate hook close to complete the closing action of the hook and complete the loading of the load;
  • the spreader rises to the rigid guide frame of the unmanned crane, and the guide wheel rises to the specified height along the first guide rail and stops;
  • the rigid trolley moves along the bridge to deliver the load to the designated position.
  • the present invention can realize the function of automatic loading and unloading of the unmanned crane through the joint action of the automatic lifting device of the lifting mechanism, the rigid frame of the trolley and the ground frame.
  • the whole system has no horizontal displacement during the lifting and lowering of the spreader, and has High reliability and security.
  • it realizes the unmanned and automatic lifting of liquid metal or other high-dangerous load cranes.
  • the equipment is simple in structure, light in weight and large in operating range.
  • Fig. 1 is the schematic diagram of the whole unmanned crane of the present invention
  • Fig. 2 is a schematic diagram of a crane hoisting mechanism of the present invention, in which (a) is a front view, (b) is a side view, and (c) is a top view.
  • Fig. 3 is a schematic diagram of the wire rope winding of the crane hoisting mechanism of the present invention.
  • FIG. 4 is a schematic diagram of the rigid guide frame of the present invention.
  • FIG. 5 is a schematic diagram of the automatic picking and hanging device of the present invention.
  • FIG. 6 is a schematic diagram of the plate hook opening and closing device in the automatic lifting and hanging device of the present invention.
  • FIG. 7 is a schematic diagram of the operation method of the unmanned crane of the present invention, wherein (a) is the state of the crane in place; (b) is the state of the spreader in place; (c) is the state of the load in place; (d) is the state of the load lifting; (e) ) is the load moving state.
  • the present embodiment discloses an unmanned crane with an automatic lifting and hanging device, including a rigid guide trolley 1, a ground auxiliary frame 5 and a ground load conveying device 6.
  • the main beam of the bridge frame 2 adopts The off-track box girder;
  • the crane operating mechanism 3 is provided with a horizontal guide wheel;
  • the rigid guide trolley can laterally displace along the bridge 2, and the rigid guide trolley is connected with a load that has no horizontal displacement during the lifting process.
  • Lifting mechanism, the bottom end of the lifting mechanism is provided with a pick-and-hang mechanism 4,
  • the ground auxiliary frame is rigidly connected to the ground,
  • the pick-up mechanism includes a guide wheel 24, and the bottom of the guide frame trolley is rigidly connected with a matching guide.
  • the first guide rail 20 of the wheel, the ground assistance frame is provided with a second guide rail matching the guide wheel.
  • the ground auxiliary frame 5 is used for auxiliary positioning when the crane lifts the ground load;
  • the ground load conveying device 6 can be a rail-type electric flat car, an AGV trolley, etc., which can transport the load horizontally on the ground to a designated position.
  • the hoisting mechanism includes a transmission mechanism, a drum, a wire rope and a pulley lifting mechanism, the transmission mechanism is connected to the drum, the wire rope 17 is wound on the drum, and the two ends of the wire rope are respectively After bypassing different pulley lifting mechanisms, it is fixed, and two lifting points are formed by winding.
  • the two strands of steel wire ropes 17 come down directly from the reel 14 to bypass the corresponding movable pulleys 21 on the automatic pick-up and hook device 18 respectively, then return to the fixed pulleys 15, and then go straight down to the movable pulleys 21, and finally reach the balance arm. 16 connections.
  • the two wire rope winding systems forming the lifting point are designed to be symmetrical, so that the automatic lifting and hanging device 4 does not produce horizontal displacement during the lifting process.
  • the hoisting mechanism forms 4 multi-hoisting point hoisting systems of n times through the wire rope winding.
  • the pulley lifting mechanism includes at least two fixed pulleys 15 and a matching number of movable pulleys 21.
  • the two fixed pulleys are fixed on the upper surface of the trolley, and the tail end of the wire rope that bypasses the pulley lifting mechanism is fixedly connected to the balance arm of the lifting mechanism. 16 on.
  • the transmission mechanism includes a motor 7, a brake 10, and a reducer 12 connected in sequence, and the motor is connected to the
  • the brake is connected with the speed reducer through the brake coupling 11
  • the speed reducer is connected with the reel through the low speed shaft coupling 13 .
