An intelligent crane system and its usage method for hoisting a wire spool library

Abstract

The present invention relates to an intelligent crane system for hoisting a wire reel library and a method for using the same, including a lifting crane and a spreader; the lifting crane includes a winch crane system, a rigid telescopic arm, and a flexible connection section; a spreader is provided below the movable disk, and the spreader includes a spreader clamping mechanism and a detection element; a detection element is provided on the jaw, including a 3D scanning sensor, a ranging sensor, and a proximity sensor. The present invention adds sensors to the spreader, enabling it to have a detection function synchronously, that is, it can be used to check the specification parameters of the wire reel to ensure accurate hoisting, and can also adjust the relative position between the spreader and the wire reel through the sensors, so that the hoisting process can truly achieve intelligent unmanned operation.

Description

Technical Field

[0001] The utility model relates to a hoisting system for intelligently hoisting and storing and transporting wire reels in a wire reel library, in particular to a special intelligent crane system, belonging to the field of intelligent hoisting equipment. Background Art

[0002] During the maintenance process of power companies, a lot of cables and steel cables are needed; these cables are generally wound on wire reels and stored in special warehouse sites; then, according to the needs of on-site construction every day, the cable reels in the wire reel library are hoisted and loaded onto vehicles; after the construction is completed, the wire reels on the construction vehicles are unloaded and hoisted into the warehouse for storage.

[0003] With the increasing demand for intelligent management of warehouses, the Chinese patent publication numbers CN109677824A for a full-automatic unmanned overhead crane cable reel warehousing management method, CN109696125A for an overhead crane cable reel loading and unloading position positioning detection system, and CN109697594A for a full-automatic unmanned overhead crane cable reel warehousing system disclose some cable reel automatic loading and unloading systems, management methods, etc. based on overhead crane hoisting systems.

[0004] However, combined with the actual use requirements, in order to realize the automatic warehousing of cable reels, it is still necessary to improve the overhead crane and the hoisting system, so as to improve the reliability of the hoisting process and ensure the reliable realization of unmanned operation. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent crane system and a use method for hoisting in a wire reel library, improve the crane system, so as to improve the reliability of the hoisting process and ensure the reliable realization of unmanned operation.

[0006] To achieve the above object of the invention, in the first aspect of the present invention, an intelligent crane system for hoisting in a wire reel library is provided, including a lifting crane and a spreader;

[0007] The lifting crane includes a winch crane system, a rigid telescopic arm, and a flexible connection section;

[0008] The winch crane system is installed on a trolley, and a steel cable is extended from the bottom and connected with a hanging plate;

[0009] A rigid telescopic arm is further arranged between the hanging plate and the trolley, and the rigid telescopic arm is connected in parallel with the winch crane system;

[0010] A flexible connection section is connected below the hanging plate; the flexible connection section includes a flexible suspension and a movable plate;

[0011] The flexible suspension is a plurality of flexible bodies arranged in parallel, and is respectively connected to the hanging plate and the movable plate at the upper and lower parts;

[0012] A spreader is provided below the movable disk. The spreader includes a spreader clamping mechanism and a detection element.

[0013] The spreader clamping mechanism includes a clamping drive motor, a clamping drive box, a clamping beam, and clamping jaws.

[0014] The clamping drive motor is connected to the clamping drive box. The main body of the clamping beam is inserted into the clamping drive box, and the lower part of the clamping beam is connected with the clamping jaws.

[0015] There are 2 clamping beams. A gear-rack transmission mechanism is provided between the clamping beam and the clamping drive box. A drive rack is horizontally provided on the clamping beam. The drive racks of the 2 clamping beams are arranged oppositely and inwardly, and are meshed with the drive gears in the clamping drive box.

[0016] The output shaft of the clamping drive motor drives the drive gear to rotate, thereby driving the drive racks on both sides of the drive gear to move horizontally and relatively, so as to realize the relative movement of the 2 clamping beams, and finally drive the relative movement of the clamping jaws located at the lower part of the clamping beam. A hook extending horizontally and inwardly is provided at the lower part of the clamping jaw.

[0017] Detection elements are provided on the clamping jaws, including a 3D scanning sensor, a ranging sensor, and a proximity sensor.

[0018] The 3D scanning sensor is at least installed on the clamping jaws on one side.

[0019] The ranging sensor includes a lateral ranging instrument and a longitudinal ranging instrument installed at the lower part of the main body of the clamping jaw.

[0020] The lateral ranging instruments are respectively installed on the clamping jaws on both sides. The longitudinal ranging instrument is at least installed on the clamping jaws on one side.

[0021] The proximity sensor is a lateral proximity sensor, and the lateral proximity sensor is installed on the clamping jaw where the longitudinal ranging instrument is located.

[0022] As a further improvement of the present invention, the flexible suspension is composed of several chains.

[0023] The chains forming the flexible suspension are not parallel to each other.

[0024] As a further improvement of the present invention, the winch crane system is a lifting drive structure; the rigid telescopic arm and the flexible connection section are both non-powered structures.

[0025] The rigid telescopic arm is a multi-section telescopic structure.

[0026] The rigid telescopic arm includes several telescopic arms nested with each other, and a guiding structure located between adjacent telescopic arms.

[0027] Further, a fixing position is provided on the vertical surface of the outermost telescopic arm of the rigid telescopic arm, and is fixed to the trolley frame;

[0028] An installation position is provided at the bottom of the innermost telescopic arm of the rigid telescopic arm, and is connected to the hanging tray.

