26377results about "Load-engaging elements" patented technology

The invention relates to the technical field of special equipment intelligent monitoring and maintenance, in particular to a special equipment monitoring and maintenance method and system based on multi-dimensional data fusion, and the method comprises the steps: collecting and processing multi-source heterogeneous sensor data; constructing a dynamic digital twinborn model based on sensor data and a cross-domain term mapping rule; associating the sensor data with the digital twinborn model to establish a lightweight analysis model, performing health state simulation analysis on the edge equipment, and generating an analysis result; the data quality of the edge device is monitored through the analysis model, when the data quality is lower than a threshold value, a co-simulation process is started, a simulation analysis task is transferred to the cloud digital twin platform, and the edge device continues to conduct simulation analysis based on the analysis model; and constructing a simulation design decision rule base, and generating a maintenance suggestion. Through the multi-dimensional data fusion and edge cloud co-simulation architecture, the accuracy, real-time performance and reliability of monitoring and maintenance of the special equipment are improved.

The invention provides a crane remote instruction response delay detection and in-advance compensation method and system, and relates to the technical field of cranes, and the crane remote instruction response delay detection and in-advance compensation method comprises the following steps: adopting an adaptive space-time alignment algorithm to map real-time operation data to a dynamic knowledge graph, and generating a feature vector; inputting the feature vector into a depth map neural network integrated with a causal reasoning mechanism to generate an incidence matrix; a multi-head attention network with a residual structure is adopted to extract time sequence features; constructing a hybrid decision system based on the delay prediction tensor, and outputting an optimal compensation strategy; and establishing a double-closed-loop evolution system with an online learning capability, and dynamically optimizing a prediction and compensation strategy according to a compensation effect. Through the dynamic knowledge graph, causal reasoning, the multi-head attention network and the double-closed-loop evolution system, the remote instruction response delay can be accurately predicted, effective compensation is carried out, and the real-time performance and safety of remote control of the crane are improved.

The invention provides an intelligent obstacle avoidance and operation range planning method and system for a manual telescopic arm of a truck-mounted crane, and relates to the technical field of truck-mounted crane obstacle avoidance, and the method comprises the following steps: collecting environment point cloud data, truck-mounted crane attitude data and obstacle distance data, constructing a dynamic environment map, and identifying obstacle features; dividing operation areas based on the dynamic environment map and the obstacle state data, and establishing an operation space safety level model; in combination with the working space safety level model and the obstacle state data, an obstacle avoidance candidate path meeting load constraints is generated, an optimal path is selected and converted into an obstacle avoidance track and a control instruction, and finally cantilever crane obstacle avoidance is achieved; by monitoring the distance between the boom and the obstacle in real time, hierarchical control is executed, and the safety and efficiency of operation of the manual telescopic boom of the truck-mounted crane are effectively improved.

The invention discloses an assembling method and an assembling tool for a bottom cold shield side plate of a fusion reactor, the bottom cold shield side plate is constructed into a ring shape defined by a plurality of side plates, and the assembling method for the bottom cold shield side plate of the fusion reactor comprises the following steps: the plurality of side plates are assembled into a sector; the plurality of sectors are assembled into a ring at the Dewar base of the host hall. According to the assembly method of the bottom cold shield side plate of the fusion reactor, the plurality of side plates are assembled into the sector section, and then the plurality of sector sections are assembled into the ring at the Dewar base of the host hall, so that the bottom cold shield side plate can well meet the assembly requirement in a narrow space when being assembled; and the installation difficulty and the assembly cost of the bottom cold shield side plate are well reduced.

The embodiment of the invention provides a lifting hook track prediction method and device based on Internet of Things sensing, accurate environment sensing and obstacle recognition are achieved by fully utilizing data of a multi-source sensor, the intelligent track planning capacity is achieved, and the real-time performance and smoothness of a control system can be guaranteed. And advanced technologies such as deep learning and multi-sensor fusion are introduced, so that the overall performance and reliability of the system are improved, and the requirements of modern construction are better met.

A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.

The invention relates to the technical field of maritime work cranes and discloses an anti-rolling and anti-seismic maritime work crane which is characterized in that a rack swing wall is arranged at the upper end of a rack column, a winch is arranged on the end side of the rack swing wall, and a main traction rope is arranged in the winch; the lower end of the main traction rope is fixedly connected with a top plate, and the lower side of the edge end of the top plate is fixedly connected with a fixing plate. According to the anti-shaking and anti-seismic maritime work crane, when the device drives a heavy object to move upwards and the heavy object shakes and deviates, an extrusion plate on the side can be extruded, at the moment, the distance between the extrusion plate and a side plate is changed, the moving distance of the heavy object can be judged through a distance sensor, and when the moving distance of the heavy object is large, data can be transmitted to a controller; and therefore, a worker is reminded that the heavy object deviates, potential safety hazards exist, the traction and pulling state of the auxiliary traction rope on the fixing plate is stressed outwards, the shaking performance of the single main traction rope during hoisting operation of the heavy object is reduced, and the stabilization effect is good.