  • the lifting and hanging device includes a support structure hinged with the movable pulley, and the support structure is provided with a plate hook 26 and a plate hook opening and closing device 23 connected to it for controlling its opening and closing.
  • the wheels are arranged on the support structure.
  • the said picking and hanging device is the automatic picking and hanging device 18, which can automatically carry out hook picking or hooking action; as shown in FIG. It is connected with the plate hook 26 through the axis II28, and the plate hook 26 is connected with the beam 25 through the axis III29.
  • the ground auxiliary frame is rigidly connected to the ground of the workshop, and is rigidly connected to the spreader through guide wheels and guide rails, which can ensure that the spreader does not shake and has no horizontal displacement during the process of loading or releasing the load.
  • the horizontal transportation of the load is realized, and the load is accurately transported to the designated position of the ground frame.
  • a positioning device is arranged between the load conveying device and the load conveying device to ensure that the load conveying device stops the carried load at the designated position.
  • the structures of the first guide rail and the second guide rail are the same, and the only difference lies in the installation method and position.
  • the positioning device adopts the existing technology, and adopts an encoder or a photoelectric sensor. When the encoder or the photoelectric sensor detects a signal, the electronic control system controls the load conveying device to stop.
  • the first guide rail at the bottom of the trolley is supported by its outer frame 19, and the second rail is supported by its outer ground auxiliary frame.
  • an operation method of an unmanned crane with an automatic pick-off device includes the following steps:
  • the unmanned crane runs to the designated position above the ground frame with the assistance of the positioning system;