[0029] Still further, the guiding structure inside the rigid telescopic arm is a rolling guiding structure;

[0030] The guiding structure includes several rolling guiding wheels; a bearing is provided at the center of the sliding guiding wheel;

[0031] The sliding guiding wheel is installed on the inner side or the outer side of the telescopic arm;

[0032] The sliding guiding wheel is pressed against the wall surface of the adjacent telescopic arm.

[0033] As a further improvement of the present invention, a spreader rotating mechanism is provided between the movable plate and the spreader clamping mechanism;

[0034] A spreader rotating mechanism is provided at the lower part of the movable plate; a spreader clamping mechanism is provided below the spreader rotating mechanism;

[0035] The spreader rotating mechanism includes a rotating drive motor and a rotating drive component; the output shaft of the rotating drive motor is connected to the rotating drive component; the upper part of the rotating drive component is connected to the movable plate, a jaw mounting plate is provided at the lower part of the rotating drive component, and the jaw mounting plate and the movable plate can rotate relative to each other.

[0036] Further, the rotating drive component is a gear transmission mechanism, including a driving gear and a driven gear, which are horizontally arranged and meshed;

[0037] The output shaft of the rotating drive motor is connected to the driving gear;

[0038] The driven gear is installed directly below the movable plate through a bearing pair;

[0039] The middle of the driven gear extends downward and is connected to the jaw mounting plate.

[0040] As a further improvement of the present invention, a friction transmission structure is provided inside the clamping drive box, and the friction transmission structure is located between the output shaft of the clamping drive motor and the drive gear.

[0041] Further, the friction transmission structure includes a driving wheel, a transmission shaft assembly, a friction plate, a pressing disc, a spring, and a pressing member;

[0042] The driving wheel is connected to the output shaft of the clamping drive motor;

[0043] The transmission shaft assembly includes a transmission shaft sleeve in the middle and a transmission disc at the bottom;

[0044] The transmission shaft sleeve is fixedly connected to the driving gear;

[0045] Above the transmission disc, a friction plate, a driving wheel, a friction plate, a pressing disc, a spring, and a pressing member are sequentially arranged from bottom to top, and all 6 components are sleeved outside the transmission shaft sleeve;

[0046] The driving wheel is rotatably connected to the transmission shaft sleeve;

[0047] The pressing member is fixedly connected to the upper part of the transmission shaft sleeve;

[0048] The pressing member presses the spring downward; after the spring is compressed, it provides a downward elastic force, so that a positive pressure is generated among the transmission disc, the friction plate, the driving wheel, the friction plate, and the pressing disc.

[0049] Furthermore, the spring is a disc spring.

[0050] Furthermore, the pressing disc is fixedly connected to the transmission shaft sleeve.

[0051] Furthermore, the installation position of the pressing member is adjustable to drive and adjust the compression size of the spring and the downward elastic force generated.

[0052] Furthermore, a limiting mechanism is provided in the clamping drive box;

[0053] The limiting mechanism includes a limiting disc and a limiting claw;

[0054] The limiting disc is fixed on the transmission disc of the friction transmission structure fixedly connected to the driving gear;

[0055] The limiting disc rotates synchronously with the driving gear;

[0056] A number of raised limiting blocks are arranged at intervals on the limiting disc;

[0057] A limiting claw is arranged above the limiting disc; the middle part of the limiting claw is hinged and installed on the frame of the clamping drive box through a hinge shaft;

[0058] The bottom of the limiting claw is a limiting end, and the limiting end is located near the limiting block;

[0059] The limiting claw is controlled to rotate around the hinge shaft, so that the limiting end falls into or leaves the area where the limiting block of the limiting disc is set.

[0060] Furthermore, the driving mechanism of the limiting claw includes a connecting arm and a telescopic driving element;

[0061] Both ends of the connecting arm are respectively hinged to the limiting claw and the bottom of the extending rod of the telescopic driving element;

[0062] The main body of the telescopic driving element is fixed on the frame of the clamping driving box;

[0063] The extending rod of the telescopic driving element can be telescopically controlled, so as to drive the connecting arm to move, and finally drive the limiting claw to rotate.

[0064] Furthermore, the telescopic driving element is a telescopic electromagnet.

[0065] As a further improvement of the present invention, the 3D scanning sensor is a matrix optical fiber sensor;

[0066] Both the lateral distance measuring instrument and the longitudinal distance measuring instrument are laser distance measuring instruments;

[0067] The lateral proximity sensor is an optical fiber sensor.

[0068] As a further improvement of the present invention, two longitudinal distance measuring instruments and two lateral proximity sensors are provided, and are respectively installed on the clamping jaws on both sides.

[0069] As a further improvement of the present invention, the lateral proximity sensor is installed at the end of a hook extending below the clamping jaw;

[0070] The 3D scanning sensors are provided at the ends of the hooks on both sides.

[0071] As a further improvement of the present invention, a limiting mechanism is provided on the clamping jaw;

[0072] The limiting mechanism is that a baffle is arranged on the inner vertical surface of the clamping jaw, and the upper part of the baffle is hinged to the clamping jaw;

[0073] A travel switch is arranged between the vertical surface of the baffle and the clamping jaw;

[0074] The baffle can be elastically reset inward.

