A type of bridge crane

Abstract

This invention relates to a bridge crane, comprising a frame, a moving device, a tank lifting device, a tank tilting device, a vision sensor, and a control device. The moving device is mounted on the frame. The tank lifting device is mounted on the moving device. The tank tilting device includes a lifting drive unit mounted on the moving device, a horizontal rotary actuator mounted on the output end of the lifting drive unit, and a special-shaped hook mounted on the output end of the horizontal rotary actuator. The special-shaped hook has at least two hook bodies, each hook body being used to hook different specifications of tank tilting lifting lugs. The vision sensor is used to acquire images of the tank tilting lifting lugs. The control device is electrically connected to the moving device, the tank lifting device, the lifting drive unit, the horizontal rotary actuator, and the vision sensor, and is used to receive images of the tank tilting lifting lugs and control the horizontal rotary actuator to rotate according to the images, so that the corresponding hook body is aligned with the tank tilting lifting lug. This bridge crane can improve the efficiency and safety of steel slag handling.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment technology, and in particular to a bridge crane. Background Technology

[0002] In steel slag processing, bridge cranes are typically used to move and tip steel slag ladles. Steel slag ladles are classified as solid or liquid depending on the slag state, and the specifications and dimensions of the tipping lugs differ between the two, requiring the replacement of appropriate lifting hooks during operation. Currently, this process is mainly done manually, resulting in low efficiency, high labor intensity, and significant safety risks. Furthermore, the high working temperature, heavy lifting equipment, and poor coordination among multiple workers easily lead to safety hazards, especially if someone enters the tipping area during hot slag tipping; any splashing slag poses a significant danger to nearby workers. Summary of the Invention

[0003] Based on this, the purpose of the present invention is to provide a bridge crane that can improve the efficiency and safety of steel slag processing.

[0004] The present invention is achieved through the following technical solution: a bridge crane, comprising a frame, a moving device, a tank lifting device, a tank tilting device, a vision sensor, and a control device; the moving device is disposed on the frame and is used to drive the components disposed thereon to move along mutually perpendicular first horizontal directions and second horizontal directions; the tank lifting device is disposed on the moving device;

[0005] The tank tilting device includes a lifting drive, a horizontal rotation drive, and a special-shaped hook; the lifting drive assembly is disposed on the moving device, the horizontal rotation drive is disposed at the output end of the lifting drive assembly, and the special-shaped hook is disposed at the output end of the horizontal rotation drive; the special-shaped hook has at least two hook bodies distributed around its rotation center line, and each hook body is used to hook different specifications of tank tilting lifting lugs. The vision sensor is used to acquire images of the tank tilting lugs; the control device is electrically connected to the moving device, the tank lifting device, the lifting drive assembly, the horizontal rotation drive and the vision sensor, and is used to receive images of the tank tilting lugs, and control the horizontal rotation drive to rotate according to the images, so that the corresponding hook is aligned with the tank tilting lugs.

[0006] Compared with existing technologies, the bridge crane provided by this invention automatically identifies the specifications of the lifting lugs for tank tilting using a vision sensor and controls a horizontal rotary drive to rotate irregularly shaped hooks, enabling the hooks of corresponding specifications to quickly align with the lifting lugs. This achieves automatic identification and hook adaptation for lifting lugs of different specifications, eliminating the need for manual intervention or frequent changes of lifting tools, significantly improving work efficiency and reducing the labor intensity and safety risks for operators. Simultaneously, this automated hooking method reduces manual operations, avoiding personnel approaching or remaining in high-temperature, hazardous areas, and especially reducing the risk of personal injury caused by slag splashing during hot slag tipping, thus improving the safety, continuity, and automation level of the entire slag handling process.

[0007] In one embodiment, the tank tilting device further includes a hook and a pull plate. The hook is located at the output end of the horizontal rotary actuator, and one end of the pull plate is hooked to the hook, while the other end is connected to the shaped hook. This design facilitates the installation and replacement of the shaped hook, and also allows the shaped hook to be removed for lifting assistance.

[0008] In one embodiment, the irregular hook has two hook bodies that together form a W-shaped structure. This facilitates hooking and also helps the irregular hook maintain its balance.

[0009] In one embodiment, the shaped hook is forged from a wear-resistant alloy, and the inner hook surface of each hook body is coated with a graphene nano-ceramic composite coating. This improves the wear resistance of the shaped hook, thereby increasing its service life.

