CN115849200A - Gantry crane balance hoisting system with anti-deviation function - Google Patents
Gantry crane balance hoisting system with anti-deviation function Download PDFInfo
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Abstract
The invention provides a gantry crane balanced hoisting system with an anti-deviation function, which further comprises a gantry crane, a server, a material identification module, an interaction module, a deviation correction module, a hoisting module and an early warning module, wherein the hoisting module and the deviation correction module are arranged on the gantry crane, the material identification module is used for identifying a material to be hoisted so as to identify length and width data of the material, the interaction module is used for interacting with a material owner so as to check the property of the material, the deviation correction module is used for correcting deviation in the hoisting process of the material, the hoisting module is used for hoisting the material, and the early warning module triggers an early warning signal according to the data of the deviation correction module so as to prompt an operator of a current early warning state. According to the invention, through the mutual matching of the material identification module and the hoisting module, the material hoisting position can be accurately positioned, the accurate positioning of the binding position is promoted, and meanwhile, the safety and the reliability of the material hoisting process are also considered.
Description
Technical Field
The invention relates to the field of cranes, in particular to a gantry crane balance hoisting system with an anti-deviation function.
Background
In the existing industrial installation engineering, when equipment in a frame is installed, a crane cannot be used for directly hoisting the equipment in place, the installation position is located between beams, the hoisting method usually adopts multiple anchor points and multiple appliances (chain blocks, jacks, steel wire ropes, winches and the like), and the equipment is installed in place by dragging, pulling, dragging and the like, so that the labor and time are wasted, and the method is unsafe and reliable.
For example, CN214733929U prior art discloses an automatic alignment device for a gantry crane, the gantry crane is mainly used for loading and unloading goods, in the process of loading and unloading goods, it is difficult to ensure that a lifting appliance and goods are on the same vertical line through human eye control of an operator, so after the goods are lifted and separated from the ground, the goods will deviate, and there is a certain danger, which is not favorable for the safety of the operator, and the use effect is not good, and the practicability is poor.
Another typical lifting hook for a gantry crane disclosed in the prior art of CN208345565U is that, in an existing steel processing field, production and processing personnel need to hoist and transfer large steel by the gantry crane, and due to a complex environment of the production and processing field, swing of suspended steel occurs, damage to production elements such as equipment is easy to occur, and potential safety hazards exist.
The invention aims to solve the problems that the offset detection means is lack, the deviation can not be corrected, the danger can not be early warned, the interactivity is poor, the hoisting safety is poor and the like in the field.
Disclosure of Invention
The invention aims to provide a gantry crane balance hoisting system with an anti-deviation function aiming at the defects at present.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a gantry crane balance hoisting system with an anti-deviation function further comprises a gantry crane and a server, and further comprises a material identification module, an interaction module, a deviation rectification module, a hoisting module and an early warning module,
the system comprises a hoisting module, a deviation correcting module, a server, a material identification module, an interaction module, a deviation correcting module, a hoisting module and an early warning module, wherein the hoisting module and the deviation correcting module are arranged on a gantry crane, the server is respectively connected with the material identification module, the interaction module, the deviation correcting module, the hoisting module and the early warning module, the material identification module is used for collecting image data of a material to be hoisted, which is provided with a symmetric center, so as to determine a binding position according to the collected image data, the interaction module is used for interacting with a material owner so as to check the property of the material, the deviation correcting module is used for correcting the deviation of the hoisting process of the material, the hoisting module is used for hoisting the material, and the early warning module triggers an early warning signal according to the data of the deviation correcting module so as to prompt an operator of a current early warning state;
the material identification module comprises a material identification unit and an evaluation unit, the material identification unit is used for identifying a material with a symmetric center, and the evaluation unit evaluates the material according to data of the material identification unit;
the material identification unit comprises an identification probe, a data memory and a position adjusting component, wherein the position adjusting component is used for adjusting the position of the identification probe, the identification probe is used for acquiring the image data of the material with a symmetrical center, and the data memory is used for storing the image data acquired by the identification probe;
the evaluation unit acquires image data measured by the identification probe and processes the image data, wherein the processing comprises graying and edge extraction, and a rectangular coordinate system x-y taking pixels as a unit is established by taking the upper left corner of the processed image as an origin to acquire N edge pixel coordinate points A1 (x is the upper corner of the processed image) of the material 1 ，y 1 )、A2(x 2 ， y 2 )、A3(x 3 ，y 3 )、A4(x 4 ，y 4 )、…、An(x n ，y n ) And the selected N edge pixel coordinate points need to be vertexes of image edges of the material with the symmetric center, and hoisting barycentric coordinates G of the material are calculated according to the following formula:
the evaluation unit calculates the distance of the lifting point position (U, V) according to the lifting barycentric coordinate G of the material, and satisfies the following conditions:
wherein Distance is the Distance between the suspension point position and the gravity center coordinate, wherein the Distance between the suspension point position (U, V) and the gravity center needs to satisfy the following requirements:
h·tanα 1 ＜Distance＜h·tanα 2
in the formula, alpha 1 An included angle alpha between one of the hoisting ropes of the hoisting module and the vertical line of the gravity center of the material 2 Is an included angle alpha between the other hoisting rope of the hoisting module and the perpendicular line of the gravity center of the material 1 And alpha 2 Has a value of alpha 1 ∈
[30°,60°]，α 2 ∈[30°,60°]And h is the hoisting hook of the hoisting module and the distance of the gravity center of the material meet the following requirements:
h＝k·ln(1+M)
wherein M is the weight of the material, unit: kg, k is the adjustment coefficient, unit: m, satisfies:
wherein L is the length of the material, M max The maximum hoisting upper limit weight of the hoisting module is as follows: kg;
the evaluation unit transmits the Distance between the lifting point position (U, V) and the barycentric coordinate to the operator end, so that the operator binds the hanging component on the material according to the value of the Distance.