[0075] As a further improvement of the present invention, the distance measuring sensor and the proximity sensor are installed on the inner side of the housing of the clamping jaw; a detection through hole is provided on the clamping jaw.

[0076] In the second aspect of the present invention, a use method of an intelligent crane system for hoisting a wire reel library is provided, including the following steps:

[0077] Step 1: The lifting crane is in the raised state, and the jaws of the lifting tool are in the open state; according to the system instruction, the traveling crane drives the crane to move above the target cable reel.

[0078] Step 2: The 3D scanning sensor on the jaws is activated to scan the cable reel, and the position and attitude of the cable reel are obtained.

[0079] Step 3: The traveling crane moves to further adjust the position of the crane, and the 3D scanning sensor synchronously rechecks the relative position.

[0080] Step 4: The crane is started to drive the lifting tool to descend.

[0081] Step 5: The lateral proximity sensor and the longitudinal rangefinder are activated; when the lateral proximity sensor detects an obstacle, the ground measurement distance L1 of the longitudinal rangefinder is recorded.

[0082] Calculate the outer diameter dimension D of the cable reel = L1 - A + h;

[0083] And the center height H of the cable reel = D / 2 + A;

[0084] A = the height of the shoe base where the cable reel is located;

[0085] h = the height difference between the longitudinal rangefinder and the lateral proximity sensor;

[0086] Step 6: The crane drives the lifting tool to continue descending. During this process, the lateral rangefinders on both sides of the jaws are activated; the measurement distances L3 and L4 of the lateral rangefinders on both sides to the side of the cable reel are recorded.

[0087] Calculate the width dimension W of the cable reel = l - L3 - L4;

[0088] L = the lateral spacing between the lateral rangefinders on both sides;

[0089] At the same time, compare the measurement distances L3 and L4 of the lateral rangefinders on both sides to the side of the cable reel; determine the positions of the jaws on both sides relative to the cable reel, and synchronously adjust the horizontal positions of the jaws to reduce the difference between L3 and L4.

[0090] Step 7: The crane drives the lifting tool to continue descending. When the lateral proximity sensor detects the disappearance of the obstacle, the ground measurement distance L2 of the longitudinal rangefinder is recorded.

[0091] Calculate the inner diameter d of the center hole of the cable reel = (L2 + h - H) × 2;

[0092] Step 8: The system compares the measured and calculated values of D, W, and d with the preset values to determine whether the cable reel is the target cable reel without error.

[0093] Step 9: For the target wire reel, the crane drives the spreader to continue descending until the hook of the gripper is completely within the height range of the central hole of the wire reel; start the clamping drive motor to synchronously contract the grippers on both sides, and insert the hook into the central hole of the wire reel; complete the clamping.

[0094] Step 10: The crane rises, driving the spreader to rise, and then hoisting the wire reel and moving it to the target position.

[0095] The present invention improves the conventional crane system, especially in terms of structural improvement. It not only endows the crane with more degrees of freedom, making it more conducive to hoisting wire reels, but also makes the inward clamping process of the spreader restricted by the limit mechanism, being safer and more reliable. Restricted by the friction drive structure, the wire reel is less likely to be damaged during the clamping process. At the same time, sensors are added to the spreader, enabling it to have a detection function synchronously, that is, it can be used to check the specification parameters of the wire reel to ensure accurate hoisting, and can also adjust the relative position between the spreader and the wire reel through the sensors, making the hoisting process truly realize intelligent unmanned operation.

[0096] An intelligent crane system for hoisting in a wire reel library and its usage method according to the present invention improve the reliability of the hoisting process and ensure the reliable realization of unmanned operation. Description of the Drawings

[0097] Figure 1 It is a top view of the traveling system;

[0098] Figure 2 It is a schematic diagram of the overall structure of the crane part Figure 1 ;

[0099] Figure 3 It is a schematic diagram of the overall structure of the crane part Figure 2 ;

[0100] Figure 4 It is a simplified structural diagram of the rigid telescopic arm;

[0101] Figure 5 It is a schematic diagram of the overall structure of the rigid telescopic arm;

[0102] Figure 6 It is a schematic cross-sectional view of the rigid telescopic arm;

[0103] Figure 7 It is a schematic diagram of the guiding structure of the rigid telescopic arm Figure 1 ;

[0104] Figure 8 It is a schematic diagram of the guiding structure of the rigid telescopic arm Figure 2 ;

[0105] Figure 9 It is a main view of the overall spreader part;

[0106] Figure 10Schematic of the overall structure of the lifting tool part Figure 1 ;

[0107] Figure 11 Schematic of the overall structure of the lifting tool part Figure 2 ;

[0108] Figure 12 Schematic of the overall drive mechanism of the lifting tool part;

[0109] Figure 13 Top view of the drive mechanism of the lifting tool part Figure 1 ;

[0110] Figure 14 Top view of the drive mechanism of the lifting tool part Figure 2 ;

[0111] Figure 15 Schematic of the overall structure of the friction drive mechanism of the lifting tool part;

[0112] Figure 16 Cross-sectional view of the overall structure of the friction drive mechanism of the lifting tool part;

[0113] Figure 17 Schematic of the operating state of the limit mechanism of the lifting tool;

[0114] Figure 18 Schematic of the deactivated state of the limit mechanism of the lifting tool;

[0115] Figure 19 Schematic of the installation and use of the detection system of the lifting tool;