[0010] In one embodiment, each hook is provided with a locking mechanism at its hook opening. The locking mechanism is electrically connected to the control device and is used to open or close the hook opening under the control of the control device. The locking mechanism ensures the reliability of the hook engaging with the flipping lifting lug.

[0011] In one embodiment, the locking mechanism includes a locking block, an elastic element, and a telescopic actuator. The locking block is disposed within the hook body via the elastic element and closes the hook opening under the elastic force of the elastic element. The output end of the telescopic actuator is connected to the locking block, and the control device is electrically connected to the telescopic actuator to control the telescopic actuator to retract the locking block and open the hook opening. The locking block, elastic element, and telescopic actuator achieve the closing and opening of the hook opening.

[0012] In one embodiment, the bridge crane further includes a detection component, a camera, and an alarm device. The detection component is disposed on both sides of the frame and is used to scan the area on both sides of the bridge crane's operating path, generating an abnormal signal when an abnormal object is detected. The camera is disposed on the frame and is used to capture images of the area on both sides of the operating path. The control device is electrically connected to the detection component, the camera, and the alarm device, and is used to receive the abnormal signal, control the camera to capture images of the corresponding area, analyze the captured images to determine the hazard level and hazard source, and control the alarm device to issue an alarm based on the analysis results. These features improve the safety of the bridge crane during operation.

[0013] In one embodiment, the bridge crane further includes a display device disposed in the operator's cab of the bridge crane and electrically connected to the control device. The control device is used to transmit the received image of the tank tilting lug to the display device for display. The display device facilitates operator control from the cab to hook the corresponding hook onto the tank tilting lug.

[0014] In one embodiment, the bridge crane further includes a laser alignment device disposed on the hook body; the control device is electrically connected to the laser alignment device and is used to control the activation of the laser alignment device after the corresponding hook body is aligned with the tank tilting lug. The laser alignment device further facilitates the cab operation of the corresponding hook body to hook the tank tilting lug.

[0015] In one embodiment, the horizontal rotation drive is a rotary motor, which is equipped with an angle sensor and an angle limiter. The angle sensor is electrically connected to the control device. The angle sensor and angle limiter improve the accuracy of the alignment between the corresponding hook and the tank's tilting lug.

[0016] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the bridge crane described in this invention; Figure 2 This is a schematic diagram of the irregular hook described in this invention; Figure 3 This is a schematic diagram showing the cooperation between the hook body of the irregular hook described in this invention and the tilting lug of the tank; Figure 4 This is a schematic diagram showing the cooperation between the other hook body of the irregular hook described in this invention and the can body flipping lifting lug.

[0018] Reference numerals: 10, frame; 20, moving device; 30, tank lifting device; 31, lifting hook; 40, tank tilting device; 41, lifting drive assembly; 41, horizontal rotation drive assembly; 43, hook; 44, pull plate; 45, special hook; 50, tank tilting lifting lug. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] like Figures 1 to 4As shown, this embodiment provides a bridge crane, including a frame 10, a moving device 20, a tank lifting device 30, a tank tilting device 40, a vision sensor (not shown), and a control device (not shown). The moving device 20 is disposed on the frame 10 and is used to drive the components disposed thereon to move along a first horizontal direction and a second horizontal direction that are perpendicular to each other. The tank lifting device 30 is disposed on the moving device 20. The tank tilting device 40 includes a lifting drive device 41, a horizontal rotation drive 42, and a special-shaped hook 45. The lifting drive assembly 41 is disposed on the moving device 20, and the horizontal rotation drive 42 is disposed on the lifting drive assembly 45. At the output end of the horizontal rotary actuator 42, the irregular hook 45 is disposed at the output end of the 1. The irregular hook 45 has at least two hook bodies distributed around its rotation center line, each hook body being used to hook different specifications of tank tilting lifting lugs 50. The vision sensor is used to acquire images of the tank tilting lifting lugs 50. The control device is electrically connected to the moving device 20, the tank lifting device 30, the lifting drive assembly 41, the horizontal rotary actuator 42, and the vision sensor, and is used to receive images of the tank tilting lifting lugs 50, and control the horizontal rotary actuator 42 to rotate according to the images, so that the corresponding hook body is aligned with the tank tilting lifting lug 50. By automatically identifying the specifications of the tank tilting lifting lugs 50 through the vision sensor and controlling the horizontal rotary actuator 42 to drive the irregular hook 45 to rotate, the hook body of the corresponding specification is quickly aligned with the lifting lug, realizing automatic identification and hook adaptation for lifting lugs of different specifications, without manual intervention or frequent changes of lifting tools, significantly improving work efficiency and reducing the labor intensity and safety risks of operators. Meanwhile, this automated hooking method reduces manual operations, avoiding personnel approaching and lingering in high-temperature, hazardous areas. It particularly reduces the risk of personal injury caused by slag splashing during hot slag dumping, improving the safety, continuity, and automation level of the entire slag handling process. It should be noted that the bridge crane described in this embodiment is not limited to slag handling; it can also be applied to other situations requiring frequent hook switching for tank lifting or material dumping. In this embodiment, the vision sensors can be configured one-to-one with the hooks, or the output end of the lifting drive assembly 41 can be mounted on a bracket.