Optionally, the interaction module includes an interaction unit and an identity verification unit, and the interaction unit is configured to interact with the material owner to obtain the property parameter of the material; the identity verification unit is used for verifying the identity of the material owner, and binding the identity data of the material owner with the material after the verification is passed;
wherein the property parameters include material, length data, width data, height data;
the interaction unit comprises a touch screen and a cargo list running on the touch screen, wherein the touch screen is used for collecting material property parameter data of a material owner, and the material owner fills corresponding property parameter data according to items of the cargo list.
Optionally, the deviation rectifying module includes a deviation rectifying and locking unit and a deviation rectifying and pulling unit, the deviation rectifying and locking unit is bound on the material and collects tension data for pulling the material, so as to analyze an offset index according to the tension data, and the deviation rectifying and pulling unit is used for pulling the deviation rectifying and locking unit;
the deviation rectifying and locking unit comprises an induction component, a locking hook and a locking rope, one end of the locking rope is connected with the deviation rectifying and pulling unit, the other end of the locking rope is connected with the induction component, the induction component is used for collecting the stress state of the locking rope, and the locking hook is arranged on the induction component;
wherein, the deviation-rectifying index is obtained by analyzing the stress state of the induction component;
the response component includes tension sensor, fixed plate and movable wheel, tension sensor sets up on the movable wheel, the locking rope nestification is in the movable wheel periphery, in order to right the movable wheel carries out the tractive, the plate body of fixed plate is provided with deposits the chamber, the movable wheel is hidden to be set up deposit in the chamber, and with it is articulated to deposit the both sides wall in chamber.
Optionally, the hoisting module comprises a position adjusting unit and a hoisting unit, the position adjusting unit is used for adjusting the position of the hoisting unit, and the hoisting unit is used for hoisting the material;
the hoisting unit comprises a support frame, a hoisting hook, a hoisting member, a winding driving mechanism and a hoisting rope, wherein the support frame is used for supporting the hoisting hook, the winding member, the winding driving mechanism and the hoisting rope, the hoisting member is used for binding the material, one end of the hoisting rope is connected with the hoisting hook to form a hoisting part, the other end of the hoisting rope is connected with the winding member, the winding member is used for winding the hoisting rope to lift the material, and the winding driving mechanism is in driving connection with the winding member;
wherein, the hoisting hook is detachably clamped with the hanging component.
Optionally, the early warning module includes an early warning unit and a prompting unit, the early warning unit triggers early warning according to the deviation index of the deviation rectification locking unit, and the prompting unit prompts the operator according to an early warning signal of the early warning unit;
the warning device comprises a warning unit and a warning unit, wherein the warning unit comprises a warning screen, an executable program and a warning buzzer, the warning screen is used for displaying the warning signal, the executable program is used for running on the warning screen, and the warning buzzer triggers warning signal warning according to the warning signal of the warning unit.
Optionally, the deviation rectifying traction unit comprises a traction rod, a traction driving mechanism and a support seat, the support seat is used for supporting the traction rod and the traction driving mechanism, the support seat is provided with a recovery groove for placing the traction rod, one end of the traction rod penetrates through the side wall of one side of the recovery groove and is in driving connection with the traction driving mechanism, and the other end of the traction rod is hinged with the side wall of the other side of the recovery groove;
and one end of the locking rope, which is far away from the induction component, is connected with the rod body of the traction rod.
Optionally, the identity verification unit includes an identity data reader and a networking subunit, the identity data reader is configured to identify an identity ID of a material owner, and the networking subunit binds the identity data identified by the identity data reader and the manifest of the goods entered through the interaction unit and then transmits the bound identity data to the server for storage;
the touch screen comprises a touch screen body, an identity data reader and a touch screen, wherein a sensing area is arranged at the side edge of the touch screen body, and the identity data reader is arranged in the sensing area.