  • the automatic picking and hanging device 18 descends to the ground frame, the guide wheel descends to the specified height along the second guide rail and stops, and the opening and closing mechanism on the automatic picking and hanging device acts to make the hook in the open state and then stand by;
  • the load conveying device conveys the load to the ground auxiliary frame, and through the positioning device between the two, the load is accurately stopped at the designated position and locked;
  • the action of the opening and closing mechanism on the automatic lifting and hanging device makes the plate hook close to complete the closing action of the hook and complete the loading of the load;
  • the spreader rises to the rigid guide frame of the unmanned crane, and the guide wheel rises to the specified height along the first guide rail and stops;
  • the rigid trolley moves along the bridge to deliver the load to the designated position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)

Abstract

一种带有自动摘挂装置的无人起重机及操作方法，包括刚性导架小车(1)、地面辅助框架(5)和地面载荷输送装置(6)，刚性导架小车(1)能够沿着桥架(2)横向位移，刚性导架小车(1)连接有使载荷在升降过程中无水平位移的起升机构，起升机构底端设有自动摘挂装置(18)，地面辅助框架(5)刚性连接在地面，自动摘挂装置(18)包括导轮(24)，刚性导架小车(1)的底部刚性连接有匹配导轮(24)的第一导轨(20)，地面辅助框架(5)设有匹配导轮(24)的第二导轨。起升机构的自动摘挂装置(18)，小车刚性框架和地面辅助框架(5)三者共同作用，可实现无人起重机自动挂载和卸载载荷的功能，整个系统在吊具升降过程中无水平位移，具有较高的可靠性和安全性。

Description

一种带有自动摘挂装置的无人起重机及其操作方法 技术领域
本发明涉及起重机技术领域，尤其涉及一种带有自动摘挂装置的无人起重机及其操作方法。
背景技术
随着《中国制造2025》的进一步实施，无人化车间、智能化起重机设备已经逐步应用在各大钢铁企业中。随着各种智能起重机技术的发展，其基础技术已经发展到了“深水区”，在无人化铸造起重机的发展上，已经实现了智能化控制、自动巡航、电子防摇等功能，但是在某些关键技术上尤其智能化的无人挂钩、挂钩检测等关键技术的存在技术瓶颈。受限于现场恶劣的工作环境(高温、高粉尘)和电子传感器的技术水平，在传统铸造起重机的基础上实现无人化控制的铸造起重机，尤其是无人挂、摘钩技术的安全性和可靠性还存有较大的风险。
现有无人挂钩技术的主要缺点是：
1.现有同类起重机的起升机构多为挠性系统，吊具在起重机起制动过程中的晃动及吊具重心不平衡等因素对起重机与载荷之间的挂钩动作有较大的扰动，很难实现准确挂钩，尤其在无人状态下效果更加不理想；
2.因现场环境恶劣(高温、粉尘等)，对现有三维扫描系统(如激光)的扫描精度有较大的影响，其扫描精度只能达到±30m左右，对于中小型铸造起重机很难满足无人挂钩的要求，且其成本较高、使用寿命偏短；
3.部分同类起重机采用全行程刚性框架可实现无人挂钩，但起重机外形尺寸、自重均较大，加工制造安装均较困难。
发明内容
根据上述提出的技术问题，而提供一种带有自动摘挂装置的无人起重机及其操作方法。本发明主要通过起重小车自带的刚性框架和具备自动摘挂功能的装置及地面框架三者共同作用，可实现无人起重机自动挂载和卸载载荷的功能，同时保证具有较高的可靠性和安全性。本发明采用的技术手段如下：
