Unmanned vehicle with wire rope winding detection function

Abstract

The invention discloses an unmanned vehicle with a wire rope winding detection function, comprising a drum, a left wire rope, a right wire rope, and a support frame, wherein the drum is mounted on the support frame, one end of the left wire rope and the right wire rope are wound on the drum, and the other end is hung down and connected to a lifting mechanism; the invention also comprises a controller and a detection device, wherein the detection device comprises an upper bracket, a detection cable, a counterweight, and a first proximity switch, wherein the upper bracket is fixed on the support frame, the first proximity switch is fixed on the upper bracket, the front end of the detection cable is fixed to the support frame, the middle part crosses the support frame and is arranged between the left wire rope and the right wire rope, the tail part is movably attached to the upper bracket, the end part passes around the top of the upper bracket and hangs down and is connected to the counterweight, the counterweight is arranged in a positional manner with the first proximity switch, and the first proximity switch is associated with the controller signal. The invention has the advantages that the wire rope winding phenomenon of the unmanned vehicle is detected by the detection device at the first time, thereby avoiding the occurrence of subsequent accidents.

Description

Technical Field

[0001] The invention relates to an unmanned vehicle with a wire rope winding detection function, belonging to the technical field of unmanned vehicles. Background Art

[0002] Crane is a general term for cranes such as cranes, overhead cranes, and overhead cranes. Its basic structure usually includes a drum, wire rope, and lifting mechanism. One end of the wire rope is wound around the drum and the other end is hung down to connect to the lifting mechanism to complete the lifting and transportation of goods. Commonly used lifting mechanisms include hooks, suction cups, etc.

[0003] In many extreme environments, such as the high temperature environment of a steel smelting site, the operation of the crane is not suitable to be completed manually, and the use of unmanned cranes can better solve this problem. However, due to the unmanned site, the entanglement of the wire rope caused by the rotation of the lifting mechanism cannot be discovered in time, which will cause certain safety hazards. Summary of the invention

[0004] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide an unmanned vehicle with a wire rope winding detection function. When the wire rope is entangled, an alarm can be issued in time to stop the vehicle and avoid further accidents.

[0005] Technical solution: An unmanned vehicle with a wire rope winding detection function, comprising a drum, a left wire rope, a right wire rope, and a support frame, wherein the drum is mounted on the support frame, one end of the left wire rope and the right wire rope are wound around the drum, and the other end is hung down and connected to a lifting mechanism; further comprising a controller and a detection device, wherein the detection device comprises an upper bracket, a detection cable, a counterweight, and a first proximity switch, wherein the upper bracket is fixed to the support frame, the first proximity switch is fixed to the upper bracket, the front end of the detection cable is fixed to the support frame, the middle part spans the support frame and is inserted between the left wire rope and the right wire rope, the tail part is movably attached to the upper bracket, the end part passes around the top of the upper bracket and then hangs down and connects to the counterweight, the counterweight is arranged in alignment with the first proximity switch, and the first proximity switch is associated with the controller signal; after the left wire rope and the right wire rope are entangled, the detection cable is wound together, driving the counterweight to rise to the first proximity switch, and the controller receives the signal of the first proximity switch to detect the entanglement.

[0006] The principle of the present invention is: since the middle part of the detection cable is inserted between the left steel wire rope and the right steel wire rope, after the lifting mechanism rotates horizontally, the detection cable will be entangled with the left steel wire rope and the right steel wire rope, and the detection cable is pulled by force to pull the counterweight, causing it to move upward. When it reaches the position corresponding to the first proximity switch, the first proximity switch detects the proximity signal and feeds the proximity signal back to the controller, thereby learning that the entanglement phenomenon has occurred. At this time, the controller signal controls the unmanned vehicle to stop operating, stand still for a period of time, and slowly restore the entanglement phenomenon through the self-weight of the lifting mechanism and the hoisted objects. After the entanglement phenomenon is eliminated, the counterweight returns to the original position, and the first proximity switch feeds back the restoration signal to the controller. The controller signal controls the unmanned vehicle to continue to operate, thereby timely detecting the entanglement phenomenon of the wire rope of the unmanned vehicle to avoid subsequent accidents.

[0007] Furthermore, the detection device further comprises a sleeve, the bottom of the sleeve is fixed to the support frame, and a track groove is provided on the side thereof, the counterweight comprises a counterweight body and a slide bar extending from the side of the counterweight body, the counterweight body slides in the sleeve, the slide bar slides on the track groove, and the first proximity switch is arranged on the sleeve and aligned with the slide bar. This structure fixes the moving route of the counterweight through the sleeve, thereby ensuring the stability of the alignment of the counterweight and the first proximity switch.