The beneficial effects obtained by the invention are as follows:
1. the material identification module is matched with the hoisting module, so that the material hoisting position can be accurately positioned, and the safety and the reliability of the material hoisting process are also considered;
2. the material identification module is used for identifying the material, so that the hoisting position can be accurately positioned, and the hoisting operation is executed according to the positioned hoisting position, so that the accuracy and the reliability of material hoisting are improved;
3. the materials are bound through the hanging component, so that the hanging rope can be more stable and reliable with the materials, and the materials are prevented from sideslipping;
4. the deviation rectifying unit is matched with the early warning module, so that early warning can be generated when the material deviates, the autonomous early warning capability of the whole hoisting process is improved, the interactivity of the hoisting process is enhanced, and the device has the advantages of high safety, accurate deviation rectifying detection and capability of autonomous deviation rectifying;
5. through skew unit and the traction unit of rectifying, traction unit mutually support for the skew of position of material can be by accurate control, still compromise the accurate regulation and control of the posture of placing of material simultaneously, with the convenience and the intelligent degree that promote material hoist and mount.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is an overall block diagram of the present invention.
Fig. 2 is a schematic control flow diagram of the material binding position according to the present invention.
Fig. 3 is a schematic control flow diagram of the warning triggering according to the present invention.
Fig. 4 is a schematic structural diagram of a main beam, an offset unit and a hoisting unit of the gantry crane according to the present invention.
Fig. 5 is a schematic structural view of the main beam and the offset unit of the present invention.
Fig. 6 is a schematic front view of a gantry crane according to the present invention.
Fig. 7 is a schematic top view of a gantry crane of the present invention.
FIG. 8 is a front view schematically showing a hanging member of the present invention.
Fig. 9 is a schematic structural diagram of the hanging member and the hanging hook of the present invention.
FIG. 10 is a schematic structural diagram of the deviation unit, the deviation-rectifying traction unit, the hoisting unit and the material according to the present invention.
Fig. 11 is a schematic view of an application scenario among the locking hook, the hook position, the hanging point position, and the material according to the present invention.
Fig. 12 is a schematic structural view of the locking hook R of the present invention.
Fig. 13 is a side view schematically showing the locking hook R of the present invention.
Fig. 14 isbase:Sub>A schematic cross-sectional view atbase:Sub>A-base:Sub>A in fig. 13.
The reference numbers illustrate: 1. a main beam; 2. fixing the rod; 3. a shifting base; 4. a slide drive mechanism; 5. a position adjustment unit; 6. hoisting hooks; 7. a deviation rectifying traction unit; 8. a locking cord; 9. a locking hook E; 10. a locking hook R; 11. a tension sensor; 12. a movable wheel; 13. material preparation; 14. a first hanging hook; 15. a first hanging rope; 16. a second hook; 17. a second hanging rope; 18. a first recovery driving mechanism; 19. a second recovery driving mechanism; 20. a support plate; 21. hoisting a rope; 22. the tracks are offset.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modification in various other respects, all without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
According to the embodiments shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13 and fig. 14, the present embodiment provides a gantry crane balanced hoisting system with an anti-deviation function, the gantry crane balanced hoisting system further includes a gantry crane and a server, the gantry crane balanced hoisting system further includes a material identification module, an interaction module, a deviation rectification module, a hoisting module and an early warning module,
the hoisting module and the deviation rectifying module are arranged on the gantry crane, the server is respectively connected with the material 13 identification module, the interaction module, the deviation rectifying module, the hoisting module and the early warning module, the material 13 identification module is used for collecting image data of a material to be hoisted and provided with a symmetric center so as to determine a binding position according to the collected image data, the interaction module is used for interacting with a material 13 owner so as to check the property of the material 13, the deviation rectifying module is used for correcting the deviation of the hoisting process of the material 13, the hoisting module is used for hoisting the material 13, and the early warning module triggers an early warning signal according to the data of the deviation rectifying module so as to prompt an operator of a current early warning state;
the gantry crane balanced hoisting system further comprises a processor, the processor is respectively in control connection with the material 13 identification module, the interaction module, the deviation rectifying module, the hoisting module and the early warning module, and the material 13 identification module, the interaction module, the deviation rectifying module, the hoisting module and the early warning module are controlled in a centralized manner based on the processor, so that the intelligence degree of the whole system is improved;
before hoisting the material 13, collecting the relevant data of the material 13, wherein the collecting mode includes direct identification through a material 13 identification module and declaration of a material 13 owner on the material 13, and in this embodiment, the declaration of the material 13 owner on the material 13 is declaration of the material 13 data through an interaction module;
the interaction module comprises an interaction unit and an identity verification unit, wherein the interaction unit is used for interacting with the owner of the material 13 to obtain the property parameters of the material 13; the identity verification unit is used for verifying the identity of the owner of the material 13, and binding the identity data of the owner of the material 13 with the material 13 after the verification is passed;
wherein the property parameters include material, length data, width data, height data;
