阅读说明：本技术 一种电涵道悬臂起重机 (Electric duct cantilever crane ) 是由 邱超 李梦 程涵 于 2020-05-13 设计创作，主要内容包括：本发明提供一种电涵道悬臂起重机,包括：车体、电涵道风扇、电动绞盘以及悬臂梁；其中,所述车体上设置立柱,所述悬臂梁呈悬臂式状态与所述立柱铰接连接,悬臂梁一端用于悬挂货物,另一端通过拉绳连接所述电动绞盘,所述电动绞盘固定安装于所述车体上,所述电涵道风扇安装于所述车体上远离悬臂梁用于悬挂货物的一端,电涵道风扇用于在起重时产生向下的推进力。本起重机通过将航空动力技术与起重机进行结合,使电涵道风扇进行配重,具有结构简单、作业稳定和搬运精准的特点,能够满足民航仓储物流的多样化需求。(The invention provides an electric culvert cantilever crane, comprising: the electric culvert device comprises a vehicle body, an electric culvert fan, an electric winch and a cantilever beam; the electric hoisting device comprises a vehicle body, a cantilever beam, an electric capstan, an electric ducted fan, a supporting column, a pull rope, an electric motor and a lifting rope, wherein the vehicle body is provided with the vertical column, the cantilever beam is in a cantilever type state and is hinged with the vertical column, one end of the cantilever beam is used for hanging goods, the other end of the cantilever beam is connected with the electric capstan through the pull rope, the electric capstan is fixedly installed on the vehicle body, the electric ducted fan is installed at one end, away from the cantilever beam. This hoist makes the electric duct fan carry out the counter weight through combining aviation power technology and hoist, has simple structure, the operation is stable and the accurate characteristics of transport, can satisfy the diversified demand of civil aviation storage commodity circulation.)

1. An electric ducted cantilever crane, comprising: the electric culvert device comprises a vehicle body, an electric culvert fan, an electric winch, a cantilever beam and a control system;

the electric culvert fan is arranged at one end, far away from the cantilever beam, of the vehicle body and used for hanging cargos, and is used for generating downward propelling force during hoisting;

the cantilever beam is provided with an attitude sensor for measuring the attitude of the cantilever beam;

the control system is used for controlling the rotating speed of the electric ducted fan based on the cantilever beam state measured by the attitude sensor and the weight of the goods, so that the propelling force of the electric ducted fan is intelligently changed to ensure that the crane cannot overturn in the hoisting and transporting processes of the goods.

2. The electric ducted cantilever crane according to claim 1, wherein the control system stores linear curve relations of the electric ducted fan, the cantilever beam state and the cargo weight for preventing the crane from overturning, and the control system controls the rotation speed of the electric ducted fan according to the linear curves based on the cantilever beam state and the cargo weight measured by the attitude sensor.

3. An electrocautery cantilever crane according to claim 2, characterized in that the cantilever beam condition comprises the angle and angular acceleration of the cantilever beam, which are measured by the attitude sensor.

4. The electric ducted cantilever crane according to claim 3, wherein the attitude sensor is of a type of MPU6050, and the output signal of the attitude sensor is subjected to Kalman filtering and then calculated to obtain a final angle and angular acceleration.

5. The electric ducted cantilever crane according to claim 1, wherein the electric ducted fan is a brushless motor ducted fan, the rotational speed of the brushless motor ducted fan being achieved by varying the supply voltage of the fan.

6. An electrocautery cantilever crane according to claim 1, characterized in that the cantilever beam is of parallelogram cantilever structure.

7. The electrocautery cantilever crane of claim 1, characterized in that the electric capstan is a worm gear type electric capstan with self-locking function, the worm gear type electric capstan is arranged between the electrocautery fan and the upright, the electric capstan is controlled by the control system.

8. An electrocautery jib crane as claimed in claim 1 wherein said pull line is a kevlar pull line.

9. The electric ducted jib crane of claim 1 wherein said carbody comprises a chassis and four mecanum wheels disposed below said chassis, whereby fore and aft movement and steering of said carbody can be achieved.

10. The electric ducted jib crane of claim 9 wherein a dc brushed motor is connected to each of the four mecanum wheels and the rotational speed of the dc brushed motor is controlled by said control system to change the motion of the car body.

Technical Field

The invention mainly relates to the related technical field of cranes, in particular to an electric culvert cantilever crane.