The invention discloses a maritime work crane with a windproof high-stability structure, and belongs to the technical field of maritime work cranes, the maritime work crane is provided with a supporting column convenient to position and assemble, the upper surface of the supporting column is rotatably connected with a suspension arm, the inner surface of the suspension arm is telescopically connected with a telescopic arm, and the front side of the inner surface of the telescopic arm is rotatably connected with a guide wheel; comprising a main lifting rope rotationally connected to the outer surface of the guide wheel, and the lower side of the main lifting rope is installed on the lower surface of the telescopic arm. An angle monitoring mechanism is arranged, the angle of the rotating frame on the telescopic arm can be conveniently controlled, adjustment of a first straight tooth gear and a first rack can be matched, so that the rotating stability of the rotating frame is controlled, and adjustment of a clamping jaw and a limiting wheel is matched, so that the angle of the clamping jaw on the rotating frame is driven through the limiting wheel; therefore, the angle stability of the clamping jaw and the angle monitoring convenience of the main lifting rope are controlled, lifted goods are prevented from inclining, and danger is avoided.

The invention relates to the technical field of fabricated building construction, in particular to an intelligent hoisting and precise positioning construction method for fabricated building components. The method comprises the following steps: acquiring a geometric parameter set of the special-shaped curved glass component, a parameter set of hoisting equipment, a real-time environment parameter set of a construction site and a reference positioning parameter set of a building; based on the special-shaped curved glass component geometric parameter set, the hoisting equipment parameter set and the construction site real-time environment parameter set, a special-shaped curved glass hoisting simulation information set is integrated, and affected state characteristics of the special-shaped curved glass in the hoisting process are obtained; performing data fusion on the influenced state characteristics and a building reference positioning parameter set to obtain absolute deviation information of the special-shaped curved glass relative to building reference positioning; and according to the absolute deviation information, operation parameters of the hoisting equipment are dynamically adjusted, and an intelligent hoisting precise positioning construction scheme report is output. And assembly type building hoisting construction is powerfully promoted to develop towards the direction of intelligence and standardization.

A hoisting posture control system and method, applicable to the technical field of modular construction. According to the hoisting posture control system, controllers corresponding to functional modules are called on the basis of data detected by sensors, to drive posture control of a hoisted object, thereby assisting a tower crane operator in making work decisions, so that the operator does not need to take risks to get close to a module to be installed hoisted in the air, ensuring the safety of workers and the accuracy and reliability of module installation. Thus, the labor cost in modular construction work can be reduced, and the assembly quality and efficiency of modules are improved.

Disclosed is an outdoor mobile robot manipulator for the automatic handling of railway inter box connectors (IBC) in an intermodal rail yard. The manipulator includes a dual-mode adaptive suspension for protection of the robotic arm and end-effector against shock and vibration, a universal fingerless gripper capable of manipulating main types of rail IBCs, a blind IBC type recognition based on force sensor and close-range proximity sensors, and other protection gears enabling the manipulator to work in harsh outdoor working environments.

The invention provides a narrow-space-oriented truck-mounted crane manual arm operation path planning method and system, and relates to the technical field of path planning, and the method comprises the steps: carrying out the multi-source information fusion through binocular vision and laser ranging, and building an operation space three-dimensional model; a convolutional neural network is adopted to identify an obstacle, a kinematics constraint is combined to establish an obstacle avoidance cost function, and a bidirectional probability sampling algorithm is utilized to generate and optimize an initial path. Afterwards, a target path is screened by considering the dynamic constraint of the load weight, and dynamic adjustment is carried out based on a comprehensive evaluation function of path length, smoothness and safety degree and a virtual spring damping model; and finally, performing polynomial fitting on the adjusted path, calculating a joint angle and performing local correction according to a kinematic model, and finally outputting a working path meeting constraint conditions. According to the invention, the working efficiency and safety of the truck-mounted crane in a narrow space are effectively improved.