the interaction unit is matched with the identity verification unit to promote accurate grasp of the property parameters of the materials 13;
the interaction unit comprises a touch screen and a cargo list running on the touch screen, the touch screen is used for collecting property parameter data of the material 13 by the owner of the material 13, and the owner of the material 13 fills the corresponding property parameter data according to items of the cargo list;
optionally, the identity verification unit includes an identity data reader and a networking subunit, the identity data reader is configured to identify an identity ID of an owner of the material 13, and the networking subunit binds the identity data identified by the identity data reader and the manifest of the goods entered through the interaction unit and then transmits the bound identity data to the server for storage;
the side edge of the touch screen is provided with a sensing area, and the identity data reader is arranged in the sensing area;
additionally, the items in the manifest include, but are not limited to, the following listed items: length, height, width, weight, material quality, hoisting placement position, hoisting initial position, special identification marks of the material 13, current placement position, RFID labels of the marks, and the like;
meanwhile, after the interaction unit obtains the property parameters of the material 13, the property parameters are transmitted to the server in a wired or wireless communication transmission mode;
the material identification module is used for acquiring image data of the material 13 when identifying the material 13 so as to determine whether the material 13 is the material 13 which needs to be lifted or lifted away currently;
it should be noted that the materials 13 are all materials with symmetrical centers, and the materials in this embodiment are all materials with uniform texture and regular shape
The material identification module comprises a material identification unit and an evaluation unit, the material 13 identification unit is used for identifying a material 13 with a symmetry center, and the evaluation unit evaluates the material 13 according to data of the material 13 identification unit;
the material identification unit comprises an identification probe, a data memory and a position adjusting component, wherein the position adjusting component is used for adjusting the position of the identification probe, the identification probe is used for acquiring the image data of the material 13 with a symmetrical center, and the data memory is used for storing the image data acquired by the identification probe;
the evaluation unit acquires image data measured by the identification probe and processes the image data, wherein the processing comprises graying and edge extraction, and a rectangular coordinate system x-y taking pixels as a unit is established by taking the upper left corner of the processed image as an origin to acquire N edge pixel coordinate points A1 (x is the upper corner of the processed image) of the material 1 ，y 1 )、A2(x 2 ， y 2 )、A3(x 3 ，y 3 )、A4(x 4 ，y 4 )、…、An(x n ，y n ) And the selected N edge pixel coordinate points are the vertexes of the image edges of the material with the symmetric center, and the hoisting barycentric coordinate G of the material is calculated according to the following formula:
wherein, X is the abscissa of the barycentric coordinate G, and Y is the ordinate of the barycentric coordinate;
the evaluation unit calculates the distance of the lifting point position (U, V) according to the lifting barycentric coordinate G of the material, and the following requirements are met:
wherein Distance is the Distance between the suspension point position (U, V) and the gravity center coordinate, wherein the Distance between the suspension point position and the gravity center needs to satisfy:
h·tanα 1 ＜Distance＜h·tanα 2
in the formula, alpha 1 Is an included angle alpha between one of the hoisting ropes of the hoisting module and the perpendicular line of the gravity center of the material 2 Is an included angle alpha between the other hoisting rope of the hoisting module and the perpendicular line of the gravity center of the material 1 And alpha 2 Has a value of alpha 1 ∈
[30°,60°]，α 2 ∈[30°,60°]H is the hoist and mount of hoist and mount module collude with the centrobaric distance of material satisfies:
h＝k·ln(1+M)
wherein M is the weight of the material, unit: kg, k is the adjustment coefficient, unit: m, satisfies:
wherein L is the length of the material, M max The maximum hoisting upper limit weight of the hoisting module is as follows: kg;
the evaluation unit transmits the Distance between the lifting point position (U, V) and the gravity coordinate to the operator end, so that the operator binds the hanging component on the material according to the value of the Distance;
the material 13 is identified through the material 13 identification module, so that the hoisting position can be accurately positioned, and the hoisting operation is executed according to the positioned hoisting position, so that the hoisting accuracy and reliability of the material 13 are improved;
in addition, the interaction module further comprises an intelligent wearable device, and the intelligent wearable device is used for receiving binding position (lifting point) data obtained by evaluation of the material 13 identification module; after the data of the Distance between the lifting point position and the barycentric coordinate is obtained through the evaluation unit, the data needs to be transmitted to the intelligent wearable device through a server;
meanwhile, after the intelligent wearable device receives the binding position data, the hoisting hook 6 and the hoisting rope 21 are bound on the material 13, and the material 13 is hoisted through the hoisting module, so that the purpose of hoisting the material 13 is achieved;
the material 13 recognition module is matched with the hoisting module, so that the hoisting position of the material 13 can be accurately positioned, the accurate positioning of the binding position is improved, and meanwhile, the safety and the reliability of the hoisting process of the material 13 are considered;
optionally, the hoisting module includes a position adjusting unit 5 and a hoisting unit, the position adjusting unit 5 is used for adjusting the position of the hoisting unit, and the hoisting unit is used for hoisting the material 13;