Background

In modern civil aviation storage logistics, a transport means is required to be used for transporting goods. The transport means in the conventional manner generally includes a transport vehicle, a crane, and the like, and the cargo to be loaded is lifted to the transport vehicle by the crane and transported by the transport vehicle. The transport means of traditional mode is heavy, is difficult to satisfy accurate, nimble stable operation demand. Therefore, the technical problem that the technical staff in the field needs to solve urgently is to design a light small-sized crane which has a simple structure, runs stably and can be accurately carried so as to provide an application scheme and technical reserve for civil aviation airport machinery and civil aviation logistics machinery.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the electric ducted cantilever crane which is combined with the prior art and starts from practical application, has the characteristics of simple structure, stable operation and accurate transportation, and can meet the diversified demands of civil aviation storage logistics.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an electric ducted cantilever crane comprising: the electric culvert device comprises a vehicle body, an electric culvert fan, an electric winch, a cantilever beam and a control system;

the electric culvert fan is arranged at one end, far away from the cantilever beam, of the vehicle body and used for hanging cargos, and is used for generating downward propelling force during hoisting;

the cantilever beam is provided with an attitude sensor for measuring the attitude of the cantilever beam;

the control system is used for controlling the rotating speed of the electric ducted fan based on the cantilever beam state measured by the attitude sensor and the weight of the goods, so that the propelling force of the electric ducted fan is intelligently changed to ensure that the crane cannot overturn in the hoisting and transporting processes of the goods.

Further, the control system stores a linear curve relation of the electric ducted fan for preventing the crane from overturning, the cantilever beam state and the cargo weight, and controls the rotating speed of the electric ducted fan according to the linear curve based on the cantilever beam state and the cargo weight measured by the attitude sensor.

Further, the cantilever beam state includes an angle and an angular acceleration of the cantilever beam, which are measured by the attitude sensor.

Further, the type of the attitude sensor is MPU6050, and the output signal of the attitude sensor is subjected to Kalman filtering and then calculated to obtain a final angle and angular acceleration.

Furthermore, the electric ducted fan is a brushless motor ducted fan, and the rotating speed of the brushless motor ducted fan is realized by changing the power supply voltage of the fan.

Further, the cantilever beam is of a parallelogram cantilever structure.

Further, the electric winch is a worm and gear type electric winch with a self-locking function, the worm and gear type electric winch is arranged between the electric ducted fan and the upright column, and the electric winch is controlled by the control system.

Further, the pull rope is a Kevlar rope.

Furthermore, the vehicle body comprises a chassis and four Mecanum wheels arranged below the chassis, and the vehicle body can move back and forth and steer through the Mecanum wheels.

Furthermore, the four Mecanum wheels are connected with a direct current brush motor, and the control system controls the rotating speed of the direct current brush motor so as to change the motion state of the vehicle body.

The invention has the beneficial effects that:

1. the crane designed by the invention can realize hoisting and transportation of goods, the electric ducted fan is used for carrying out counter weight by combining an aviation power technology with the crane, the goods are hoisted by matching an electric winch with a cantilever beam, and the goods are transported by a vehicle body.

2. The cantilever beam of the invention adopts a parallelogram structure, has strong stability when in use, detects the posture of the cantilever beam through the posture sensor so as to ensure that the electric ducted fan provides proper counterweight strength, has simple and reasonable integral structure and low cost, and is suitable for hoisting and transporting most light goods.

3. The electric ducted fan adopts the brushless motor ducted fan, and reduces the overturning moment without adding extra mass by borrowing force to air.

4. The vehicle body is transported by Mecanum wheels, the control is simple, the technology is mature, and the transportation requirements of movement and steering can be met.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

As shown in fig. 1, the general structural diagram of the electric ducted cantilever crane provided by the present invention is shown. The invention discloses an electric duct cantilever crane, belongs to a light small crane, integrates aviation power and crane technology, and is a new technology for balancing weight by using an electric duct fan to meet the demand of diversification of civil aviation storage logistics.

As shown in fig. 1, the crane of the present invention has the following structure:

the electric culvert device comprises a vehicle body, an electric culvert fan 3, an electric winch 4, a cantilever beam 7 and a control system; the crane comprises a crane body, and is characterized in that a stand column 6 is arranged on the crane body, a cantilever beam 7 is in a cantilever type state and is hinged with the stand column 6, one end of the cantilever beam 7 is used for hanging cargos 9, the other end of the cantilever beam is connected with an electric winch 4 through a pull rope 5, the electric winch 4 is fixedly installed on the crane body, an electric ducted fan 3 is installed at one end, away from the cantilever beam 7, of the crane body and used for hanging the cargos 9, and the electric ducted fan 3 is used for generating downward propelling force during hoisting. The cantilever beam 7 is provided with an attitude sensor 11, the attitude sensor is used for acquiring the state of the cantilever beam 7, and the control system is used for controlling the rotating speed of the electric ducted fan 3, the action of the electric winch 4 and the motion state of the vehicle body.