一种带有自动摘挂装置的无人起重机，包括刚性导架小车、地面辅助框架和地面载荷输送装置，所述刚性导架小车能够沿着桥架横向位移，所述刚性导架小车连接有使载荷在升降过程中无水平位移的起升机构，所述起升机构底端设有自动摘挂装置，所述地面辅助框架刚性连接在地面，所述自动摘挂装置包括导轮，所述导架小车的底部刚性连接有匹配导轮的第一导轨，所述地面辅助框架设有匹配导轮的第二导轨。
进一步地，所述起升机构包括传动机构、卷筒、钢丝绳和滑轮升降机构，所述传动机构与卷筒相连，所述钢丝绳缠绕在所述卷筒上，钢丝绳的两端分别绕过不同的滑轮升降机构后固定，通过缠绕形成两吊点。
进一步地，起升机构通过钢丝绳缠绕形成4个n倍率的多吊点起升系统。
进一步地，所述滑轮升降机构包括至少两个定滑轮和与其数量匹配的动滑轮，两个定滑轮均固定在小车上表面，绕过滑轮升降机构的钢丝绳的尾端固定连接在起升机构的平衡臂上。
进一步地，所述传动机构包括依次相连的电动机、制动器、减速器，所述电动机通过传动轴和高速轴联轴器与所述制动器相连，所述制动器通过制动器联轴器与减速器相连，所述减速器通过低速轴联轴器与卷筒相连。
进一步地，所述摘挂装置包括与动滑轮铰接的支撑结构，所述支撑结构上设有板钩和与其相连的用于控制其开闭的板钩开闭装置，所述导轮设置在支撑结构上。
进一步地，导架小车底部处的第一导轨通过其外部的框架支撑，第二导轨通过其外部的地面辅助框架支撑。
一种自动摘挂装置的无人起重机的操作方法，包括如下步骤：
接受吊运载荷的指令，无人起重机依靠定位系统的辅助运行至地面框架上方指定位置；
自动摘挂装置下降至地面框架处，导轮沿着第二导轨下降至指定高度后停止，自动摘挂装置上的开闭机构动作使板钩处于打开状态后待机；
载荷输送装置输送载荷至地面辅助框架处，通过二者间的定位装置使载荷准确的停在指定位置并锁定；
自动摘挂装置上的开闭机构动作使板钩闭合完成闭钩动作，完成载荷的挂载工作；
吊具上升至无人起重机的刚性导架处，导轮沿着第一导轨上升至指定高度后停止；
刚性小车沿着桥架运动，将载荷输送至指定位置。
本发明通过起升机构的自动摘挂装置，小车刚性框架和地面框架三者共同作用，可实现无人起重机自动挂载和卸载载荷的功能，整个系统在吊具升降过程中无水平位移，具有较高的可靠性和安全性。尤其是实现了吊运液态金属或其他高危险载荷起重机的无人化、自动化。同时设备结构简单、自重较轻、作业范围大。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明无人起重机整机示意图
图2为本发明的起重机起升机构示意图，图中(a)为主视图，(b)为侧视图，(c)为俯视图。
图3为本发明的起重机起升机构钢丝绳缠绕示意图。
图4为本发明的刚性导架示意图。
图5为本发明的自动摘挂装置示意图。
图6为本发明的自动摘挂装置中的板钩开闭装置示意图。
图7为本发明的无人起重机操作方法示意图，其中，(a)为起重机到位状态；(b)为吊具到位状态；(c)为载荷到位状态；(d)为载荷提升状态；(e)为载荷移动状态。
图中：1、刚性导架小车；2、桥架；3、起重机运行机构；4、摘挂机构；5、地面辅助框架；6、地面载荷输送装置；7、电动机；8、高速轴联轴器；9、传动轴；10、制动器；11、制动轮联轴器；12、减速器；13、低速轴联轴器；14、卷筒；15、定滑轮；16、平衡臂；17、钢丝绳；18、自动摘挂装置；19、框架；20、第一导轨；21、动滑轮；22、轴Ⅰ；23、板钩开闭装置；24、导轮；25、横梁；26、板钩；27、动力源；28、轴Ⅱ；29、轴Ⅲ。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本实施例公开了一种带有自动摘挂装置的无人起重机，包括刚性导架小车1、地面辅助框架5和地面载荷输送装置6，所述的桥架2主梁采用偏轨箱型梁；所述的起重机运行机构3设置有水平导向轮；所述刚性导架小车能够沿着桥架2横向位移，所述刚性导架小车连接有载荷在升降过程中无水平位移的起升机构，所述起升机构底端设有摘挂机构4，所述地面辅助框架刚性连接在地面，所述摘挂机构包括导轮24，所述导架小车的底部刚性连接有匹配导轮的第一导轨20，所述地面辅助框架设有匹配导轮的第二导轨。所述的地面辅助框架5用于起重机吊运地面载荷时的辅助定位；所述的地面载荷输送装置6可以是轨道式电动平车、AGV小车等，可以将载荷在地面水平输送至指定位置。
如图3所示，所述起升机构包括传动机构、卷筒、钢丝绳和滑轮升降机构，所述传动机构与卷筒相连，所述钢丝绳17缠绕在所述卷筒上，钢丝绳的两端分别绕过不同的滑轮升降机构后固定，通过缠绕形成两吊点。从图3中 可以看到两股钢丝绳17从卷筒14直接下来分别绕过自动摘挂装置18上对应的动滑轮21，然后返回定滑轮15，再直接向下绕过动滑轮21后最终在平衡臂16处相接。形成吊点的两个钢丝绳缠绕系统设计成对称，可使自动摘挂装置4在升降过程中不产生水平位移。
起升机构通过钢丝绳缠绕形成4个n倍率的多吊点起升系统。
所述滑轮升降机构包括至少两个定滑轮15和与其数量匹配的动滑轮21，两个定滑轮均固定在小车上表面，绕过滑轮升降机构的钢丝绳的尾端固定连接在起升机构的平衡臂16上。