[0021] In this embodiment, the tank tilting device 40 further includes a hook 43 and a pull plate 44. The hook 43 is disposed at the output end of the horizontal rotary actuator 42. One end of the pull plate 44 is hooked to the hook 43, and the other end is connected to the shaped hook 45. This arrangement facilitates the installation and replacement of the shaped hook 45. Simultaneously, the shaped hook 45 can be removed for lifting assistance. Of course, in other alternative embodiments, the shaped hook 45 can be directly and detachably disposed at the output end of the horizontal rotary actuator 42. In this embodiment, the pull plate 44 has a U-shaped structure. The end of the shaped hook 45 away from the hook body is disposed at the opening of the pull plate 44 and connected to the pull plate 44. The end of the pull plate 44 away from the opening is hooked to the hook 43. Of course, in other alternative embodiments, the pull plate 44 can be a ring-shaped structure.

[0022] In this embodiment, the irregular hook 45 has two hook bodies, which together form a W-shaped structure. This facilitates hooking and also helps the irregular hook 45 maintain its balance. Of course, in other alternative embodiments, there can be multiple hook bodies, which can be designed according to actual conditions and are not limited here. The shape and size of each hook body in this embodiment can be designed according to the specifications of the tank tilting lug 50 and are not limited here.

[0023] In this embodiment, the shaped hook 45 is forged from a wear-resistant alloy, and the inner hook surface of each hook body is coated with a graphene nano-ceramic composite coating. This improves the wear resistance of the shaped hook 45, thereby increasing its service life. Of course, in other alternative embodiments, the entire shaped hook 45 can be coated with a graphene nano-ceramic composite coating. Furthermore, in other alternative embodiments, the coating is not limited to graphene nano-ceramic composite coating; other wear-resistant composite coatings such as tungsten carbide-based coatings and chromium oxide coatings can also be applied.

[0024] In this embodiment, each hook is equipped with a locking mechanism (not shown in the figure) at its hook opening. The locking mechanism is electrically connected to the control device and is used to open or close the hook opening under the control of the control device. The locking mechanism ensures the reliability of the hook engaging with the tank tilting lug 50.

[0025] Specifically, the locking mechanism includes a locking block, an elastic element, and a telescopic actuator. The locking block is disposed within the hook body via the elastic element and closes the hook opening under the elastic force of the elastic element. The output end of the telescopic actuator is connected to the locking block, and the control device is electrically connected to the telescopic actuator to control the telescopic actuator to retract the locking block and open the hook opening. The locking block, elastic element, and telescopic actuator achieve the closing and opening of the hook opening. Alternatively, in other alternative embodiments, the locking mechanism may include a stop bar for rotating to open or close the hook opening, and a rotation actuator. The stop bar is hinged to the hook body, the rotation actuator is disposed within the hook body, its output end is connected to the stop bar, and the rotation actuator is electrically connected to the control device. The hook opening is opened or closed by rotating the stop bar.