[0008] Furthermore, the upper end of the track groove is closed to prevent the counterweight from detaching from the sleeve, and can play a role in mechanical limit protection for the entanglement between the detection cable and the left wire rope and the right wire rope.

[0009] Furthermore, the detection device also includes a second proximity switch associated with the controller signal, the second proximity switch is fixed on the sleeve, and the second proximity switch and the first proximity switch are arranged in an upper and lower arrangement; after the slide bar slides on the track groove, it reaches the first proximity switch and the second proximity switch respectively. In this structure, the first proximity switch is used as an early warning structure, and the second proximity switch is used as a critical structure. When the first proximity switch is aligned with the counterweight, a entanglement early warning signal is provided, and the controller still controls the unmanned vehicle to continue to operate. When the second proximity switch is aligned with the counterweight, a entanglement critical signal is provided, and the controller controls the unmanned vehicle to stop operating and wait for the entanglement phenomenon to recover.

[0010] Furthermore, a planar notch is formed on the slide bar, and the planar notch corresponds to the position of the first proximity switch and the second proximity switch, so as to facilitate signal detection of the first proximity switch and the second proximity switch.

[0011] Furthermore, the detection device further comprises a lower bracket, the lower bracket comprises a left lower bracket and a right lower bracket which are arranged opposite to each other, the left lower bracket and the right lower bracket are respectively fixed to the support frame, and the middle part of the detection cable is respectively attached to the left lower bracket and the right lower bracket, so that the middle part of the detection cable is close to the lifting mechanism. In this structure, the lower bracket is used to make the middle part of the detection cable as close to the lifting mechanism as possible, so that after the lifting mechanism rotates horizontally, the left wire rope and the right wire rope will immediately wrap the detection cable together, thereby improving the detection accuracy.

[0012] Furthermore, the detection device also includes a pulley group, which includes an upper pulley, a left pulley, and a right pulley. The upper pulley is fixed to the top of the upper bracket, the left pulley is fixed to the bottom of the left lower bracket, and the right pulley is fixed to the bottom of the right lower bracket. The detection cable is respectively wrapped around the upper pulley, the left pulley, and the right pulley to be movably attached to the upper bracket, the left lower bracket, and the right lower bracket to make the movement of the detection cable smoother.

[0013] Furthermore, the upper bracket and the left lower bracket are integrally formed to facilitate installation.

[0014] Furthermore, there are two drums, two left steel ropes are respectively wound around the left ends of the two drums, and two right steel ropes are respectively wound around the right ends of the two drums. After being hung down, the two left steel ropes and the two right steel ropes are jointly connected to the lifting mechanism. The middle part of the detection cable is passed between the two left steel ropes and the two right steel ropes to provide a more stable lifting structure and facilitate the winding detection of the detection cable.

[0015] Preferably, the support frame is a U-shaped frame.

[0016] Beneficial effect: Compared with the prior art, the advantages of the present invention are: the detection device can detect the entanglement of the wire rope of the unmanned vehicle in the first time, thereby avoiding the occurrence of subsequent accidents. At the same time, the winding degree of the wire rope can be detected by the first proximity switch and the second proximity switch in stages, which is also beneficial to actual production and practical use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the detection device;

[0019] Figure 3 It is the front view of the detection device;

[0020] Figure 4 for Figure 3A magnified schematic diagram of position A in the middle;

[0021] Figure 5 It is a schematic diagram of the sleeve structure;

[0022] Figure 6 Schematic diagram of the counterweight structure. DETAILED DESCRIPTION

[0023] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. These embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0024] An unmanned vehicle with a wire rope winding detection function, as shown in the attached Figure 1 As shown, it includes a drum 1, a left steel wire rope 2, a right steel wire rope 3, a supporting frame 4, a detection device 5, and a controller.

[0025] The drum 1 is installed on the support frame 4, and one end of the left steel wire rope 2 and the right steel wire rope 3 are wound on the drum 1, and the other end is hung down and connected to the lifting mechanism. In this embodiment, in order to make the lifting of the lifting mechanism more stable, two drums 1 are provided, the left steel wire rope 2 is provided as two pieces, which are respectively wound on the left ends of the two drums 1, and the right steel wire rope 3 is provided as two pieces, which are respectively wound on the right ends of the two drums 1. The two left steel wire ropes 2 and the two right steel wire ropes 3 are hung down and connected to the lifting mechanism. The support frame 4 preferably adopts a square frame.