In the above structure of the present invention, the vehicle body specifically includes a chassis 1, and the chassis 1 uses mecanum wheels 2. Mecanum wheel 2 is comprised of a hub and a roller surrounding the hub, with the roller axis of Mecanum wheel 2 making an angle of 45 with the hub axis. The center of the chassis 1 of the wheat wheel trolley can be used as the origin of a plane coordinate system, and the trolley has three degrees of freedom in the xoy plane, namely the front-back movement direction along the x axis, the left-right translation direction along the y axis and the direction of 360-degree rotation around the origin. The forces of the front, rear, left and right tires of the trolley are analyzed, and the trolley can move in different states only by giving different rotation directions to each wheel of the trolley. At the same time, the trolley can achieve more complex motion states by combining different rotating speeds (namely forces borne by four wheels of the trolley) of 4 wheels of the trolley. In a control system of the chassis, used electronic components comprise MEGA2560, L298, a voltage stabilizing plate and four direct-current brush motors, wherein the four motors output PWM signals through an AVR single chip microcomputer to control the rotating speed of the motors, and therefore the characteristics of a Mecanum wheel are achieved.

The cantilever beam 7 of the invention is shown in the figure, adopts a parallelogram cantilever type structure, and ensures the stable posture of goods in the transportation process. The bottom of the upright post 6 is fixed on the chassis 1, the upper part of the upright post and the cantilever beam 7 form a hinged connection structure, so that the cantilever beam 7 forms a lever, and the outer end of the cantilever beam 7 is provided with a hook 8 for lifting goods 9. The cantilever beam 7 in a lever structure can swing to lift the goods 9 or put down the goods 9 under the pulling of the pull rope 5 of the electric winch 4. In order to ensure the stability of the structure, a fixing rope 10 is also arranged between the upright 6 and the chassis 1 for maintaining the stability of the structure. Preferably, both the fixing cord 10 and the pulling cord 5 are kevlar wires. The electric winch 4 is a worm and gear type electric winch having a self-locking function, is provided between the ducted electric fan 3 and the column 6, and can lift a load of a required weight and lock the position.

The cantilever of the electric ducted cantilever crane is controlled by a worm gear motor, the worm gear motor with large torque and self-locking capability is selected, and a heavy object with required weight can be lifted and locked. An MPU6050 attitude sensor 11 is mounted on the rocker arm lever. After initializing the I2C protocol and MPU6050, the MPU6050 reads the angle and angular acceleration of the boom and outputs a signal because the signal obtained by the MPU6050 generates an error due to the vibration of the crane itself, and then calculates the final angle and angular acceleration by a formula through kalman filtering with respect to the output signal.

The electric ducted fan 3 is the design focus of the present invention, and is located at the tail of the vehicle body. The electric ducted fan 3 at the tail part generates a downward propelling force when lifting, and plays a role of a counterweight for preventing the vehicle body from overturning. With the change of the cargo lifting height and in consideration of the speed change of the vehicle body, the propulsive force of the electric ducted fan 3 is intelligently changed under the action of the control algorithm. Specifically, attitude sensor 11 is used for gathering the state of cantilever beam 7 to confirm the lifting height of goods 9, along with the change of goods 9 lifting height, make electric ducted fan 3's propulsive force intelligence change, thereby make the whole balanced state that reaches of hoist, guarantee the stability in goods jack-up and the transportation. The rotating speed of the electric culvert is realized by changing the power of the electric culvert, namely changing the voltage, the optimal relational expression of the wind speed of the electric culvert, the position of the cantilever and the weight of the goods can be calculated through mechanical analysis and actual test, the angle read by the MPU6050 and the acceleration information are combined with the wind speed, and a curve and a polynomial which meet the actual requirement of the crane are fitted and stored in the control system. When the control is performed, the control system controls the rotation speed of the electric ducted fan according to a linear curve based on a signal fed back from the attitude sensor 11.

To further illustrate the crane structure and principles of the present invention, the present invention provides the following embodiments.