the hoisting unit comprises a support frame, a hoisting hook 6, a hoisting member, a winding driving mechanism and a hoisting rope 21, the support frame is used for supporting the hoisting hook 6, the winding member, the winding driving mechanism and the hoisting rope 21, the hoisting member is used for binding the material 13, one end of the hoisting rope 21 is connected with the hoisting hook 6 to form a hoisting part, the other end of the hoisting rope 21 is connected with the winding member, the winding member is used for winding the hoisting rope 21 to lift the material 13, and the winding driving mechanism is in driving connection with the winding member;
the hoisting hook 6 is detachably clamped with the hanging component;
the hanging component comprises a group of first hanging hooks 14, a group of second hanging hooks 16, a group of first hanging ropes 15, a group of second hanging ropes 17, a first recovery rod, a second recovery rod, a first recovery driving mechanism 18, a second recovery driving mechanism 19 and a support plate 20, wherein each hanging hook is used for hooking the material 13, one end of each first hanging rope 15 is connected with a lifting lug of the corresponding first hanging hook 14, and the other end of each first hanging rope is connected with a rod body of the corresponding first recovery rod, so that the first recovery rods wind the first hanging ropes 15 on the rod bodies of the first recovery rods under the driving of the first recovery driving mechanisms to recover the first hanging ropes;
similarly, one end of the second hanging rope 17 is connected to the lifting lug of the second hanging hook 16, and the other end of the second hanging rope 17 is connected to the rod body of the second recovery rod, so that the second recovery rod winds the second hanging rope around the rod body of the second recovery rod under the driving of the second recovery driving mechanism, so as to recover the second hanging rope 17;
the first recovery rod and the second recovery rod are respectively arranged at the head end and the tail end of the support plate 20, and are both used for winding a hanging rope, wherein the first recovery driving mechanism 18 is in driving connection with the first recovery rod so that the first hanging rope 15 can be wound on the rod body of the first recovery rod;
the first hanging rope 15 and the second hanging rope 17 are respectively dragged by the first recovery part and the second recovery part to facilitate the adjustment of the distance between the lifting hook 6 and the material 13;
a lifting lug is arranged on one side of the support plate 20, which is far away from the material 13, wherein the lifting lug is arranged at the symmetrical center of the support plate 20 and is used for being buckled by the hoisting hook 6;
the hanging component further comprises a distance sensor, a power supply battery and a microprocessor, wherein the power supply battery is used for supplying power to the distance sensor, and the distance sensor is used for detecting the distance between the support plate 20 and the material 13;
the microprocessor controls the first recovery driving mechanism 18 and the second recovery driving mechanism 19 according to the data of the distance sensor, so that the first hanging rope 15 and the second hanging rope 17 can be wound and recovered, and the distance between the support plate 20 and the material 13 can be ensured to be equal to the value of the distance h between the lifting hook 6 of the lifting module and the gravity center of the material 13;
in addition, the material 13 is bound through the hanging component, so that a hanging rope can be more stable and reliable with the material 13, and the material 13 is prevented from sideslipping;
notably, the hanging point positions (U, V) are set as a group of first hanging hooks and a group of positions where the second hanging hooks 16 are bound or hooked with the material 13;
in a cavity for hoisting the material 13, the hoisting part needs to be symmetrically bound or hooked on the material 13, so that the material 13 can be hoisted by the hoisting rope 21 and the hoisting hook 6;
the winding component comprises a storage cavity, a winding rod and a winding driving mechanism, the storage cavity is used for placing the winding rod and the winding driving mechanism, one end of the winding rod penetrates through the side wall of one side of the storage cavity and is in driving connection with the winding driving mechanism, the other end of the winding rod is hinged with the side wall of the other side of the storage cavity, and one end, far away from the hoisting hook 6, of the hoisting rope 21 is connected with the rod body of the winding rod;
when the material 13 is hoisted, the winding driving mechanism drives the winding rod to rotate, so that the winding rod winds the hoisting rope 21 on the winding rod, and the material 13 is promoted to be lifted together with the hoisting member; the position adjusting unit 5 is arranged on the gantry crane and adjusts the position of the hoisting unit, wherein the position adjusting unit 5 comprises a sliding seat, a plurality of sliding wheels, power wheels and a sliding driving mechanism 4, the sliding seat is a C-shaped groove and is slidably clamped on a main beam 1 of the gantry crane, and the main beam 1 is provided with a sliding track and extends along the length direction of the main beam 1;
the hoisting unit is arranged on the sliding seat and moves along with the movement of the sliding seat;
each sliding wheel and each power wheel are arranged on the inner wall of the C-shaped groove of each sliding seat, so that the sliding seats are connected with the sliding tracks in a sliding mode, and the sliding driving mechanism 4 is arranged on the power wheels, drives the power wheels to rotate, drives the sliding seats to slide along the direction of the sliding tracks, and lifts the materials 13 at different positions;
meanwhile, the position adjusting unit 5 further includes a plurality of position markers and identification members for identifying the position markers, wherein the position markers are distributed at equal intervals along the length direction of the sliding rail, and the identification members are arranged on the sliding seat and extend out towards the direction of the position markers to identify the position markers;
the identification member comprises an identification probe and a data transmitter, the identification probe is used for identifying each position marker on the sliding track, the data transmitter transmits the data of the position marker identified by the identification probe to the processor, and the processor controls the sliding drive mechanism 4;
