Unmanned Crane Collaborative System for Pipe Pile Production Line

Abstract

The present invention discloses an unmanned crane collaborative system for a pipe pile production line, which relates to the technology of hoisting and transportation and aims to solve the problem that it is difficult to achieve high-efficiency production automation in the hoisting operations of pipe molds and pipe piles in a pipe pile production line by a crane. The key points of its technical solution are as follows: It includes cranes, which are arranged along the radial coordinate direction according to regions. A number of cranes are all equipped with a precise positioning system, an anti-sway system, a wireless communication system, and a visual sensing system; the precise positioning system collaborates with the wireless communication system, responds to the operation of the crane to inquire about the working positions of other cranes, and feeds back communication signals or instructions through the wireless communication system. The present invention realizes full-thread automatic control, integrates it into a remote monitoring console through a communication system, facilitates the timely collection and summary of each device, and when multiple machines operate collaboratively, the production personnel on the pipe pile production line can be reduced, thus reducing the labor cost.

Description

Technical Field

[0001] The present invention relates to hoisting and transportation technology, and more specifically, it relates to an unmanned crane collaborative system for a pipe pile production line. Background Art

[0002] Since the introduction of the first domestic pipe pile production line in 1987, 35 years have passed. There are approximately 350 pipe pile enterprises developed in the country, forming a relatively large-scale manufacturing industry.

[0003] The crane is used for hoisting the pipe mold and pipe piles in the pipe pile production line, connecting each production process in series. The pipe pile production mainly includes putting the steel cage into the bottom mold, covering the upper mold, putting the empty mold on the tensioning machine, tensioning the empty mold to feeding, feeding to the centrifuge, centrifuging to pouring slurry, pouring slurry to the steam curing pool, taking out from the steam curing pool, uncovering the mold, taking out the pile, putting the bottom mold back to put the steel cage in, putting the steel cage into the bottom mold... and so on, repeating the work in a cycle. At least 6 cranes and at least 6 technical operators are required, and it is still difficult to achieve high-efficiency production automation.

[0004] Therefore, a new solution needs to be proposed to solve this problem. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide an unmanned crane collaborative system for a pipe pile production line.

[0006] The above technical purpose of the present invention is achieved through the following technical solutions: An unmanned crane collaborative system for a pipe pile production line, characterized in that: it includes cranes, the cranes are arranged along the radial coordinate direction according to regions, and several of the cranes are all equipped with a precise positioning system, an anti-sway system, a wireless communication system, and a visual sensing system;

[0007] The anti-sway system is arranged on the spreader of the crane to limit the sway of the crane spreader in a way of combining mechanical anti-sway and electrical anti-sway;

[0008] The precise positioning system, in cooperation with the wireless communication system, responds to the operation of the crane to query the working positions of other cranes and feeds back communication signals or instructions through the wireless communication system;

[0009] The visual sensing system, in cooperation with the wireless communication system, acquires video signals, the position where the crane is located, and the signal of the number of hoisted items during the operation of the crane and outputs them to the remote monitoring console through the wireless communication system.

[0010] The present invention is further configured such that: several tensioning stations, feeding stations, centrifuge stations, pouring platforms, empty pipe mold stations, steam curing ponds, pile extraction stations, storage and cleaning stations, and mold covering stations are sequentially formed along the radial coordinate direction according to regions of the crane, and circular closed-loop transportation is realized from the steam curing pond to the pile extraction station, from one pile extraction station to another pile extraction station, and from the mold covering station to the empty pipe mold station through a chain machine.

[0011] The present invention is further configured such that: the chain machine operates in coordination with several cranes and a remote control console through a wireless communication system.

[0012] The present invention is further configured such that: there are at least six cranes, and the cranes include a No. 1 crane, a No. 2 crane, a No. 3 crane, a No. 4 crane, a No. 5 crane, and a No. 6 crane. Coordination is achieved between adjacent cranes through a wireless communication system.

[0013] The present invention is further configured such that: the control process for achieving coordination between adjacent cranes through a wireless communication system includes:

[0014] The No. 1 crane realizes the full-automatic transfer of the pipe mold from the tensioning station to the feeding station and from the feeding station to the centrifuge station.