A lever device includes a movable bracket and a lever supported on a support shaft on a base such that they are pivotable between lowered and raised positions, first engagement portion(s) on the movable bracket, second engagement portion(s) on the lever, a cam member attached to the support shaft such that it is movable in an axial direction of the support shaft but not rotatable about the support shaft, and a biasing member to bias the cam member to engage with the first and second engagement portions. When the movable bracket etc. are in the lowered position and when they are in the raised position, the first engagement portion(s) engage(s) with the cam member to restrict the movable bracket from pivoting. When the lever pivots upward from the lowered position or downward from the raised position, the second engagement portion(s) disengage(s) the cam member from the first engagement portion(s).

The invention relates to the technical field of equipment collaborative operation of the Internet of Things, in particular to a transit hub equipment collaborative operation method and system based on the Internet of Things technology. According to the method, original attitude motion data of a target ship are collected in real time through an attitude sensor network of the Internet of Things, and a real-time attitude drift vector of the target ship relative to a geodetic coordinate system is calculated; constructing a dynamic coordinate transformation matrix according to the real-time attitude drift vector; acquiring an expected operation track control instruction preset by the quay crane control system according to the geodetic coordinate system; performing coordinate transformation operation on the expected operation track control instruction through a dynamic coordinate transformation matrix to obtain a compensated cooperative control instruction; the compensated cooperative control instruction is transmitted to a quay crane control system in real time through an Internet of Things communication link, and a quay crane lifting appliance is driven by the quay crane control system to conduct lifting operation according to the compensated track instruction; and the safety and efficiency of the hoisting operation between the ship and the quay crane can be effectively improved.

The embodiment of the invention provides a portable coil turnover machine, and relates to the field of coil turnover. A portable coil upender comprises an upper cross beam, a first moving beam and a second moving beam are slidably mounted at the two ends of the upper cross beam respectively, holding mechanisms are rotatably mounted at the lower ends of the first moving beam and the second moving beam respectively, and the lower ends of the two holding mechanisms are slidably connected with the two ends of a bearing chassis respectively. And the two groups of holding mechanisms are close to each other to fix the two sides of the coil. The motor drives the two-way lead screw to enable the first moving beam and the second moving beam to be close to each other, so that the two sets of inner beams and the embracing grabs fix the two sides of an aluminum wire, meanwhile, the device is connected with a hoisting mechanism through the hoisting ring, and after the aluminum wire is hoisted, the gear motor drives the rotating rod to rotate, so that the two sets of embracing grabs drive the aluminum wire to rotate; therefore, the device can meet the overturning requirements of aluminum wires of different specifications and different weights, has high universality and flexibility, and reduces manual operation.

The invention relates to the technical field of crane work monitoring, and discloses a tower crane visual work monitoring method based on digital twinning, which comprises the following steps: S1, establishing a digital twinning model of a tower crane, the digital twinning model comprises a geometric model, a physical model and an environment model, and the geometric model is constructed through a three-dimensional modeling tool; s2, working state data of the tower crane are collected through a multi-sensor network, and sensors comprise a force sensor, a position sensor, an acceleration sensor and an environment sensor. A three-dimensional dynamic model of the tower crane can be constructed and displayed through a digital twinborn technology and real-time acquisition of multi-sensor data, an operator knows the working state of equipment in real time through the system and obtains intelligent operation suggestions, and if abnormity is detected, the system automatically gives an early warning to prevent the equipment from having faults due to overload, vibration abnormity and other problems, so that the working efficiency of the tower crane is improved. And the working safety of the tower crane is obviously improved.

The invention relates to the field of steel structure building construction, in particular to a large-span steel structure assembling device and a construction method thereof.The large-span steel structure assembling device comprises a hoisting mechanism, an assembling jig frame, a clamping mechanism, a lifting mechanism, a fine adjustment mechanism and a sliding mechanism; the steel plates are conveyed into a factory area to be assembled, so that the construction period is greatly shortened; through mutual cooperation of the fine adjustment mechanism and the lifting mechanism, after the large-span steel structure is moved to a designated position, the four jig stand columns and the steel columns are leveled, so that bottom plates of the four steel columns of the pre-assembled large-span steel structure can abut against a concrete base at the same time; and the problems that installation is not accurate due to the height difference of the four large-span steel structures, and the concrete base is impacted due to the fact that the hydraulic thruster descends greatly are solved.