when the sliding position of the sliding seat is not the set position, the processor controls the sliding driving mechanism 4 to drive the power wheel to enable the sliding seat to slide on the sliding track, so that the sliding seat slides on the sliding track; meanwhile, in the sliding process, the identification probe detects the position of each position marker in real time, so that the position of the sliding seat is accurately controlled;
optionally, the deviation correcting module includes a deviation correcting locking unit and a deviation correcting traction unit 7, the deviation correcting locking unit is bound on the material and collects tension data for traction of the material, so as to analyze an offset index according to the tension data, and the deviation correcting traction unit is used for traction of the deviation correcting locking unit; the deviation rectification locking unit comprises an induction component, a locking hook and a locking rope 8, one end of the locking rope 8 is connected with the deviation rectification traction unit 7, the other end of the locking rope 8 is connected with the induction component, the induction component is used for collecting the stress state of the locking rope 8, and the locking hook is arranged on the induction component;
wherein, the deviation-rectifying index is obtained by analyzing the stress state of the induction component;
the sensing component comprises a tension sensor 11, a fixed plate and a movable wheel 12, the tension sensor 11 is arranged on the movable wheel 12, the locking rope 8 is nested on the periphery of the movable wheel 12 to pull the movable wheel 12, a storage cavity is formed in a plate body of the fixed plate, and the movable wheel 12 is hidden in the storage cavity and hinged to two side walls of the storage cavity;
the deviation rectifying and locking unit further comprises an analysis subunit, and the analysis subunit is used for acquiring tension data measured by the sensing component for analysis; in the embodiment, a locking rope E and a locking rope R are taken as an example, wherein the locking rope E and the locking rope R are symmetrically arranged on two sides of a material to perform auxiliary deviation correction on the material, so that the material cannot deviate in the hoisting process, and the hoisting is dangerous;
wherein the analysis subunit obtains a tension value f measured by the tension sensor on the locking rope E i And calculating the deviation index of the locking rope E i ：
In the formula, N is the number of locking ropes bound on the material, and times isTotal number of samples in one detection period, f i The tension sampled for the ith time of the locking rope E is directly measured by the tension sensor arranged on the locking rope E;
the analysis subunit obtains a tension value f measured by the tension sensor on the locking rope R j And calculating the deviation index of the locking rope R j ：
In the formula, N is the number of locking ropes bound on the material, time is the total sampling times in a detection period, and f j Sampling the tension of the locking rope R for the jth time, wherein the value of the tension is directly measured by the tension sensor arranged on the locking rope R;
when the deviation-rectifying Traction unit rectifies and draws the material, the deviation index of the symmetrical locking rope E is ensured i And the deviation index on the locking rope R j And satisfies the following conditions: transfection i ＝Traction j The locking ropes R and E symmetrically bound on the material can not generate deviation, can uniformly bear the traction of the material, and have no deviation to achieve the purpose of correcting the deviation of the material;
optionally, the deviation rectifying traction unit 7 includes a traction rod, a traction driving mechanism, and a support seat, the support seat is used for supporting the traction rod and the traction driving mechanism, the support seat is provided with a recovery groove for placing the traction rod, one end of the traction rod penetrates through a side wall of one side of the recovery groove and is in driving connection with the traction driving mechanism, and the other end of the traction rod is hinged to a side wall of the other side of the recovery groove;
one end of the locking rope 8, which is far away from the induction component, is connected with the rod body of the traction rod;
in addition, the deviation-rectifying traction units 7 are symmetrically arranged on the gantry crane beam and are matched with the deviation-rectifying locking unit to rectify the deviation of the material 13;
in the process that the deviation rectifying unit rectifies the hoisted materials 13, the traction rod can be driven by the traction driving mechanism to pull the locking rope 8, so that the materials 13 can be kept in a balanced state, and the hoisting safety of the materials 13 is improved;
optionally, the early warning module includes an early warning unit and a prompting unit, the early warning unit triggers early warning according to the deviation index of the deviation rectification locking unit, and the prompting unit prompts the operator according to an early warning signal of the early warning unit;
the prompting unit comprises a prompting screen, an executable program and a prompting buzzer, the prompting screen is used for displaying the early warning signal, the executable program is used for running on the prompting screen, and the prompting buzzer triggers early warning signal prompting according to the early warning signal of the early warning unit;
optionally, the warning unit triggers the warning signal to satisfy the following formula:
wherein, transformation i Is the deflection index, traction, of the locking cord E j Is the deviation index of the locking rope R, N is the number of the locking ropes bound on the material, time is the total number of sampling times in a detection period, f i The tension sampled for the ith time of the locking rope E, the value of which is directly measured by the tension sensor arranged on the locking rope E, f j The value of the jth sampled tension of the locking rope R is directly measured by the tension sensor arranged on the locking rope R, and the Monitor is a set offset monitoring threshold value; the locking rope E and the locking rope R are arranged on two sides of the hoisting rope and are connected with materials;
through the unit of rectifying with the cooperation of early warning module for material 13 can produce the early warning when producing the skew, with the autonomic early warning ability that promotes whole hoist and mount process, reinforcing hoist and mount process's interactivity has the security height, rectifies to detect accurate, can independently rectify the advantage of rectifying.
Example two.