[0116] Figure 20 Schematic of the installation structure of the detection system of the lifting tool Figure 1 ;

[0117] Figure 21 Schematic of the installation structure of the detection system of the lifting tool Figure 2 ;

[0118] Figure 22 Schematic of the lifting state under the action of the detection system;

[0119] Figure 23 Schematic of the detection system measuring the outer diameter of the wire reel;

[0120] Figure 24 Schematic of the detection system measuring the inner diameter of the central hole of the wire reel;

[0121] Figure 25 Schematic of the detection system measuring the width of the wire reel. Detailed implementation manners

[0122] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0123] As shown Figure 1 in the figure, it is a top view of the traveling system, including a large vehicle for main traveling, a trolley for translation adjustment, and a crane located on the trolley. A lifting appliance is provided on the crane, so as to realize the 3-axis 6-degree-of-freedom movement of the lifting appliance, and it can move freely between the in-line storage and the truck to lift the wire reels.

[0124] The first part of the present invention is to improve the structure of the crane therein.

[0125] As shown Figure 2 and Figure 3 in the figure, it is a schematic diagram of the overall structure of the crane; the main body of the crane of the present invention is a conventional winch crane system, which includes components such as a driving motor 11, a drum 12, a fixed pulley 13, a movable pulley 14, a hanging plate 15, a steel cable 16, etc.; the driving motor 11 is connected to the drum 12 and installed and fixed on the trolley. The steel cable 16 is wound around the drum 12. The steel cable 16 passes through the pulley block composed of the fixed pulley 13 and the movable pulley 14, and the end is fixed on the trolley or the hanging plate 15; the movable pulley 14 is installed above the hanging plate 15; the driving motor 11 drives the drum 12 to rotate, drives the steel cable 16 to wind and unwind on the drum 12, so as to drive the hanging plate 15 to lift and lower.

[0126] However, the wire reels hoisted at the end are relatively heavy. In the conventional winch crane system, since the steel cable 16 is flexible, it is easy to shake during the hoisting process. Therefore, the improvement of the present invention lies in that a rigid telescopic arm 2 is further provided between the trolley and the hanging plate 15. The rigid telescopic arm 2 can telescopically move along with the lifting and lowering movement of the hanging plate 15, maintaining the horizontal projection position between the hanging plate 15 and the trolley basically unchanged, so that the lifting and lowering movement of the hanging plate 15 and the horizontal movement process are more stable.

[0127] The structure of the rigid telescopic arm 2 is as shown Figures 4 - 6 in the figure, which is a multi-section telescopic structure, so as to reduce the longitudinal height and lower the overall center of gravity of the crane; the rigid telescopic arm 2 mainly includes several nested telescopic arms 21 and a guiding structure 22 located between adjacent telescopic arms 21. Preferably in the present invention, a fixing position 23 is provided on the vertical surface of the outermost telescopic arm 21 (with the largest cross-sectional dimension) for fixing on the trolley, so that the rigid telescopic arm 2 can horizontally move along with the trolley; and an installation position 23 is provided at the bottom of the innermost telescopic arm 21 (with the smallest cross-sectional dimension) for installing on the hanging plate 15, especially in the middle part of the hanging plate 15, and it can lift and lower along with the hanging plate 15; the rigid telescopic arm 2 is installed in a manner of being larger at the top and smaller at the bottom, which can reduce the gravity applied on the hanging plate 15, thereby reducing the driving force of the driving motor 11.

[0128] The guiding structure 22 provided inside the rigid telescopic arm 2 is preferably a rolling guiding structure. A bearing is provided at the center of the sliding guiding wheel, and the sliding guiding wheel can be installed on the inner side of the telescopic arm 21 (see Figure 7 ), or the outer side (see Figure 8 ). Then, a plurality of them are installed on each telescopic arm 21, and they are simultaneously abutted against the wall surfaces of adjacent telescopic arms 21, and through surface-line contact, rolling guiding, and clearance friction force.

[0129] However, during the process of hoisting and placing the wire reel, especially during the falling process, since there will be a contact process between the hoisted wire reel and the ground and the storage rack, generally the wire reel will be deflected and tilted to a certain extent during this process to adapt to the fixed object. Therefore, when there is only a rigid lifting system between the trolley and the lifting tool, the lifting tool will deflect under the force of the wire reel and apply the force to the rigid telescopic arm 2 and the trolley, affecting the safe and reliable operation of the equipment. Therefore, a flexible section is further provided below the hanging plate 15. Specifically, a flexible suspension 31 is provided below the hanging plate 15, and a movable plate 32 is connected below. The movable plate 32 is connected to the lifting tool; the flexible suspension 31 is preferably a chain, and its length is short, and it is connected between the movable plate 32 and the hanging plate 15 in a certain combination. When the lifting tool deflects and tilts slightly along with the wire reel, it will be absorbed by the flexible suspension 31, and the deflection force will no longer be transmitted to the hanging plate 15; at the same time, due to the short length of the flexible suspension 31, there will be no obvious shaking due to horizontal movement. Moreover, if a chain is selected, there is friction between the chain links, and the force generated by the shaking can also be absorbed in time, so that the lifting tool and the wire reel can return to a stable state as soon as possible.