[0015] The No. 2 crane realizes the full-automatic lifting and transportation of the pipe mold from the centrifuge station to the pouring platform and from the empty pipe mold station to the tensioning station.

[0016] The No. 3 crane realizes the full-automatic lifting and transportation of the pipe mold from the pouring platform to the steam curing pond and from the steam curing pond to the pile extraction station.

[0017] The No. 4 crane realizes the full-automatic lifting and transportation of removing the upper cover from the pile extraction station to the upper cover mold storage and cleaning station, lifting the upper cover mold to the mold covering station, and covering the mold.

[0018] The No. 5 crane realizes the full-automatic hoisting of the suction pipe pile from the pile extraction station to the pile extraction station.

[0019] The No. 6 crane realizes the full-automatic hoisting of the bottom mold from the pile extraction station to the bottom mold storage and cleaning station, and then hoisting the bottom mold with the steel reinforcement cage to the adjacent station.

[0020] The present invention is further configured such that the specific control steps for the No. 1 crane to achieve full-automatic lifting and transportation include: detecting whether the No. 1 crane is in an idle state. If it is in an idle state, it cooperatively drives the No. 1 crane to displace to the tensioning station, descends to the position to grab the empty mold, and determines whether the grabbing is in place through the visual sensing system. After grabbing until it is in place, the No. 1 crane rises until the preset precise horizontal height, and determines whether the feeding station is idle through the visual sensing device. When waiting for the feeding station to be idle, the No. 1 crane displaces to the feeding station, descends to the specified horizontal height, and then releases the empty mold. Then, when waiting for the feeding station to complete the feeding work, the No. 1 crane descends to the specified height to grab the pipe mold again. After grabbing until it is in place, the No. 1 crane hoists and rises to the preset height. When waiting for the centrifugal station to be idle, it displaces to the centrifugal station, descends to the position, and then releases the pipe mold. Then, the No. 1 crane resets to the initial position and waits for the next cycle.

[0021] The present invention is further configured such that the specific control steps for the No. 2 crane to achieve full-automatic lifting and transportation are as follows: After the chain machine transports the empty mold in place, wait for the No. 2 crane to be idle, then cooperatively displace and descend the No. 2 crane to grab the empty mold until it is in place. After grabbing until it is in place, the No. 2 crane rises until the preset height, and waits for the tensioning station to be in an idle state. Then, the No. 2 crane grabs the empty mold, displaces to the tensioning station, descends to the position, and then releases the empty mold for tensioning operation. And the No. 2 crane rises. When waiting for the centrifugal station to be idle, the No. 2 crane descends to the centrifugal station, grabs the pipe mold until it rises to the specified height. When waiting for the pouring station to be idle, it displaces to the pouring station, descends, and releases the pipe mold. Then, the No. 2 crane rises and resets to the initial position, waiting for the next cycle.

[0022] The present invention is further configured such that the specific control steps for the No. 3 crane to achieve full-automatic lifting and transportation include: After the pouring operation is completed, detect that the No. 3 crane is in an idle state. The No. 3 crane displaces to the pouring station, descends to grab the pipe mold until it is in place, then rises and waits for the curing tank to be idle. Then, it displaces to the curing tank, descends, and releases the pipe mold. After the curing operation is completed, the No. 3 crane grabs the pipe mold and waits for the chain machine to be idle. Then, it grabs the pipe mold to the chain machine and releases the pipe mold. The No. 3 crane rises and resets to the initial position, waiting for the next cycle.

[0023] The present invention is further configured such that the chain machine is arranged along a single radial coordinate direction according to the area, and is used to transport the pipe mold to the corresponding stations of each crane.

[0024] The present invention is further configured as follows: The specific steps for the No. 5 crane and the No. 6 crane to achieve full-automatic lifting include: When the No. 5 crane or the No. 6 crane is in an idle state, coordinate the No. 5 crane or the No. 6 crane to displace and grab the corresponding chain machine at the corresponding station respectively, lift the upper cover mold or the bottom mold to a specified height after grabbing, wait until the cleaning station is idle, then transport the upper cover mold or the bottom mold to the cleaning station for cleaning. After the cleaning work is completed, grab the upper cover mold or the bottom mold to the chain machine, perform the mold closing operation to form an empty mold and transport it to the station corresponding to the No. 2 crane, and so on in a cycle.

