RU2749677C1 - Automatic traverse - Google Patents

Abstract

FIELD: load grippers.

SUBSTANCE: invention relates to load-handling devices used with lifting mechanisms for capturing, lifting, lowering and moving large-sized products. The traverse contains at least one longitudinal beam (1), a suspension (2) with a drive (5) connected to at least one longitudinal beam (1) with the ability to move along it, cross beams (7) with drives (8) connected to at least one longitudinal beam (1) with the ability to move along it, connected to each cross beam (7) with the ability to move along it, load-handling devices (9) with drives. At least one longitudinal beam (1) is connected to the suspension (2) by means of a rotary mechanism (6) with the possibility of rotation relative to the suspension (2). The traverse is equipped with a control unit (12) connected to the drives of the suspension (2), cross beams (7), load-lifting devices (9) and the rotary mechanism (6) with the possibility of automatic positioning.

EFFECT: ability to automatically capture and position large-sized products of any size, greater accuracy of installing large-sized products in the design position, no need for manual labor when capturing products, higher the speed of construction of buildings and structures.

8 cl, 8 dwg

Description

The invention relates to a lifting device used with lifting mechanisms for gripping, lifting, lowering and moving large items.

From the prior art, a cargo traverse is known, comprising a frame including longitudinal and transverse beams, a body in which a means for communication with a lifting means is installed, and load gripping devices pivotally attached to the frame, the frame is movably connected to the body by means of flexible rods, which are pivotally fixed on the frame and the body, the load-gripping devices are replaceable and fixed, respectively, on the extreme transverse beams of the frame with the help of repositionable pins, and the load beam is equipped with a device for fixing the relative position of the body and the frame in the transport position (see Patent RU 2214961, published 10/27/2003).

Also known from the prior art is a traverse of a lowering and lifting device containing a frame, automatic grippers, shock absorbers and slings connecting the automatic grippers with shock absorbers, the frame is made in the form of two parallel beams reinforced with transverse stiffeners, rod devices are installed at the ends of the frame, movable along the length of the frame, couplings with stopper handles, shock absorbers are vertically integrated into movable couplings, have a channel coaxial with automatic grippers and a rosin-block above it for inserting the guide ropes behind the rod devices of the object being lifted (see Patent RU 2616452, published on April 17, 2017) ...

The disadvantage of such known traverses is the lack of the possibility of automatic positioning of the working bodies of the traverse; to connect the traverse to the movable product, it is necessary to spend a lot of time and use manual labor, the complexity of the process of accurately placing the product in the required design position.

The closest to the proposed solution is a traverse containing a longitudinal beam with an earring suspension, two transverse beams with carriages with hook suspensions placed on them, the longitudinal beam is equipped with uprights from above with lead screws installed on them with the ability to move the earring suspension, uprights from the bottom with mounted on them lead screws with the ability to move the cross beams, and in the middle part of the suspension of the shackle and the cross beams there are nuts, while the cross beams are also equipped with racks with lead screws installed on them with the ability to move carriages with hook suspensions on them, and nuts are placed in the middle part of the carriages (see patent RU 166835, published on 10.12.2016).

The disadvantage of the closest solution is the lack of the possibility of automatic positioning of the traverse relative to the gripped product, as well as automatic gripping of the products; when using the traverse, it is necessary to use manual labor to connect the load-gripping devices with the product; design position.

The technical problem solved by the invention is the creation of such a traverse, with the help of which the most accurate and fast capture of large-sized items and their positioning in the design position is possible.

The technical result of the invention is to provide the possibility of automatic gripping and positioning of large-sized products of any size, increasing the accuracy of installing large-sized products in the design position, eliminating the need to use manual labor when gripping products, increasing the speed of erection of buildings and structures.

The technical result of the invention is achieved due to the fact that the traverse contains at least one longitudinal beam, a suspension with a drive connected to at least one longitudinal beam with the ability to move along it, transverse beams with drives connected to at least one longitudinal beam with the possibility movement along it, and load-gripping devices with drives connected to each transverse beam with the ability to move along it, at least one longitudinal beam is connected to the suspension by means of a rotary mechanism with the ability to rotate relative to the suspension, while the crosshead is equipped with a control unit associated with the suspension drives , cross beams, load grippers and a swivel mechanism with automatic positioning.

In addition, the traverse can be equipped with at least one measuring distance sensor associated with the control unit, as well as at least one weight sensor associated with the control unit.

In addition, the traverse can be equipped with at least one video camera.

Also, the traverse can be equipped with at least one tag reader associated with the control unit.

In addition, the crosshead can have an alignment system associated with the control unit.

In addition, the traverse can have a lighting system.

In addition, at least one transverse beam can be connected to at least one longitudinal beam by means of another pivot mechanism with the possibility of rotation relative to at least one longitudinal beam, while the drive of the other pivot mechanism is connected to the control unit.