[0130] The present invention is improved on the basis of the existing winch crane system. The rigid telescopic arms 2 are arranged in parallel, so that the main body can obtain rigid support during the lifting process, and can cooperate with the trolley and the cart that move horizontally, reducing the shaking influence of the horizontal movement on the end lifting tool; at the same time, a flexible connection is also provided below the rigid lifting system to absorb small deflection and inclination forces and reduce the influence on the upper rigid lifting system.

[0131] The present invention is applied to the intelligent hoisting, storage and transportation system of the wire reel library, which can fully guarantee the reliability of the wire reel hoisting process, thereby improving the reliability of the entire hoisting and transportation system.

[0132] The second part of the present invention is to improve the structure of the lifting tool.

[0133] The lifting tool mechanism of the present invention is as a whole as Figures 9 - 11 shown, and includes a movable plate 32, a lifting tool rotating mechanism, and a lifting tool clamping mechanism.

[0134] A sling rotating mechanism is provided at the lower part of the movable disk 32, enabling the sling to rotate at an angle relative to the upper crane, thereby increasing the working freedom; a sling clamping mechanism is provided below the sling rotating mechanism. Through a pair of horizontally movable clamping jaws 54, it can extend into the central hole of the cable reel to clamp the cable reel.

[0135] The sling rotating mechanism includes a rotation driving motor 41 and a rotation driving component; the rotation driving component adopted in the present invention is a gear transmission mechanism, including a driving gear 42 and a driven gear 43, which are horizontally arranged and meshed; the output shaft of the rotation driving motor 41 is connected to the driving gear 42, and the rotation drives the driven gear 43 to rotate. The driven gear 43 is installed directly below the movable disk 32 through a bearing pair. The middle of the driven gear 43 extends downward and is connected with a clamping jaw mounting plate 44. Therefore, the sling rotating mechanism finally drives the clamping jaw mounting plate 44 to rotate relative to the movable disk 32.

[0136] A sling clamping mechanism is fixed below the clamping jaw mounting plate 44, including a clamping driving motor 51, a clamping driving box 52, a clamping beam 53, and clamping jaws 54; the clamping driving motor 51 is connected to the clamping driving box 52, the main body of the clamping beam 53 is inserted into the clamping driving box 52, and the lower part of the clamping beam 53 is connected with the clamping jaws 54.

[0137] There are 2 clamping beams 53. The clamping beam 53 and the clamping driving box 52 are driven in a gear-rack manner. A driving rack 531 is horizontally arranged on the clamping beam 53. The driving racks 531 of the 2 clamping beams 53 are arranged relatively inward and meshed with the driving gear 532 in the clamping driving box 52 (see Figure 14 ); driven by the clamping driving motor 51, the driving gear 532 rotates, driving the driving racks 531 on both sides of it to move horizontally relative to each other, thereby realizing the relative movement of the 2 clamping beams 53, and finally driving the relative movement of the clamping jaws 54 located at the lower part of the clamping beam 53. A hook 541 that horizontally extends inward is provided at the lower part of the clamping jaw 54. During the relative inward movement of the hook 541, it can be inserted into the central hole of the cable reel, and then support the cable reel during the hoisting process.

[0138] As Figures 10 - 13 shown, a chain drive is adopted between the clamping driving motor 51 and the clamping driving box 52, Figures 10 - 12 marked with a dotted line in Figure 13 and marked with a solid line in

[0139] The improvement of the present invention lies in that a friction drive structure 6 is adopted between the driven sprocket 61 and the lower driving gear 532, rather than directly using a rigid connection; for the specific structure of the friction drive structure 6, refer to Figure 16 , which includes a driven sprocket 61, a transmission shaft assembly 62, friction plates 63, a pressing disc 64, a spring 65, and a pressing member 66; the transmission shaft assembly 62 includes a transmission shaft sleeve 621 in the middle and a transmission disc 622 at the bottom; above the transmission disc 622, friction plates 63, a driven sprocket 61, friction plates 63, a pressing disc 64, a spring 65, and a pressing member 66 are arranged in sequence from bottom to top, and all are sleeved outside the transmission shaft sleeve 621; the driven sprocket 61 is rotatably connected to the transmission shaft sleeve 621; the pressing member 66 is fixedly connected to the upper part of the transmission shaft sleeve 621 to press down the spring 65. The spring 65 is preferably a disc spring. After being pressed, friction plates 63 are arranged on both the upper and lower sides of the driven sprocket 61, and the friction plates 63 are in contact with the transmission disc 622 and the pressing disc 64; the pressing disc 64 can be fixedly connected to the transmission shaft sleeve 621; by adjusting the pressing distance of the pressing member 66, the compression size of the spring 65 can be adjusted, so as to adjust the normal pressure between various components, especially the normal pressure on both sides of the friction plate 63; when the driven sprocket 61 rotates, it drives the friction plates 63 on both sides to rotate, and then drives the transmission disc 622 to rotate through friction; when the transmission disc 622 is subject to resistance, when the resistance is greater than the friction force of the friction plate 63, the friction plate 63 slips, so that the transmission connection between the transmission disc 622 and the driven sprocket 61 no longer occurs.

[0140] Both the transmission disc 622 and the pressing disc 64 are connected to the transmission shaft sleeve 621, and the transmission shaft sleeve 621 is driven to rotate through the friction plate 63. The transmission shaft sleeve 621 is connected to the driving gear 532 to drive the driving gear 532 to rotate, and further drive the relative movement of the clamping jaws 54. When the clamping jaws 54 contract inward to clamp the wire reel, resistance is generated. At this time, the friction plate 63 slips, and the clamping jaws 54 stop contracting inward continuously, protecting the operation safety of the equipment and the structural safety of the wire reel.