[0025] In summary, the present invention has the following beneficial effects:

[0026] It can be accessed and fed back through the wireless communication system according to the operating status of the crane, so as to learn about the working process of pipe pile production and the operating status of each crane, and thus achieve multi-crane multi-level collaborative operation, improving the production efficiency of pipe piles;

[0027] Realize full-thread automatic control, integrate it into the remote monitoring console through the communication system, facilitate the timely collection and summary of each device, and can coordinate the production efficiency and problems of each station in real time through remote monitoring. When multi-crane collaborative operation is carried out, the production personnel of the pipe pile production line can be reduced, thus reducing the labor cost and reducing the waste and accidents caused by manual operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is the working process of the automatic crane of the pipe pile production line of the present invention;

[0029] Figure 2 It is the layout diagram of the automatic crane of the pipe pile production line of the present invention;

[0030] Figure 3 It is the network communication diagram of the automatic crane of the pipe pile production line of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] The present invention will be described in detail below with reference to the drawings and embodiments.

[0032] An unmanned crane collaborative system for a pipe pile production line includes cranes. The cranes are arranged along the radial coordinate direction according to the area. The cranes are arranged along the radial coordinate direction according to the area in sequence to form several tensioning stations, feeding stations, centrifuge stations, pouring platforms, empty pipe mold stations, steam curing ponds, pile discharging stations, storage and cleaning stations, and cover mold stations. From the steam curing pond to the pile discharging station, from the pile discharging station to the adjacent pile discharging station, and from the cover film station to the empty pipe mold station, circular closed-loop transportation is realized through chain machines. Several cranes are all equipped with precise positioning systems, anti-sway systems, wireless communication systems, and visual induction systems. The chain machines are coordinated with several cranes and the remote control console through the wireless communication system;

[0033] The anti-sway system is set on the spreader of the crane to limit the sway of the crane spreader in the way of mechanical anti-sway combined with electrical anti-sway;

[0034] The precise positioning system, in coordination with the wireless communication system, responds to the operation of the crane to query other crane workstations and feedback communication signals or instructions through the wireless communication system;

[0035] The visual sensing system, in coordination with the wireless communication system, obtains video signals, the location and the number of hoisted objects signals during the operation of the crane and outputs them to the remote monitoring console through the wireless communication system.

[0036] Specifically, there are at least six cranes. The cranes include the No. 1 crane, the No. 2 crane, the No. 3 crane, the No. 4 crane, the No. 5 crane and the No. 6 crane. The adjacent cranes achieve coordination through the wireless communication system. The control process for the adjacent cranes to achieve coordination through the wireless communication system includes:

[0037] The No. 1 crane realizes the full-automatic transfer of the pipe mold between the tensioning station and the feeding station, and from the feeding station to the centrifuge station;

[0038] The No. 2 crane realizes the full-automatic hoisting of the pipe mold between the centrifuge station and the pouring platform, and from the empty pipe mold station to the tensioning station;

[0039] The No. 3 crane realizes the full-automatic hoisting of the pipe mold between the pouring platform and the steam curing pond, and from the steam curing pond to the pile extraction station;

[0040] The No. 4 crane realizes the full-automatic hoisting of the pipe mold from uncovering the upper cover at the pile extraction station to the upper cover mold storage and cleaning station, and hoisting the upper cover mold to the cover mold station and covering the mold;

[0041] The No. 5 crane realizes the full-automatic hoisting of the suction pipe pile from the pile extraction station to the pile extraction station;

[0042] The No. 6 crane realizes the full-automatic hoisting of the bottom mold from the pile extraction station to the bottom mold storage and cleaning station, and then hoisting the bottom mold with the steel reinforcement cage to the adjacent station.