[0026] In this embodiment, the bridge crane further includes a detection component (not shown), a camera (not shown), and an alarm device (not shown). The detection component is disposed on both sides of the frame 10 and is used to scan the area on both sides of the bridge crane's operating path, generating an abnormal signal when an abnormal object is detected. The camera is disposed on the frame 10 and is used to capture images of the area on both sides of the operating path. The control device is electrically connected to the detection component, the camera, and the alarm device, and is used to receive the abnormal signal, control the camera to capture images of the corresponding area, analyze the captured images to determine the hazard level and hazard source, and control the alarm device to issue an alarm based on the analysis results. This configuration improves the safety of the bridge crane during operation. The detection component can be one, two, or more of the following: lidar, millimeter-wave radar, ultrasonic sensors, and infrared sensors. The control device has a built-in trained intelligent image processing model that analyzes the captured images to determine the hazard level and hazard source. By collecting images of different entry points and actions of personnel, or other objects in the workshop (such as forklifts) as training sets, corresponding training labels are obtained through manual annotation or genetic algorithms. The training set and training labels are then used to train an intelligent image processing model. The risk factor is highest for personnel entering without any protective measures, slightly lower for personnel entering with protective measures, and so on, setting risk factors accordingly. Alarm levels are then set based on the corresponding risk factors. The control device may immediately suspend all crane operations and sound an alarm based on the risk factor, or simply sound an alarm, with manual judgment required for further suspension. In this embodiment, the alarm device can be an audible and visual alarm or a voice alarm. The alarm device can be installed on the frame or in the frame chamber of the bridge crane.

[0027] In this embodiment, the bridge crane further includes a display device (not shown), which is located in the operator's cab of the bridge crane and electrically connected to the control device. The control device transmits the received image of the tank tilting lug 50 to the display device for display. The display device facilitates operator control from the cab to engage the corresponding hook with the tank tilting lug 50. Of course, in other alternative embodiments, the control device can control the hook to engage with the tank tilting lug 50, eliminating the need for operator cab operation.

[0028] In this embodiment, the bridge crane further includes a laser alignment device (not shown), which is disposed on the hook body. The control device is electrically connected to the laser alignment device and is used to control the activation of the laser alignment device after the corresponding hook body is aligned with the tank tilting lug 50. The laser alignment device further facilitates the cab operation of the corresponding hook body to hook the tank tilting lug 50. Preferably, the outer side of the hook body is provided with a clearance groove, and the laser alignment device is disposed in the clearance groove to avoid damage to the laser alignment device. Of course, in other alternative embodiments, the laser alignment device can be always lit, independently disposed on the hook body, and not electrically connected to the control device, thus avoiding wiring design.

[0029] In this embodiment, the horizontal rotation drive 42 is a rotary motor, which is equipped with an angle sensor and an angle limiter. The angle sensor is electrically connected to the control device. The angle sensor and angle limiter improve the accuracy of the alignment between the hook and the tank's tilting lug. For example, in this embodiment, the irregular hook 45 has a W-shaped structure, and the angle limiter restricts the rotation angle range of the rotary motor to 0°~180°, including the left and right endpoints. The angle sensor provides real-time feedback of the rotation angle to the control device, ensuring the accuracy of the rotation. Of course, in other alternative embodiments, the horizontal rotation drive can be a rotary cylinder.

[0030] In this embodiment, the lifting drive assembly 41 includes a lifting motor, a drum, and a hoisting rope; the lifting motor is disposed on the moving device 20, the drum is disposed at the output end of the lifting motor, one end of the hoisting rope is wound around the drum, and the other end is connected to the horizontal rotation driver 42.

[0031] In this embodiment, the tank lifting device 30 includes a lifting motor, a lifting drum, a lifting rope, and a lifting hook 31. The lifting motor is located on the moving device 20, the lifting drum is located at the output end of the lifting motor, one end of the lifting rope is wound around the lifting drum, and the other end is connected to the lifting hook 31. In this embodiment, there are two tank lifting devices 30, located on both sides of the tank, which together lift the tank, contributing to the stability and safety of the tank lifting. Of course, in other alternative embodiments, the tank lifting device 30 can be a single device, such as a lifting rod on the top of the tank with a lifting groove that cooperates with the lifting hook 31.

[0032] In this embodiment, the mobile device 20 includes a bridge and a trolley. The bridge is movably mounted on the frame along the length of the frame, and the trolley is movably mounted on the bridge along the width of the frame. The tank lifting device 30 and the lifting drive assembly 41 are both mounted on the trolley.

[0033] Compared with existing technologies, the bridge crane provided by this invention automatically identifies the specifications of the tank tilting lug 50 through a vision sensor and controls the horizontal rotation driver 42 to drive the non-standard hook 45 to rotate, so that the hook of the corresponding specification is quickly aligned with the lug. This achieves automatic identification and hook adaptation for lugs of different specifications, eliminating the need for manual intervention or frequent changes of lifting tools, significantly improving work efficiency and reducing the labor intensity and safety risks for operators. At the same time, this automated hooking method reduces manual operation steps, avoids personnel approaching and staying in high-temperature and dangerous areas, and especially reduces the risk of personal injury caused by steel slag splashing during hot slag tipping, improving the safety, continuity and automation level of the entire steel slag handling process.