The invention is illustrated by drawings, where Fig. 1 shows the proposed traverse; in fig. 2 shows view A in FIG. one; in fig. 3 shows a view B in FIG. one; in fig. 4 - 6 show examples of gripping oversized products using the proposed traverse; in fig. 7 shows view B in FIG. four; in fig. 8 shows a view D in FIG. 6.

The proposed automatic self-positioning full-turn traverse is used mainly in the construction of buildings, structures and structures, in particular in modular (volume-block) housing construction. The proposed traverse is used in conjunction with lifting devices (cranes of any type) and is intended for gripping, lifting, lowering and moving large-sized items 15 (mainly oversized ready-made volumetric modules 15).

The automatic traverse contains a longitudinal beam 1. Moreover, the number of longitudinal beams 1 can be from one or more. If there is more than one longitudinal beam 1, they can be connected to each other by transverse reinforcing bridges (not shown).

Suspension 2 is connected to the longitudinal beam 1 (installed on top of the beam 1). The hanger 2 is connected to the beam 1 (with the beams 1 if there are more than one of them) with the possibility of moving along it, for example, using the carriage 3 (or using another possible mechanism for moving the suspension 2). In this case, the carriage 3 can have special rollers 4, which move along guides (not shown), made, for example, along the beam 1. Moving the carriage 3 with the suspension 2 along the beam 1 is carried out using the drive 5, which can be made hydraulic (hydraulic cylinders) , or pneumatic (pneumatic cylinders), or electric, or any other type, capable of moving the carriage 3 along the beam 1. In this case, the drive 5 can be fixed anywhere in the traverse, providing free movement of the suspension 2 (including the carriage 3 with suspension 2) ... Suspension 2 is intended for connection with lifting mechanisms (cranes of any type) using, for example, flexible ties (ropes), or hooks, etc.

The longitudinal beam 1 is connected to the suspension 2 with the possibility of rotation (rotation) relative to the suspension 2 in its plane (in the horizontal plane around the vertical axis of the suspension 2). Rotation of beam 1 is possible within 360˚ in any direction (clockwise or counterclockwise). The rotation of the beam 1 relative to the suspension 2 is ensured by the presence of a rotary mechanism 6 with a drive. The pivoting mechanism 6 can be made either, for example, on the carriage 3 (between the carriage 3 and the suspension 2), or in any other place of the traverse, ensuring free rotation of the beam 1 (beams 1) relative to the suspension 2 (relative to the junction of the beam 1 with the suspension 2 ). The pivoting mechanism 6 can have any known type of pivot connection that allows the beam 1 to rotate relative to the suspension 2, including the use of gears, bearings, etc. In this case, the rotary mechanism 6 is controlled by a drive (not shown), which can be of any type (electric drive, pneumatic drive, hydraulic drive, etc.).

With the longitudinal beam 1 (with the beams 1, if there are more than one), the transverse beams 7 are also connected (movably mounted on it). The beams 7 are connected to the beam 1 with the ability to move along it. The movement of each beam 7 along the beam 1 is carried out using the corresponding drive 8. Moreover, the drive 8 can be of any type, for example, an electric drive with a chain drive, or a hydraulic drive (hydraulic cylinders), or a pneumatic drive (pneumatic cylinders), or any other known type that provides moving the corresponding beam 7 along the beam 1 (including using toothed racks and gears that move along the toothed racks). The number of beams 7 can be any from two or more, depending on the need, the dimensions of the traverse and the dimensions of the captured products 15.

In a variant embodiment of the invention, one transverse beam 7, or part of the transverse beams 7, or all transverse beams 7 can be connected to one longitudinal beam 1 (or to all longitudinal beams 1 if there are more than one) using an independent (other) rotary mechanism ( not shown) with the possibility of rotation relative to the beam 1. Such a connection allows the product 15 to be gripped even when the gripping points are not in line, i.e. with an asymmetrical position of the gripping points on the products 15.

Each transverse beam 7 at opposite ends has movable load-gripping devices 9. Load-gripping devices 9 can be made, for example, in the form of consoles, while the load-gripping devices 9 are connected to their beams 7 with the ability to move along them. Load-gripping devices 9 can be telescopically connected to its beam 7, while movement of each load-gripping device 9 along its beam 7 is carried out using a corresponding drive 10. Drive 10 can also be of any type, for example, an electric drive with a chain drive (including gear racks and gears), or a hydraulic drive (hydraulic cylinders), or a pneumatic drive (pneumatic cylinders), or any other known type, providing movement of each device 9 along its beam 7. Each load gripping device 9 has a load gripping element 11, which interacts with the product 15 , the capture and movement of which must be carried out. Element 11 is movable along the vertical axis, as well as rotatable about the vertical axis and fixation in the article 15 to be gripped.