According to the auxiliary supporting mechanism for assembling the internal parts of the Tokamak and the assembling method, all auxiliary stand columns and a center stand column are installed at the same center distance, and the center stand column is provided with an upper-layer disc-type turn buckle supporting mechanism and a lower-layer disc-type turn buckle supporting mechanism so as to be connected with the outer surface of a vertical section of a vacuum chamber ring petal; the outer side supporting mechanism is connected around the outer surface of the vacuum chamber ring valve set, the double-column type bottom supporting table is located below the vacuum chamber ring valve set, and the vacuum chamber ring valve set is supported from the outer side and the lower portion of the vacuum chamber ring valve set; a stand column connecting rod is connected between every two adjacent auxiliary stand columns, and a limiting mechanism capable of extending into a window in a vacuum chamber ring petal is installed on each stand column connecting rod. The U-shaped operation platform penetrates through the vacuum chamber ring petal set, and a plurality of small internal part assembling auxiliary tools are movably installed on the surface of the U-shaped operation platform. The method is wide in application range, can effectively solve the problems that transportation channels of internal parts are few and the assembly construction space is limited, and reduces the construction difficulty and the construction cost.

Load stability systems and methods for stabilizing swinging motions of suspended loads. The load stability systems include a fully automated, self-powered device that employs thrust to counteract and control lateral and rotational motion of an external load. The device is a temporary installment on the load, cable, or boom, and is agnostic to the platform from which it is suspended.

The present invention relates to the technical field of on-site building construction, specifically a work device and a method of use. A work device comprises a base on which a small crane boom is provided, which extends and retracts relative to the base and is equipped at one end facing away from the base with a lifting hook, which lifting hook is configured to move towards or away from a work surface; and a telescopic support arrangement connected to the small crane boom and comprising a crane basket, which crane basket is configured to move towards or away from the work surface.The present invention provides a working device and a method of use which solves the problem that, when two work operations are to be carried out simultaneously in a confined space on site, a steel portal frame has to be erected to carry out the construction work and the whole construction process is labor-intensive, time-consuming and uneconomical.

Provided is a controller with high versatility that can automatically store or raise a boom and can be commonly used for various boom devices. The controller generates a function based on a length of a boom and a distance from a derrick fulcrum of the boom to an engaging member stored in a memory, and a depression angle of the engaging member with respect to the fulcrum. Then, the controller substitutes a derrick angle of the boom detected by a derrick angle sensor into the generated function to calculate a displacement distance from a distal end of the boom to the engaging member. The controller rotates a winch while raising and lowering the boom between a lowered position and a raised position such that the calculated displacement distance is a distance corresponding to an unwinding length of a wire detected by a length sensor.

The invention discloses a hoisting task control method and device of a crane and electronic equipment, and relates to the field of mechanical control. The method comprises the following steps: constructing a coupling model of a crane and a wind power blade according to hoisting task parameters; determining first control data of the crane according to the coupling model; obtaining current environment data, wherein the current environment data comprises wind speed and wind direction; determining wind load distribution corresponding to the current environment data in a preset wind load database; calculating position deviation and attitude deviation of a hoisting point of the crane according to the wind load distribution, and calculating a wind load compensation vector; superposing the wind load compensation vector into the first control data to generate second control data; and converting the second control data into a servo control instruction, and driving the crane to run according to the carrying track according to the servo control instruction. According to the technical scheme, the control instruction is dynamically adjusted by calculating the wind load compensation vector, and the accuracy of the hoisting process is improved.

The present invention provides a container-handling vehicle (9′) for picking up storage containers (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising a vehicle body (13) and at least one lifting device (18) for lifting a storage container (6) from the grid (4), the lifting device (18′) comprises a lifting band drive assembly (47, 47′,31), a horizontal lifting frame (17) and a plurality of lifting bands (16a, 16b); the lifting band drive assembly (47, 47′,31) is connected to the vehicle body (13) and comprises at least one rotatable lifting shaft (22.22′); the lifting frame (17,17) comprises four corner sections (36), gripper elements (24) for releasable connection to a storage container (6), and a lifting band connector (32,32′) arranged at each of the corner sections; the lifting bands (16a, 16b) are connected to the lifting band drive assembly (47, 47′,31) and the lifting band connectors (32,32′), such that the lifting frame (17, 17) may move in a vertical direction relative to the lifting band drive assembly by rotation of the lifting shaft (22,22); wherein at least three of the lifting band connectors (32,32′) are adjustable, such that the vertical distance between the respective corner sections and the lifting band drive assembly may be adjusted.

The invention discloses a self-adaptive balance control method and device for a crane, and relates to the technical field of self-adaptive balance control, and the method comprises the steps: firstly building a crane dynamic model through historical balance data in a database, then predicting system state data of a next time node, and then analyzing the predicted data to obtain a crane dynamic model; accurately judging that the system is in a normal, dangerous or unbalanced state, when the system is in a dangerous state, collecting and deeply analyzing hydraulic system data, and setting a hydraulic regulation and control scheme in a targeted manner; when the crane is in an unbalanced state, load balance data are collected and analyzed, an effective supporting compensation scheme is formulated, finally, hydraulic regulation and control and supporting compensation data within a preset time period are collected, comprehensive analysis is conducted, and then a load dynamic compensation scheme is set. The working efficiency is improved.