[0141] A further improvement of the present invention is that a limiting mechanism 7 is further provided in the clamping drive box 52; the limiting mechanism 7 includes a limiting disk 71 and a limiting claw 73; the limiting disk 71 is fixed on the outer side of the transmission disk 622 and rotates synchronously with the transmission shaft sleeve 621 and the driving gear 532; a number of protruding limiting blocks 72 are arranged at intervals on the limiting disk 71; a limiting claw 73 is arranged above the limiting disk 71; the middle of the limiting claw 73 is hinged and installed on the frame of the clamping drive box 52 through a hinge shaft 74, and the bottom of the limiting claw 73 is a limiting end 731, which is located near the limiting block 72; the limiting claw 73 is controlled to rotate around the hinge shaft 74, (1) so that the limiting end 731 falls into the limiting disk 71, especially overlapping with the vertical projection of the limiting block 72 (as shown in Figure 17 ), to play a limiting role; or (2) so that the limiting end 731 is lifted and separated from the limiting disk 71, especially separated from the vertical projection of the limiting block 72 (as shown in Figure 18 ), and no longer plays a limiting role.

[0142] Furthermore, during the process of the clamping jaws 54 being tightened inward, the limiting end 731 falls into the limiting disk 71 to play a limiting role, preventing the clamping jaws 54 from accidentally loosening and causing the wire reel to fall, playing a role in safety protection; during the process of the clamping jaws 54 being opened outward, the limiting end 731 is lifted and separated from the limiting disk 71. At this time, the transmission disk 622 can drive the driving gear 532 to reverse and open the clamping jaws 54.

[0143] The driving mechanism of the limiting claw 73 includes a connecting arm 75 and a telescopic driving element 76; both ends of the connecting arm 75 are respectively hinged on the limiting claw 73 and the bottom of the extending rod of the telescopic driving element 76; the telescopic driving element 76 is preferably a telescopic electromagnet, and the main body is fixed on the frame of the clamping drive box 52. The extending rod of the telescopic driving element 76 can be controlled to extend and retract, thereby driving the connecting arm 75 to move and finally driving the limiting claw 73 to rotate.

[0144] The sling mechanism of the present invention, by providing a sling rotating mechanism and a sling clamping mechanism, enables the sling to first have a rotational degree of freedom to meet more lifting requirements; at the same time, the sling has a more reliable clamping and supporting lifting structure for the wire reel structure, providing a reliable wire reel lifting method.

[0145] To improve the intelligence level of the entire crane system, especially the sling mechanism, another improvement of the present utility model is that some sensors are provided on the sling to enable it to have a detection function and achieve intelligence.

[0146] Such as Figures 19 - 22As shown, it is a schematic structural diagram of the detection part; the sensor is installed on the jaw 54.

[0147] The sensor first includes a ranging sensor, specifically a lateral ranging instrument 81 and a longitudinal ranging instrument 82 installed at the lower part of the main body of the jaw 54; the lateral ranging instrument 81 measures the distance horizontally, and the longitudinal ranging instrument 82 measures the distance vertically downward; through the ranging sensor, it can be used to detect the distance between the jaw 54 and the wire reel and the ground.

[0148] Both the lateral ranging instrument 81 and the longitudinal ranging instrument 82 can adopt laser rangefinders, so that the measured dimensions are more accurate and reliable, and the interference of outdoor ambient light can also be avoided.

[0149] Furthermore, the sensor also includes a proximity sensor, specifically a lateral proximity sensor 84 installed at the end of the hook 541; through the proximity sensor, it is used to detect the proximity of the jaw 54 to the wire reel and the center hole of the wire reel.

[0150] The lateral proximity sensor 84 is an optical fiber sensor, which can sense the presence or absence of an object within a short distance range.

[0151] The sensor also particularly needs to be provided with a 3D scanning sensor 83, which is a matrix optical fiber sensor and can scan the environment; the 3D scanning sensor 83 can be installed below the jaw 54, and further preferably can be installed at the end of the hook 541.

[0152] For the intelligent lifting tool system of the present utility model, first, by setting a ranging sensor and a proximity sensor on the jaw, the outer dimensions of the wire reel are measured and matched with the parameters set in the system, so as to verify with the inbound and outbound information of the wire reel to ensure accurate lifting; at the same time, through measurement, the precise positioning of the lifting tool relative to the wire reel is realized, so as to correct the position of the lifting tool and achieve better clamping and lifting.

[0153] Furthermore, a limiting mechanism is set on the jaw 54, and a limiting sensor is applied, such as Figure 21 、 Figure 22 As shown; a baffle 542 is provided on the inner vertical surface of the jaw 54, the upper part of the baffle 542 is hinged to the jaw 54 through a rotating shaft 543, a travel switch 85 (limiting sensor) is provided between the vertical surface of the baffle 542 and the jaw 54, and the baffle 542 can be elastically reset inward; when the jaw 54 clamps inward, when the baffle 542 touches the side surface of the wire reel and continues to clamp, the baffle 542 is touched and moves outward, thereby triggering the travel switch 85. At this time, the driving mechanism of the jaw 54 should be fully stopped to avoid over-clamping and damaging the side surface of the wire reel.