The proposed automatic traverse has an automatic leveling system ("walking" counterweight, not shown), designed to ensure the required position of the traverse with the captured product 15 when the center of gravity of the traverse with the captured product 15 is shifted. The automatic leveling system allows operations to be performed quickly and safely in automatic mode fastening the traverse to the product 15 (to the module), stabilizing the traverse with the product 15 and its further smooth movement and positioning in the project position.

The proposed automatic traverse has a control unit 12 with software (numerical control). The control unit 12 can be located in any convenient place of the traverse (or outside of it), while it can have a protective case, ensuring the exclusion of mechanical influences on it. The control unit 12 with the help of various types of communication channels is connected to the drives of all the movable elements of the traverse with the possibility of their automatic positioning to grip the movable products 15. That is, the control unit 12 is connected to the drive 5 for moving the carriage 3 with the suspension 2, with the drive of the rotary mechanism 6, with the drives 8 for moving the beams 7, with the drives 10 for moving the load gripping devices 9, with drives (not shown) for moving the load gripping elements 11, with the drive of the automatic alignment, as well as with the drive of each rotary mechanism (not shown) of the cross beams 7. Moreover, the control unit 12 can be connected with the specified drives by wired or wireless communication channels (including using Wi-Fi). Due to the presence of special software, in the memory of the control unit 12 it is possible to save all the necessary positions of the traverse positioning, for any dimensions of the captured and moved products 15, for specific types (nomenclature) of products 15. The control unit 12 with software allows you to automatically control all working bodies traverses, bringing to the required position for gripping products 15 of any size and weight, including those with an offset center of gravity.

The proposed automatic traverse can have one or more measuring distance sensors, as well as one or more one weight sensors (not shown). Such sensors can be located in any required place of the traverse (on the suspension 2, or on the beam 1, or on the beams 7, or on the load-gripping devices 9, or on the load-gripping elements 11, etc.) and they are connected with the control unit 12 ( any possible communication channels, wired or wireless). Distance sensors can be of any type (for example, optical, ultrasonic, etc.) and they are designed to determine the distance between the extreme gripping points of the movable product 15, to measure the overall dimensions of the movable product 15 in order to adjust the distance between the beams 7 and load gripping devices 9 (when gripping the product 15 or before gripping), as well as for measuring other distances, including when installing products 15 in the design position. Weight sensors can also be made of any type, and they are designed to determine the mass of the item 15 being moved, to calculate its center of gravity for the purpose of subsequent automatic alignment of the center of gravity of the traverse with the gripped item 15 for the most accurate and safe movement and positioning of the item 15 to the design position. Due to the connection of distance sensors and weight sensors with the software of the control unit 12, all information when measuring the distances and the mass of the moved products 15 enters the memory of the control unit 12 and subsequently the control unit 12 automatically adjusts all the working elements of the traverse for gripping and moving a specific product 15 ...

In the absence of these measuring sensors, the proposed traverse, thanks to the control unit 12 with software, can be controlled according to a predetermined algorithm, which is recorded in the memory of the control unit 12 in accordance with the specified overall dimensions and the mass of the products 15 to be moved.

The proposed automatic traverse can have a tag reader (not shown) associated with the software of the control unit 12. Tags can be bar codes, QR codes, as well as any other elements that carry certain information about the captured and moved item 15 (dimensions, weight, center of gravity position, design position in the building, etc.). Such marks can be located directly on the gripped product 15 or in any other place before gripping the product 15. When the traverse is read by the traverse using the reader of information labels from such labels, the signal enters the software of the unit 12, and the control unit 12 automatically sends a signal to the workers. organs of the elements of the traverse. Those. the drives 5, 8, 10, the drive of the rotary mechanism 6, as well as the drives of the load-gripping elements 11 are automatically actuated, bringing the working bodies of the traverse to a position that ensures an accurate capture of a specific product 15 with such a mark, as well as precise automatic movement to the required design position and precise automatic positioning of the product 15 in the design position.

Also, the proposed automatic traverse can have one or more video cameras 13, as well as a lighting system 14. Video cameras 13 allow you to monitor the entire process of gripping, moving and installing products 15, which makes it possible, if necessary, to adjust the positioning of the traverse with the product 15. And the lighting system 14 allows you to work and monitor work even at night.

The proposed traverse works as follows.

Next, an example of the operation of the traverse when gripping such a product 15 as a large-sized ready-made volumetric module, which is a 3-room apartment, which should be located, for example, on the third floor of a residential building under construction, is considered. However, it should be understood that the proposed traverse works in a similar way when grabbing and moving any other products 15 during the construction and construction of buildings of any type, including residential and public, as well as public places (elevators, apartment halls, etc.). In this case, the control of the traverse can be both automatic and with the use of manual labor, if necessary.