The present embodiment should be understood to at least include all the features of any one of the foregoing embodiments, and further modified based on the foregoing embodiments, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13 and fig. 14, the deviation rectification module further includes a deviation unit, where the deviation unit is configured to adjust the position of the deviation rectification traction unit 7 to meet the deviation rectification requirements of different placing angles of the material 13;
the offset unit comprises two offset seats 3, two fixed rods 2, two offset tracks, a plurality of positioning mark pieces and two deviation rectifying driving mechanisms, the two offset tracks are symmetrically arranged on two side walls of a main beam 1 of the gantry crane, the two offset tracks extend along the length direction of the main beam 1, the two offset seats 3 are respectively in sliding connection with the deviation rectifying tracks, the positioning mark pieces are distributed at equal intervals along the extending direction of the deviation tracks, the two deviation rectifying driving mechanisms are respectively arranged on the two offset seats 3 and drive the two offset seats 3 to slide along the directions of the two deviation tracks, the two fixed rods are respectively arranged on the two offset seats, one ends of the two fixed rods 2 are respectively connected with the two offset seats 3, and the other ends of the two fixed rods 2 extend out perpendicularly towards the other side far away from the two deviations;
the deviation rectifying traction unit 7 is arranged on the rod body of the fixed rod 2;
the offset unit further comprises a position checking component, and the position checking component is used for checking each positioning mark piece on a group of offset tracks to obtain the current position of a group of offset seats 3 and realize accurate positioning of the deviation correcting position; meanwhile, the position checking members are respectively arranged on the two offset seats 3;
different deviation correcting positions are formed by the deviation units on different main beams 1, and meanwhile, the deviation correcting positions on the main beams 1 are determined according to the placing postures of the materials 13; after the material 13 is lifted, the placing posture of the material 13 can be adjusted in the air through the mutual matching of the deviation-rectifying traction unit 7 and the deviation unit, and different placing postures can be realized under the traction of the deviation-rectifying traction unit 7;
in addition, in the process of adjusting the position of the offset unit, the processor, the offset seats 3, the offset driving mechanism, the positioning marker and the position checking member form a closed loop, the position checking member checks the positions of a group of the offset seats 3, if the positions of a group of the offset seats 3 are not consistent with the set positions, the processor controls the offset driving mechanism to drive the offset seat 3 on the corresponding side to slide along the offset track until the offset seat 3 moves to the set positions, and the position checking member checks whether the current position is consistent with the set position in real time in the process of sliding the offset seat 3 along the offset track;
through the skew unit with the traction unit 7, the traction unit of rectifying mutually supports, makes the positional deviation of material 13 can be by accurate control, still compromise the accurate regulation and control of the posture of placing of material 13 simultaneously to promote convenience and the intelligent degree of material 13 hoist and mount.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.
Claims (7)
1. A gantry crane balance hoisting system with an anti-deviation function further comprises a gantry crane and a server, and is characterized by further comprising a material identification module, an interaction module, a deviation rectifying module, a hoisting module and an early warning module;
the system comprises a hoisting module, a deviation rectifying module, a server, a material identification module, an interaction module, a deviation rectifying module, a hoisting module and an early warning module, wherein the hoisting module and the deviation rectifying module are arranged on a gantry crane, the server is respectively connected with the material identification module, the interaction module, the deviation rectifying module, the hoisting module and the early warning module, the material identification module is used for acquiring image data of a material to be hoisted, which is provided with a symmetric center, so as to determine a binding position according to the acquired image data, the interaction module is used for interacting with a material owner so as to check the property of the material, the deviation rectifying module is used for correcting deviation in the hoisting process of the material, the hoisting module is used for hoisting the material, and the early warning module triggers an early warning signal according to the data of the deviation rectifying module so as to prompt an operator of a current early warning state;
the material identification module comprises a material identification unit and an evaluation unit, the material identification unit is used for identifying a material with a symmetric center, and the evaluation unit evaluates the material according to data of the material identification unit;
the material identification unit comprises an identification probe, a data memory and a position adjusting component, wherein the position adjusting component is used for adjusting the position of the identification probe, the identification probe is used for acquiring the image data of the material with a symmetrical center, and the data memory is used for storing the image data acquired by the identification probe;
the evaluation unit processes the image data according to the acquired image data measured by the identification probe, the processing comprises graying and edge extraction, and a rectangular coordinate system x-y taking a pixel as a unit is established by taking the upper left corner of the processed image as an origin so as to acquire N edge pixel coordinate points A1 (x is the coordinate point of the material 1 ，y 1 )、A2(x 2 ，y 2 )、A3(x 3 ，y 3 )、A4(x 4 ，y 4 )、…、An(x n ，y n ) And the selected N edge pixel coordinate points need to be vertexes of image edges of the material with the symmetric center, and hoisting barycentric coordinates G of the material are calculated according to the following formula:
wherein, X is the abscissa of the barycentric coordinate G, and Y is the ordinate of the barycentric coordinate;
the evaluation unit calculates the distance of the lifting point position (U, V) according to the lifting barycentric coordinate G of the material, and the following requirements are met:
wherein Distance is the Distance between the suspension point position (U, V) and the gravity center coordinate, wherein the Distance between the suspension point position and the gravity center needs to satisfy:
h·tanα 1 ＜Distance＜h·tanα 2
in the formula, alpha 1 Is an included angle alpha between one of the hoisting ropes of the hoisting module and the perpendicular line of the gravity center of the material 2 Is an included angle alpha between the other hoisting rope of the hoisting module and the perpendicular line of the gravity center of the material 1 And alpha 2 Has a value of alpha 1 ∈[30°,60°]，α 2 ∈[30°,60°]And h is the hoisting hook of the hoisting module and the distance of the gravity center of the material meet the following requirements:
h＝k·ln(1+M)
wherein M is the weight of the material, unit: kg, k is the adjustment coefficient, unit: m, satisfies:
wherein L is the length of the material, M max The maximum hoisting upper limit weight of the hoisting module is as follows: kg;
the evaluation unit transmits the Distance between the lifting point position (U, V) and the barycentric coordinate to the operator end, so that the operator binds the hanging component on the material according to the value of the Distance.