[0154] Further, the lateral distance measuring instrument 81, longitudinal distance measuring instrument 82, 3D scanning sensor 83, and lateral proximity sensor 84 are all relatively fragile and sensitive, and are preferably installed inside the housing of the jaw 54. A number of detection through holes 544 are provided on the jaw 54 and the baffle 542 for the detection laser beam to pass through for detection.

[0155] The intelligent measurement and positioning working principle of the present utility model is as Figures 23 - 25 shown; first, according to the system position setting, the spreader moves to the vicinity of the corresponding wire reel, the 3D scanning sensor 83 is started, and through the matrix optical fiber sensor, the accurate position of the wire reel is further determined. Then the spreader moves to the position above the center of the wire reel and starts the specific measurement and calibration.

[0156] Figure 23 、 Figure 24 To measure the height distance to calculate the relevant dimensions and position of the wire reel, the longitudinal distance measuring instrument 82 and the lateral proximity sensor 84 are mainly used; the jaw 54 is opened and then moves downward. During the process, the lateral proximity sensor 84 is started. When an obstacle is detected during the downward movement, it means that the height area of the wire reel has been entered. At this time, the measured distance L1 of the longitudinal distance measuring instrument 82 is read, and the outer diameter dimension D of the wire reel can be calculated as D = L1 - A (boot seat height) + h (height difference between the longitudinal distance measuring instrument 82 and the lateral proximity sensor 84).

[0157] And the center height H of the wire reel = D / 2 + A.

[0158] Then, the jaw 54 continues to move downward. During the process, the lateral proximity sensor 84 detects that the obstacle disappears, which means that the center hole area of the wire reel has been entered. At this time, the measured distance L2 of the longitudinal distance measuring instrument 82 is read, and the inner diameter d of the center hole of the wire reel can be calculated as d = (L2 + h - H) × 2.

[0159] In the above measurement, only the longitudinal distance measuring instrument 82 and the lateral proximity sensor 84 on one side of the jaw 54 need to be enabled; the longitudinal distance measuring instrument 82 and the lateral proximity sensor 84 on the other side can be used as backups or for data verification.

[0160] As Figure 25 shown for measuring the longitudinal distance to calculate the relevant dimensions and relative position of the wire reel, the lateral distance measuring instrument 81 is mainly used, and the lateral distance measuring instruments 81 on both sides of the jaw 54 are started simultaneously; during the process of opening and downward movement of the jaw 54, when the lateral distance measuring instruments 81 on both sides of the jaw 54 encounter the wire reel, measurement values are generated. At this time, the measured distances on both sides are L3 and L4 respectively. From this, the width W of the wire reel can be calculated as W = l (lateral spacing between the lateral distance measuring instruments 81 on both sides) - L3 - L4.

[0161] Meanwhile, by comparing L3 and L4, the position of the gripper 54 relative to the wire reel can be known. By adjusting the position of the traveling crane to make the dimensions of L3 and L4 basically the same, both sides can clamp inward simultaneously to clamp the wire reel synchronously, avoiding unreliable clamping caused by uneven clamping.

[0162] After the measurement and positioning are completed, the gripper 54 is activated to clamp inward. Preferably, the 3D scanning sensors 83 are provided at the ends of the hook supports 541 on both sides. During the clamping process, when the hook support 541 extends into the central hole of the wire reel, the 3D scanning sensor 83 senses the wire reel, and it can be known that it has been inserted into the central hole. At this time, the width dimension of the wire reel (the relative distance between the 3D scanning sensors 83 on both sides) can also be rechecked, as well as the central position of the grippers on both sides relative to the wire reel (if there is an offset, the 3D scanning sensor 83 on one side senses the wire reel, while the 3D scanning sensor 83 on the other side does not sense the wire reel. If the offset is too large, the position of the gripper 54 needs to be readjusted). Of course, the wire reel generally has a bottom saddle limit. During the process of the hook support 541 extending into the central hole of the wire reel, only the deviation in the thickness direction of the wire reel is corrected, and the lateral direction is limited mechanically, and automatic centering will occur during the lifting process.