[0043] Specifically, the specific control steps for the No. 1 crane to achieve full-automatic lifting include: detecting whether the No. 1 crane is in an idle state. If it is in an idle state, it cooperatively drives the No. 1 crane to displace to the tensioning station, descends to the appropriate position to grab the empty mold, and judges whether the grabbing is in place through the visual induction system. After grabbing until it is in place, the No. 1 crane rises until the preset precise horizontal height, and judges whether the feeding station is idle through the visual induction device. When waiting for the feeding station to be idle, the No. 1 crane displaces to the feeding station, descends to the specified horizontal height and then releases the empty mold. Then, when waiting for the feeding station to complete the feeding work, the No. 1 crane descends to the specified height to grab the pipe mold again. After grabbing until it is in place, the No. 1 crane hoists up to the preset height, waits for the centrifugal station to be idle, displaces to the centrifugal station and descends to the appropriate position and then releases the pipe mold. Then the No. 1 crane resets to the initial position and waits for the next cycle.

[0044] The specific control steps for the No. 2 crane to achieve full-automatic lifting: After the chain machine transports the empty mold to the appropriate position, wait for the No. 2 crane to be idle, then cooperatively displace and descend the No. 2 crane to the appropriate position to grab the empty mold. After grabbing until it is in place, the No. 2 crane rises until the preset height, and waits for the tensioning station to be in an idle state. When the No. 2 crane grabs the empty mold and displaces to the tensioning station and descends to the appropriate position and then releases the empty mold for tensioning operation. And the No. 2 crane rises. When waiting for the centrifugal station to be idle, the No. 2 crane descends to the centrifugal station. After grabbing the pipe mold, it rises to the specified height. When waiting for the pouring station to be idle, it displaces to the pouring station, descends and releases the pipe mold. Then the No. 2 crane rises and resets to the initial position and waits for the next cycle.

[0045] The specific control steps for the No. 3 crane to achieve full-automatic lifting include: After the pouring operation is completed, detect that the No. 3 crane is in an idle state. The No. 3 crane displaces to the pouring station, descends to grab the pipe mold until it is in place, then rises and waits for the curing pond to be idle. Then it displaces to the curing pond, descends and releases the pipe mold. After the curing operation is completed, the No. 3 crane grabs the pipe mold and waits for the chain machine to be idle. Then it grabs the pipe mold to the chain machine and releases the pipe mold. The No. 3 crane rises and resets to the initial position and waits for the next cycle.

[0046] The chain machine is arranged along a single radial coordinate direction according to the area and is used to transport the pipe mold to the corresponding stations of each crane.

[0047] The specific steps for the No. 5 crane and the No. 6 crane to achieve full-automatic lifting include: When the No. 5 crane or the No. 6 crane is in an idle state, coordinate the No. 5 crane or the No. 6 crane to displace and grab the corresponding stations of the corresponding chain machine respectively. After grabbing the upper cover mold or the bottom mold, it rises to the specified height. When waiting for the cleaning station to be idle, transport the upper cover mold or the bottom mold to the cleaning station for cleaning. After the cleaning work is completed, grab the upper cover mold or the bottom mold to the chain machine, perform the mold closing operation to form an empty mold and transport it to the station corresponding to the No. 2 crane, and so on in a cycle.

[0048] In this embodiment, the first crane, the second crane, and the third crane are arranged linearly in the radial direction of the area where they are located, and successively pass through the areas where the tensioning station A1, the feeding station B1, the centrifugal station C1, the grout pouring station D1, the steam curing station F1, and the pile extraction station E1 are located. The fourth crane, the fifth crane, and the sixth crane are arranged side by side with the first crane, the second crane, etc.

[0049] The first crane, the second crane, the third crane, the fourth crane, the fifth crane, and the sixth crane communicate data through a wireless communication system. The operation status of the cranes can be accessed and fed back through the wireless communication system, so as to learn about the working process of pipe pile production and the operation status of each crane, thus realizing multi-crane multi-level collaborative operation, improving the production efficiency of pipe piles. At the same time, through the visual induction system, the precise positioning system, and the anti-sway system, precise control during crane operation is achieved, improving the safety during multi-crane collaborative operation, avoiding problems such as collisions between cranes, and realizing full-thread automatic control. Integrated into the remote monitoring console through the communication system, it is convenient for timely collection and summary of each device. Through remote monitoring, the production efficiency and problems of each station can be coordinated in real time. When multi-crane collaborative operation is carried out, the production personnel on the pipe pile production line can be reduced, thus reducing labor costs and reducing waste and accidents caused by manual operation errors.