[0034] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application. The singular forms “a,” “the,” and “the” used in the embodiments and claims of this application are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that, unless otherwise stated, “a plurality” refers to two or more; the terms “first,” “second,” “third,” etc., are used only to distinguish and not to describe a particular order or sequence, nor should they be construed as indicating or implying relative importance. The term “and / or” as used herein refers to and includes any or all possible combinations of one or more associated listed items. When the above description relates to drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. In the description of this application, those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A bridge crane, characterized in that, It includes a frame, a moving device, a tank lifting device, a tank tilting device, a vision sensor, and a control device; the moving device is mounted on the frame and is used to drive the components mounted thereon to move along a first horizontal direction and a second horizontal direction that are perpendicular to each other; the tank lifting device is mounted on the moving device; The tank tilting device includes a lifting drive, a horizontal rotation drive, and a special-shaped hook; the lifting drive assembly is disposed on the moving device, the horizontal rotation drive is disposed at the output end of the lifting drive assembly, and the special-shaped hook is disposed at the output end of the horizontal rotation drive; the special-shaped hook has at least two hook bodies distributed around its rotation center line, and each hook body is used to hook different specifications of tank tilting lifting lugs. The vision sensor is used to acquire images of the tank tilting lugs; the control device is electrically connected to the moving device, the tank lifting device, the lifting drive assembly, the horizontal rotation drive and the vision sensor, and is used to receive images of the tank tilting lugs, and control the horizontal rotation drive to rotate according to the images, so that the corresponding hook is aligned with the tank tilting lugs.

2. The bridge crane according to claim 1, characterized in that, The tank tilting device also includes a hook and a pull plate. The hook is located at the output end of the horizontal rotary drive. One end of the pull plate is hooked to the hook, and the other end is connected to the shaped hook.

3. The bridge crane according to claim 1, characterized in that, The irregular hook has two hook bodies, which together form a W-shaped structure.

4. The bridge crane according to claim 1, characterized in that, The irregular hooks are forged from wear-resistant alloys, and the inner hook surfaces of each hook body are coated with a graphene nano-ceramic composite coating.

5. The bridge crane according to claim 1, characterized in that, Each hook body is provided with a locking mechanism at its hook opening. The locking mechanism is electrically connected to the control device and is used to open or close the hook opening under the control of the control device.

6. The bridge crane according to claim 5, characterized in that, The locking mechanism includes a locking block, an elastic element, and a telescopic actuator. The locking block is disposed in the hook body through the elastic element and closes the hook opening of the hook body under the elastic force of the elastic element. The output end of the telescopic actuator is connected to the locking block, and the control device is electrically connected to the telescopic actuator to control the telescopic actuator to drive the locking block to retract and open the hook opening.

7. The bridge crane according to claim 1, characterized in that, The bridge crane also includes a detection component, a camera, and an alarm device. The detection component is disposed on both sides of the frame and is used to scan the area on both sides of the bridge crane's working path, and generate an abnormal signal when an abnormal object is detected. The camera is disposed on the frame and is used to capture images of the area on both sides of the working path. The control device is electrically connected to the detection component, the camera, and the alarm device, and is used to receive the abnormal signal, control the camera to capture images of the corresponding area, analyze the captured images to determine the hazard level and hazard source, and control the alarm device to issue an alarm based on the analysis results.

8. The bridge crane according to claim 1, characterized in that, The bridge crane also includes a display device, which is installed in the operator's cab of the bridge crane and electrically connected to the control device. The control device is used to transmit the received image of the tank tilting lug to the display device for display.

9. The bridge crane according to claim 8, characterized in that, The bridge crane also includes a laser alignment device, which is disposed on the hook body; the control device is electrically connected to the laser alignment device and is used to control the activation of the laser alignment device after the corresponding hook body and the tank body flipping lug are aligned.

10. The bridge crane according to claim 1, characterized in that, The horizontal rotation drive is a rotary motor, which is equipped with an angle sensor and an angle limiter. The angle sensor is electrically connected to the control device.

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