In addition, in the memory of the control unit 12, the algorithms for the operation of the traverse can be pre-recorded, or they can be set in the required sequence. In this case, in the presence of product tags 15, the traverse can automatically read information from such tags, and, if necessary, can ignore such information and be controlled in accordance with a given algorithm.

For example, product 15 (a large-sized ready-made volumetric module, which is a 3-room apartment located on the third floor) has a QR code that contains the following information about product 15: overall dimensions of the volumetric module, its weight, location of capture points , the estimated position of its center of gravity, design position in a building under construction, etc.

An automatic traverse using a tag reader reads information from a QR code, a signal with such information enters the software of the control unit 12. Further, the control unit 12 gives a command to the drives of the traverse working bodies to take a certain position. The drive system brings the beam 1, as well as the beams 7 and load-gripping devices 9. if necessary, the distance sensors measure the dimensions of the product 15, as well as the distance between the places of its capture. Further, the traverse automatically with the help of elements 11 captures the product 15 and weighs it, information about which is sent to the control unit 12. When the assumed center of gravity of the gripped article 15 deviates from the pre-calculated one, the automatic leveling system automatically brings the counterweight to the required position, giving the crosshead with the gripped article 15 an exact, even position. Further (in accordance with the available information), the lifting mechanism moves the traverse with the product 15 to the required design position, where the traverse automatically positions the product 15 on the third floor of the building. If the design position of such a product 15 should be turned, for example, 180 на, then the traverse also automatically actuates the drive of the rotary mechanism 6, positioning the product 15 in the required position as accurately as possible. After precise installation of the product 15 in the design position, the load-gripping elements are automatically disconnected from the product 15, and the traverse, in accordance with the given operation algorithm, is then moved by the lifting mechanism to the next product 15 in order to grip it and move it to the required design position in the same way.

Thus, due to this implementation of the automatic self-positioning full-turn adjustable crosshead, the downtime during the construction of buildings is significantly reduced. Thanks to the automatic control of the drives of the traverse working bodies (using the software of the control unit 12), the most accurate position of the working bodies is ensured when gripping any type of products 15, information about which can be stored in the memory of the control unit 12. In this case, the control unit 12 can give commands for the working bodies of the traverse of any position up to a millimeter, which eliminates any errors, increases the accuracy of gripping and positioning of the product 15, eliminates the need for manual labor. In addition, the programmed control of the traverse ensures the most accurate positioning and installation of the large-sized product 15 in the design position during the construction of buildings, as a result of which the speed of construction of buildings is significantly increased.

Automatic adjustment of the distances between the beams 7, as well as between the load gripping devices 9, allows the traverse to work with modular blocks of various sizes without stopping the work process. Connections of the traverse with the module (movable product 15) have several fixed positions, which are stored in the memory of the control unit 12, and subsequently there is no need for additional adjustment of the position of the load-gripping elements 11. Extendable consoles (devices 9) facilitate maneuvers of the traverse with movable products 15 (modules) , and the ability to rotate the beam 1 by 360 ° provides fast and most accurate positioning of the module in the design position.

In addition, the control unit 12 with software can be associated with lifting devices (cranes with which the traverse is connected), while due to this connection, the operation of the traverse can be coordinated with the operation of the lifting mechanisms when the traverse moves the products 15.

Claims (8)

1. A traverse containing at least one longitudinal beam, a suspension with a drive connected to at least one longitudinal beam with the ability to move along it, transverse beams with drives connected to at least one longitudinal beam with the ability to move along it, and load-gripping devices with drives connected to each transverse beam with the ability to move along it, characterized in that at least one longitudinal beam is connected to the suspension by means of a rotary mechanism with the possibility of rotation relative to the suspension, while the cross-arm is equipped with a control unit associated with the suspension drives, cross beams, load grippers and a swivel mechanism with automatic positioning. 2. The crossbeam according to claim 1, characterized in that it is provided with at least one measuring distance sensor associated with the control unit. 3. The crossbeam according to claim 1, characterized in that it is provided with at least one weight sensor associated with the control unit. 4. Traverse according to claim 1, characterized in that it is equipped with at least one video camera. 5. Traverse according to claim 1, characterized in that it is provided with at least one tag reader associated with the control unit. 6. A crossbeam according to claim 1, characterized in that it has an alignment system associated with the control unit. 7. Traverse according to claim 1, characterized in that it has an illumination system. 8. Traverse according to claim 1, characterized in that at least one transverse beam is connected to at least one longitudinal beam by means of another rotary mechanism with the possibility of rotation relative to at least one longitudinal beam, while the drive of the other rotary mechanism is associated with control unit.

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