The invention discloses an automobile hoisting device, and belongs to the technical field of engineering hoisting. The problems that the gravity center of a component is difficult to accurately determine, the position and posture control of a cargo boom is inaccurate, and the load cannot be adaptively adjusted exist in the hoisting process of an existing automobile crane. The device comprises a truck crane body, a cargo boom tail end execution module, a cargo boom body sensing module, an environment sensing module and a control module. The control module is internally provided with a dynamic gravity center correction unit, a multi-sensor fusion unit and a self-adaptive load control unit, processes related sensor data based on Kalman filtering, extended particle filtering and a model prediction control algorithm, and outputs an adjustment instruction. The method is mainly used for improving the accuracy, safety and efficiency of automobile hoisting operation.

The invention relates to the technical field of automatic control, in particular to a tower crane variable amplitude-rotation linkage self-adaptive control method oriented to a high wind load environment. The method comprises the following steps: step 1, acquiring an actually measured average wind speed at the height of the tower crane so as to determine a wind-induced coupling torque acting on a rotating shaft of the tower crane; 2, real-time equivalent rotational inertia generated by the dead weight of the cantilever crane, the suspended load mass and the relative position of the cantilever crane is calculated in real time; step 3, obtaining an original variable-amplitude torque instruction output by a variable-amplitude motor of the tower crane; and step 4, utilizing the rotating shaft to couple the rotational inertia so as to update the rotation angular velocity set value of the tower crane in the next control period in real time, and completing the amplitude variation-rotation linkage self-adaptive control of the tower crane. According to the invention, the safety, precision and continuous operation capability of the tower crane under complex construction conditions are improved.

The invention discloses a crane stress monitoring data processing method and system, and solves the technical problem that real-time online analysis of stress monitoring big data is difficult to realize due to lack of a crane intermittent stress monitoring big data processing method in the prior art. The method comprises the following steps: acquiring stress monitoring data through a crane stress monitoring system; eliminating stress abnormal values; extracting and separating trend terms of the monitoring data to obtain new monitoring data; segmenting the new monitoring data according to the time of one working cycle of the crane to obtain segmented monitoring data; calculating the difference value between the maximum stress value and the minimum stress value of the segmented monitoring data, and assuming that the fatigue limit of the material is Sf, and the threshold value of the stress amplitude Sa is 5% of Sf; and judging whether the stress monitoring data of the section needs to be stored / remotely transmitted or not. According to the method, the calculation requirement is low, whether the crane causes the fatigue accumulated damage state or not can be effectively judged, and the stress monitoring big data storage / transmission capacity is greatly reduced.

The embodiment of the invention provides a mobile tower crane border crossing detection method and device. Tower crane design drawing data are imported into a virtual simulation engine, a three-dimensional model is constructed, and warning tape marks are set. A physical engine is creatively utilized to simulate tower crane moving tracks under different working conditions, and a border crossing behavior data set is generated based on intersection-to-union ratio calculation. A deep neural network structure is constructed, a trunk feature extraction module and a target detection module are included, and model parameters are optimized through a cross entropy loss function. According to the method, the limitation of traditional mechanical limiting and manual monitoring is broken through, real-time intelligent monitoring of the movable boundary of the tower crane is achieved, and reliable technical support is provided for safety management of a construction site.

Based upon the identification of a structural member, a projective path and final attachment location for the structural member is presented to the crane operator. Further, the dimensions of each structural member are determined and compared against a construction site database. Structural members not conforming to the dimensions listed in the construction site database are identified and the crane operator alerted.

The present invention discloses a method, apparatus, medium, and device for sway control of an overhead crane, the method comprising: establishing a lifting strategy corresponding to the target lifting operation; obtaining training data of the target operator controlling the crane bridge and / or trolley to complete a simulated lifting operation according to the lifting strategy; analyzing the training data to generate the sway control method for each target motion state of the crane bridge and trolley; and adopting the corresponding sway control method during actual lifting based on the current travel state of the crane bridge and trolley. The present invention performs overall path planning and crane bridge and trolley motion state planning for the lifting operation to determine a lifting strategy consistent with the construction site environment.During the lifting process, electronic and manual sway damping are combined depending on the operator's operating habits and skills, which not only improves the lifting performance but also increases the operational safety of the bridge crane, so that the load only shakes slightly when the bridge crane starts, stops, accelerates or decelerates, which improves the safety of the lifting process.