2. The gantry crane balanced hoisting system with the anti-deviation function as claimed in claim 1, wherein the interaction module comprises an interaction unit and an identity verification unit, the interaction unit is used for interacting with the material owner to obtain the property parameters of the material; the identity verification unit is used for verifying the identity of the material owner, and binding the identity data of the material owner with the material after the verification is passed;
wherein the property parameters include material, length data, width data, height data;
the interaction unit comprises a touch screen and a cargo list running on the touch screen, wherein the touch screen is used for collecting material property parameter data of a material owner, and the material owner fills corresponding property parameter data according to items of the cargo list.
3. The gantry crane balanced hoisting system with the anti-deviation function as claimed in claim 2, wherein the deviation rectification module comprises a deviation rectification locking unit and a deviation rectification traction unit, the deviation rectification locking unit is bound on the material and collects tension data for traction of the material, so as to analyze the deviation index according to the tension data; the deviation rectifying and pulling unit is used for pulling the deviation rectifying and locking unit;
the deviation rectifying and locking unit comprises an induction component, a locking hook and a locking rope, one end of the locking rope is connected with the deviation rectifying and pulling unit, the other end of the locking rope is connected with the induction component, the induction component is used for collecting the stress state of the locking rope, and the locking hook is arranged on the induction component;
wherein, the deviation-rectifying index is obtained by analyzing the stress state of the induction component;
the sensing component comprises a tension sensor, a fixed plate and a movable wheel, the tension sensor is arranged on the movable wheel, the locking rope is nested on the periphery of the movable wheel to be pulled by the movable wheel, the plate body of the fixed plate is provided with a storage cavity, the movable wheel is hidden and arranged in the storage cavity, and the two side walls of the storage cavity are hinged.
4. The gantry crane balanced hoisting system with the anti-deviation function as claimed in claim 3, wherein the hoisting module comprises a position adjusting unit and a hoisting unit, the position adjusting unit is used for adjusting the position of the hoisting unit, and the hoisting unit is used for hoisting the material;
the hoisting unit comprises a support frame, a hoisting hook, a hoisting member, a winding driving mechanism and a hoisting rope, wherein the support frame is used for supporting the hoisting hook, the winding member, the winding driving mechanism and the hoisting rope, the hoisting member is used for binding the material, one end of the hoisting rope is connected with the hoisting hook to form a hoisting part, the other end of the hoisting rope is connected with the winding member, the winding member is used for winding the hoisting rope to lift the material, and the winding driving mechanism is in driving connection with the winding member;
wherein, the hoisting hook is detachably clamped with the hanging component.
5. The gantry crane balanced hoisting system with the deviation prevention function as claimed in claim 4, wherein the early warning module comprises an early warning unit and a prompting unit, the early warning unit triggers early warning according to the deviation index of the deviation rectification locking unit, and the prompting unit prompts an operator according to an early warning signal of the early warning unit;
the prompt unit comprises a prompt screen, an executable program and a prompt buzzer, the prompt screen is used for displaying the early warning signal, the executable program is used for executing on the prompt screen, and the prompt buzzer triggers early warning signal prompt according to the early warning signal of the early warning unit.
6. The gantry crane balance hoisting system with the anti-deviation function is characterized in that the deviation-rectifying traction unit comprises a traction rod, a traction driving mechanism and a supporting seat, the supporting seat is used for supporting the traction rod and the traction driving mechanism, the supporting seat is provided with a recovery groove for placing the traction rod, one end of the traction rod penetrates through the side wall of one side of the recovery groove and is in driving connection with the traction driving mechanism, and the other end of the traction rod is hinged with the side wall of the other side of the recovery groove;
and one end of the locking rope, which is far away from the induction component, is connected with the rod body of the traction rod.
7. The gantry crane balanced hoisting system with the anti-deviation function as claimed in claim 6, wherein the identity verification unit comprises an identity data reader and a networking subunit, the identity data reader is used for identifying the identity ID of a material owner, and the networking subunit binds the identity data identified by the identity data reader with the cargo list recorded by the interaction unit and transmits the bound identity data to a server for storage;
the touch screen comprises a touch screen body, an identity data reader and a touch screen, wherein a sensing area is arranged at the side edge of the touch screen body, and the identity data reader is arranged in the sensing area.
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| CN118083809A (en) * | 2024-04-22 | 2024-05-28 | 烟台港集装箱码头有限公司 | Container front hoisting control method, system, terminal and storage medium |
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