[0026] As attached Figures 2 to 6 As shown, the detection device 5 includes an upper bracket 51 , a detection cable 52 , a counterweight 53 , a first proximity switch 54 , a sleeve 55 , a second proximity switch 56 , a lower bracket 57 , and a pulley block 58 .

[0027] As attached Figure 2 As shown, the upper bracket 51 is fixed on the support frame 4. The lower bracket 57 includes a left lower bracket 571 and a right lower bracket 572 which are arranged opposite to each other. The left lower bracket 571 and the right lower bracket 572 are fixed to the support frame 4 respectively. The pulley group 58 includes an upper pulley 581, a left pulley 582 and a right pulley 583. The upper pulley 581 is fixed to the top of the upper bracket 51, the left pulley 582 is fixed to the bottom of the left lower bracket 571, and the right pulley 583 is fixed to the bottom of the right lower bracket 572. Figure 3 As shown, in this embodiment, the upper bracket 51 and the left lower bracket 571 are preferably formed in one piece to facilitate installation.

[0028] As attached Figure 2As shown, the front end of the detection cable 52 is fixed to the support frame 4, the middle part spans the support frame 4 and is inserted between the left steel wire rope 2 and the right steel wire rope 3, the tail part is movably attached to the upper bracket 51, and the end is hung down after passing the top of the upper bracket 51 and connected to the counterweight 53. In this embodiment, in order to make the middle part of the detection cable 52 as close to the lifting mechanism as possible, the middle part of the detection cable 52 is set to be attached to the left lower bracket 571 and the right lower bracket 572 respectively. At the same time, in order to realize that the detection cable 52 is movably attached to the upper bracket 51, the left lower bracket 571, and the right lower bracket 572, the detection cable 52 is set to be wound around the upper pulley 581, the left pulley 582, and the right pulley 583 respectively. In addition, in order to facilitate the winding of the detection cable 52 with the left steel wire rope 2 and the right steel wire rope 3, the middle part of the detection cable 52 is set to be inserted between the two left steel wire ropes 2 and the two right steel wire ropes 3.

[0029] As attached Figure 6 As shown, the counterweight 53 includes a counterweight body 531 and a sliding rod 532 extending from a side of the counterweight body 531 .

[0030] As attached Figure 4 , 5 As shown, the bottom of the sleeve 55 is fixed to the support frame 4, and a track groove 551 is provided on the side, and the upper end of the track groove 551 is closed. The second proximity switch 56 and the first proximity switch 54 are fixed on the sleeve 55, and are arranged in an upper and lower arrangement. In this embodiment, the counterweight body 531 is stuck in the sleeve 55 and slides, and the slide bar 532 is stuck on the track groove 551 and slides. After the slide bar 532 slides on the track groove 551, it reaches the first proximity switch 54 and the second proximity switch 56 respectively. At the same time, in order to facilitate the positioning of the second proximity switch 56 and the first proximity switch 54, a plane notch 533 is provided on the slide bar 532, and the plane notch 533 corresponds to the position of the first proximity switch 54 and the second proximity switch 56.

[0031] The first proximity switch 54 and the second proximity switch 56 are respectively associated with controller signals.

[0032] When the unmanned vehicle of this embodiment is in use, when the lifting mechanism rotates laterally, the left steel wire rope 2 and the right steel wire rope 3 become entangled. Since the detection cable 52 is passed between the two left steel wire ropes 2 and the two right steel wire ropes 3, it will be entangled with the left steel wire rope 2 and the right steel wire rope 3, thereby driving the counterweight 53 to slide upward in the sleeve, and causing the slide bar 532 to slide upward in the track groove 551 to the first proximity switch 54 and the second proximity switch 56 in turn, so that the entanglement phenomenon is detected by the detection device 5. Specifically, when the planar notch 533 of the slide bar 532 is aligned with the first proximity switch 54, a feedback signal is sent to the controller, indicating that a slight entanglement phenomenon has occurred. The unmanned vehicle can still be used, but attention needs to be paid to the degree of entanglement; when the planar notch 533 of the slide bar 532 is aligned with the second proximity switch 56, a feedback signal is sent to the controller, indicating that a severe entanglement phenomenon has occurred. The controller signals the unmanned vehicle to stop operating. After standing still for a period of time, the lifting mechanism returns to its original state under the influence of its own gravity and the gravity of the cargo, and the entanglement phenomenon is eliminated. The controller receives the feedback signals of the first proximity switch 54 and the second proximity switch 56, and then continues to signal the unmanned vehicle to resume operation.

[0033] This embodiment uses the detection device to detect the wire rope winding phenomenon of the unmanned vehicle in the first time to avoid subsequent accidents. At the same time, the winding degree of the wire rope is detected by the first proximity switch and the second proximity switch in stages, which is also beneficial to actual production and practical use.