如图2(a)(b)(c)所示，所述传动机构包括依次相连的电动机7、制动器10、减速器12，所述电动机通过传动轴9和高速轴联轴器8与所述制动器相连，所述制动器通过制动器联轴器11与减速器相连，所述减速器通过低速轴联轴器13与卷筒相连。
如图5所示，所述摘挂装置包括与动滑轮铰接的支撑结构，所述支撑结构上设有板钩26和与其相连的用于控制其开闭的板钩开闭装置23，所述导轮设置在支撑结构上。所述摘挂装置为自动摘挂装置18，其可以自动进行摘钩或挂钩动作；如图6所示，每两个动滑轮形成动滑轮组通过轴Ⅰ22与横梁25铰接，动力源27安装在横梁25上并通过轴Ⅱ28与板钩26连接，板钩26通过轴Ⅲ29与横梁25连接。
地面辅助框架刚性连接在厂房地面，与吊具通过导轮及导轨刚性连接，可保证吊具在挂载载荷或释放载荷的过程中，吊具不晃动且无水平位移；设置有载荷输送装置可实现载荷的水平运输，并准确将载荷输送至地面框架指定位置处。与载荷输送装置之间设置有定位装置，可保证载荷输送装置将运载的载荷停在指定位置。本实施例中，第一导轨和第二导轨结构是一样的，不同的仅在于安装方式及位置。定位装置采用现有技术，采用编码器或者光电传感器，当编码器或光电传感器检测到信号时，由电控系统控制载荷输送装置停车。
如图4所示，导架小车底部处的第一导轨通过其外部的框架19支撑，第二导轨通过其外部的地面辅助框架支撑。
如图7(a)～(e)，一种自动摘挂装置的无人起重机的操作方法，包括 如下步骤：
接受吊运载荷的指令，无人起重机依靠定位系统的辅助运行至地面框架上方指定位置；
自动摘挂装置18下降至地面框架处，导轮沿着第二导轨下降至指定高度后停止，自动摘挂装置上的开闭机构动作使板钩处于打开状态后待机；
载荷输送装置输送载荷至地面辅助框架处，通过二者间的定位装置使载荷准确的停在指定位置并锁定；
自动摘挂装置上的开闭机构动作使板钩闭合完成闭钩动作，完成载荷的挂载工作；
吊具上升至无人起重机的刚性导架处，导轮沿着第一导轨上升至指定高度后停止；
刚性小车沿着桥架运动，将载荷输送至指定位置。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (8)

  1. 一种带有自动摘挂装置的无人起重机，其特征在于，包括刚性导架小车、地面辅助框架和地面载荷输送装置，所述刚性导架小车能够沿着桥架横向位移，所述刚性导架小车连接有使载荷在升降过程中无水平位移的起升机构，所述起升机构底端设有自动摘挂装置，所述地面辅助框架刚性连接在地面，所述自动摘挂装置包括导轮，所述导架小车的底部刚性连接有匹配导轮的第一导轨，所述地面辅助框架设有匹配导轮的第二导轨。
  2. 根据权利要求1所述的带有自动摘挂装置的无人起重机，其特征在于，所述起升机构包括传动机构、卷筒、钢丝绳和滑轮升降机构，所述传动机构与卷筒相连，所述钢丝绳缠绕在所述卷筒上，钢丝绳的两端分别绕过不同的滑轮升降机构后固定，通过缠绕形成两吊点。
  3. 根据权利要求2所述的带有自动摘挂装置的无人起重机，其特征在于，起升机构通过钢丝绳缠绕形成4个n倍率的多吊点起升系统。
  4. 根据权利要求2所述的带有自动摘挂装置的无人起重机，其特征在于，所述滑轮升降机构包括至少两个定滑轮和与其数量匹配的动滑轮，两个定滑轮均固定在小车上表面，绕过滑轮升降机构的钢丝绳的尾端固定连接在起升机构的平衡臂上。
  5. 根据权利要求2所述的带有自动摘挂装置的无人起重机，其特征在于，所述传动机构包括依次相连的电动机、制动器、减速器，所述电动机通过传动轴和高速轴联轴器与所述制动器相连，所述制动器通过制动器联轴器与减速器相连，所述减速器通过低速轴联轴器与卷筒相连。
  6. 根据权利要求4所述的带有自动摘挂装置的无人起重机，其特征在于，所述自动摘挂装置包括与动滑轮铰接的支撑结构，所述支撑结构上设有板钩和与其相连的用于控制其开闭的板钩开闭装置，所述导轮设置在支撑结构上。
  7. 根据权利要求1所述的带有自动摘挂装置的无人起重机，其特征在于，导架小车底部处的第一导轨通过其外部的框架支撑，第二导轨通过其外部的地面辅助框架支撑。
  8. 一种权利要求1～7任一项所述带有自动摘挂装置的无人起重机的操作方法，其特征在于，包括如下步骤：
    接受吊运载荷的指令，无人起重机依靠定位系统的辅助运行至地面框架上方指定位置；
    自动摘挂装置下降至地面框架处，导轮沿着第二导轨下降至指定高度后停止，自动摘挂装置上的开闭机构动作使板钩处于打开状态后待机；
    载荷输送装置输送载荷至地面辅助框架处，通过二者间的定位装置使载荷准确的停在指定位置并锁定；
    自动摘挂装置上的开闭机构动作使板钩闭合完成闭钩动作，完成载荷的挂载工作；
    吊具上升至无人起重机的刚性导架处，导轮沿着第一导轨上升至指定高度后停止；
    刚性小车沿着桥架运动，将载荷输送至指定位置。
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