[0163] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent crane system for hoisting a wire spool library, characterized in that, It includes a lifting crane and a lifting tool; The lifting crane includes a winch crane system, a rigid telescopic arm, and a flexible connection section; The winch crane system is installed on a trolley, and a suspension tray is connected to the bottom of the extended steel cable; A rigid telescopic arm is further provided between the suspension tray and the trolley, and the rigid telescopic arm is connected in parallel with the winch crane system; A flexible connection section is connected below the suspension tray; the flexible connection section includes a flexible suspension and a movable plate; The flexible suspension is a plurality of flexible bodies arranged in parallel, and is respectively connected to the suspension tray and the movable plate at the upper and lower parts; A lifting tool is provided below the movable plate, and the lifting tool includes a lifting tool clamping mechanism and a detection element; The lifting tool clamping mechanism includes a clamping drive motor, a clamping drive box, a clamping beam, and clamping jaws; The clamping drive motor is connected to the clamping drive box, the main body of the clamping beam is inserted into the clamping drive box, and clamping jaws are connected to the lower part of the clamping beam; There are 2 clamping beams, and a gear-rack transmission mechanism is provided between the clamping beam and the clamping drive box. A drive rack is horizontally provided on the clamping beam, and the drive racks of the 2 clamping beams are arranged relatively inward, and are engaged with the drive gears in the clamping drive box; The output shaft of the clamping drive motor drives the drive gear to rotate, thereby driving the drive racks on both sides of the drive gear to move horizontally relative to each other, so as to realize the relative movement of the 2 clamping beams, and finally drive the relative movement of the clamping jaws located at the lower part of the clamping beam; A hook extending horizontally inward is provided at the lower part of the clamping jaw; Detection elements are provided on the clamping jaws, including a 3D scanning sensor, a distance measuring sensor, and a proximity sensor; The 3D scanning sensor is at least installed on one side of the clamping jaw; The distance measuring sensor includes a lateral distance measuring instrument and a longitudinal distance measuring instrument installed at the lower part of the main body of the clamping jaw; The lateral distance measuring instruments are respectively installed on the clamping jaws on both sides; the longitudinal distance measuring instrument is at least installed on one side of the clamping jaw; The proximity sensor is a lateral proximity sensor, and the lateral proximity sensor is installed on the clamping jaw where the longitudinal distance measuring instrument is located; A friction transmission structure is provided in the clamping drive box, and the friction transmission structure is located between the output shaft of the clamping drive motor and the drive gear; The friction transmission structure includes a driving wheel, a transmission shaft assembly, a friction plate, a pressing plate, a spring, and a pressing member; The driving wheel is connected to the output shaft of the clamping drive motor; The transmission shaft assembly includes a transmission shaft sleeve in the middle and a transmission disc at the bottom; The transmission shaft sleeve is fixedly connected to the drive gear; Above the transmission disc, a friction plate, a driving wheel, a friction plate, a pressing plate, a spring, and a pressing member are successively arranged from bottom to top, and all 6 components are sleeved outside the transmission shaft sleeve; The driving wheel is rotatably connected to the transmission shaft sleeve; The pressing member is fixedly connected to the upper part of the transmission shaft sleeve; The pressing member presses the spring downward; after the spring is compressed, it provides a downward elastic force to generate a positive pressure between the transmission disc, the friction plate, the driving wheel, the friction plate, and the pressing plate.

2. The intelligent crane system for hoisting a wire reel library according to claim 1, wherein, The winch crane system is a lifting drive structure; the rigid telescopic arm and the flexible connection section are both non-powered structures; The rigid telescopic arm is a multi-section telescopic structure; The rigid telescopic arm includes several telescopic arms nested with each other and a guiding structure located between adjacent telescopic arms.

3. The intelligent crane system for hoisting a wire spool library according to claim 1, characterized in that, A sling rotating mechanism is provided between the movable disk and the sling clamping mechanism; A sling rotating mechanism is provided at the lower part of the movable disk; a sling clamping mechanism is provided below the sling rotating mechanism; The sling rotating mechanism includes a rotating drive motor and a rotating drive component; the output shaft of the rotating drive motor is connected to the rotating drive component; the upper part of the rotating drive component is connected to the movable disk, and a jaw mounting plate is provided at the lower part of the rotating drive component, and the jaw mounting plate and the movable disk can rotate relative to each other.

4. An intelligent crane system for hoisting a wire reel library according to claim 1, characterized in that, A limiting mechanism is provided in the clamping drive box; The limiting mechanism includes a limiting disk and a limiting claw; The limiting disk is fixed on the transmission disk fixedly connected to the driving gear of the friction drive structure; The limiting disk rotates synchronously with the driving gear; A number of protruding limiting blocks are arranged at intervals on the limiting disk; A limiting claw is provided above the limiting disk; the middle part of the limiting claw is hinged and installed on the frame of the clamping drive box through a hinge shaft; The bottom of the limiting claw is a limiting end, and the limiting end is located near the limiting block; The limiting claw is controlled to rotate around the hinge shaft so that the limiting end falls into or leaves the area where the limiting blocks of the limiting disk are arranged.

5. The intelligent crane system for hoisting a wire spool library according to claim 4, characterized in that, The driving mechanism of the limiting claw includes a connecting arm and a telescopic driving element; Both ends of the connecting arm are respectively hinged on the limiting claw and the bottom of the extending rod of the telescopic driving element; The main body of the telescopic driving element is fixed on the frame of the clamping drive box; The extending rod of the telescopic driving element can be controlled to extend and retract, thereby driving the connecting arm to move, and finally driving the limiting claw to rotate.

6. The intelligent crane system for hoisting a wire reel library according to claim 1, wherein, The 3D scanning sensor is a matrix optical fiber sensor; Both the lateral distance measuring instrument and the longitudinal distance measuring instrument are laser distance measuring instruments; The lateral proximity sensor is an optical fiber sensor.

7. An intelligent crane system for hoisting a wire reel library according to claim 6, characterized in that, There are 2 longitudinal distance measuring instruments and 2 lateral proximity sensors, which are respectively installed on the jaws on both sides; The lateral proximity sensor is installed at the end of the hook protruding from below the jaw; 3D scanning sensors are provided at the ends of the hooks on both sides.

8. An intelligent crane system for lifting a wire spool library according to claim 1, characterized in that, A limiting mechanism is provided on the jaw; The limiting mechanism is that a baffle is arranged on the inner vertical surface of the jaw, and the upper part of the baffle is hinged on the jaw; A travel switch is provided between the vertical surface of the baffle and the jaw; The baffle can be elastically reset inward.

Images