Claims

1. An unmanned vehicle with a wire rope winding detection function, comprising a drum (1), a left wire rope (2), a right wire rope (3), and a support frame (4), wherein the drum (1) is mounted on the support frame (4), one end of the left wire rope (2) and the right wire rope (3) are wound around the drum (1), and the other ends are hung down and connected to a lifting mechanism; characterized in that: It also includes a controller and a detection device (5), wherein the detection device (5) includes an upper bracket (51), a detection cable (52), a counterweight (53), and a first proximity switch (54), wherein the upper bracket (51) is fixed to the support frame (4), and the first proximity switch (54) is fixed to the upper bracket (51); the front end of the detection cable (52) is fixed to the support frame (4), the middle part spans the support frame (4) and is passed between the left steel wire rope (2) and the right steel wire rope (3), the tail part is movably attached to the upper bracket (51), and the end passes around the top of the upper bracket (51) and then hangs down and connects to the counterweight (53), the counterweight (53) and the first proximity switch (54) are arranged in a corresponding position, and the first proximity switch (54) is associated with the controller signal; After the left steel wire rope (2) and the right steel wire rope (3) are entangled, the detection cable (52) is entangled together, driving the counterweight (53) to rise to the first proximity switch (54), and the controller receives a signal from the first proximity switch (54) to detect the entanglement; The detection device (5) further comprises a sleeve (55), the bottom of the sleeve (55) is fixed to the supporting frame (4), and a track groove (551) is provided on the side thereof; the counterweight (53) comprises a counterweight body (531) and a slide bar (532) extending from the side of the counterweight body (531); the counterweight body (531) is clamped in the sleeve (55) and slides; the slide bar (532) is clamped in the track groove (551) and slides; the first proximity switch (54) is arranged on the sleeve (55) and is arranged in alignment with the slide bar (532); The detection device (5) further comprises a lower bracket (57), wherein the lower bracket (57) comprises a left lower bracket (571) and a right lower bracket (572) which are arranged opposite to each other, wherein the left lower bracket (571) and the right lower bracket (572) are respectively fixed to the support frame (4), and the middle part of the detection cable (52) is respectively attached to the left lower bracket (571) and the right lower bracket (572) so that the middle part of the detection cable (52) is close to the lifting mechanism.

2. The unmanned vehicle with wire rope winding detection function according to claim 1 is characterized in that: The upper end of the track groove (551) is closed.

3. The unmanned vehicle with wire rope winding detection function according to claim 1 is characterized in that: The detection device (5) further comprises a second proximity switch (56) associated with the controller signal, wherein the second proximity switch (56) is fixed on the sleeve (55), and the second proximity switch (56) and the first proximity switch (54) are arranged vertically; After the sliding rod (532) slides on the track groove (551), it reaches the first proximity switch (54) and the second proximity switch (56) respectively.

4. The unmanned vehicle with wire rope winding detection function according to claim 3 is characterized in that: The sliding rod (532) is provided with a planar notch (533), and the planar notch (533) corresponds to the positions of the first proximity switch (54) and the second proximity switch (56).

5. The unmanned vehicle with wire rope winding detection function according to claim 1 is characterized in that: The detection device (5) further comprises a pulley group (58), wherein the pulley group (58) comprises an upper pulley (581), a left pulley (582), and a right pulley (583); the upper pulley (581) is fixed to the top of the upper bracket (51), the left pulley (582) is fixed to the bottom of the left lower bracket (571), and the right pulley (583) is fixed to the bottom of the right lower bracket (572); the detection cable (52) is respectively wound around the upper pulley (581), the left pulley (582), and the right pulley (583) so as to be movably attached to the upper bracket (51), the left lower bracket (571), and the right lower bracket (572).

6. The unmanned vehicle with wire rope winding detection function according to claim 1, characterized in that: The upper bracket (51) and the left lower bracket (571) are integrally formed.

7. The unmanned vehicle with wire rope winding detection function according to claim 1 is characterized in that: There are two drums (1), two left steel wire ropes (2), which are respectively wound around the left ends of the two drums (1), and two right steel wire ropes (3), which are respectively wound around the right ends of the two drums (1). The two left steel wire ropes (2) and the two right steel wire ropes (3) are connected to the lifting mechanism after being hung down, and the middle part of the detection cable (52) is passed between the two left steel wire ropes (2) and the two right steel wire ropes (3).

8. The unmanned vehicle with wire rope winding detection function according to claim 1, characterized in that: The supporting frame (4) is a U-shaped frame.

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