[0050] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an unmanned crane collaborative system of a pipe pile production line, characterized in that: It includes a crane. The crane is arranged along the radial coordinate direction according to the area. Along the radial coordinate direction according to the area, several tensioning stations, feeding stations, centrifuge stations, pouring platforms, empty pipe mold stations, steam curing ponds, pile extraction stations, storage and cleaning stations, and mold covering stations are successively formed. From the steam curing pond to the pile extraction station, from one pile extraction station to another pile extraction station, and from the mold covering station to the empty pipe mold station, a circular closed-loop transportation is realized through a chain machine. The chain machine is arranged along a single radial coordinate direction according to the area and is used to transport the pipe mold to each station corresponding to the crane. The chain machine operates in coordination with several cranes and a remote control console through a wireless communication system; Several of the cranes are all equipped with a precise positioning system, an anti-sway system, a wireless communication system, and a visual sensing system; The anti-sway system is arranged on the spreader of the crane to limit the sway of the spreader of the crane in a way that combines mechanical anti-sway and electrical anti-sway; The precise positioning system, in coordination with the wireless communication system, responds to the operation of the crane to query the stations of other cranes and feedback communication signals or instructions through the wireless communication system; The visual sensing system, in coordination with the wireless communication system, acquires video signals, the location, and the hoisting quantity signals in the operating state of the crane and outputs them to the remote monitoring console through the wireless communication system; There are at least six cranes. The cranes include the No. 1 crane, the No. 2 crane, the No. 3 crane, the No. 4 crane, the No. 5 crane, and the No. 6 crane. The adjacent cranes achieve coordination through the wireless communication system. Its control process includes: The No. 1 crane realizes the full-automatic transfer of the pipe mold between the tensioning station and the feeding station and from the feeding station to the centrifuge station; The No. 2 crane realizes the full-automatic hoisting of the pipe mold between the centrifuge station and the pouring platform and between the empty pipe mold station and the tensioning station; The No. 3 crane realizes the full-automatic hoisting of the pipe mold between the pouring platform and the steam curing pond and from the steam curing pond to the pile extraction station; The No. 4 crane realizes the full-automatic hoisting of removing the upper cover at the pile extraction station to the upper cover mold storage and cleaning station, hoisting the upper cover mold to the mold covering station, and covering the mold; The No. 5 crane realizes the full-automatic hoisting of sucking the pipe pile from the pile extraction station to the pile extraction station; The No. 6 crane realizes the full-automatic hoisting of lifting the bottom mold from the pile extraction station to the bottom mold storage and cleaning station, and then hoisting the bottom mold with the steel reinforcement cage to the adjacent station; The specific steps for the No. 5 crane and the No. 6 crane to realize full-automatic transfer are as follows: When the No. 5 crane or the No. 6 crane is in an idle state, coordinate the No. 5 crane or the No. 6 crane to displace and grab the corresponding station of the corresponding chain machine respectively. After grabbing the upper cover mold or the bottom mold, rise to the specified height. Wait until the cleaning station is idle, then transport the upper cover mold or the bottom mold to the cleaning station for cleaning. After the cleaning work is completed, grab the upper cover mold or the bottom mold to the chain machine, perform the mold closing operation to form an empty mold and transport it to the station corresponding to the No. 2 crane, and so on in a cycle.

2. The control method of the unmanned crane collaborative system for the pipe pile production line according to claim 1, characterized in that: The specific control steps for the No. 1 crane to achieve full-automatic lifting include: detecting whether the No. 1 crane is in an idle state. If it is in an idle state, it cooperatively drives the No. 1 crane to move to the tensioning station, descends to the designated position to grasp the empty mold, and judges whether the grasping is in place through the visual induction system. After grasping until it is in place, the No. 1 crane rises until the preset precise horizontal height, and judges whether the feeding station is idle through the visual induction device. When waiting for the feeding station to be idle, the No. 1 crane moves to the feeding station, descends to the specified horizontal height and then releases the empty mold. Then, when waiting for the feeding station to complete the feeding work, the No. 1 crane descends to the specified height to re-grasp the pipe mold. After grasping until it is in place, the No. 1 crane lifts up to the preset height, waits for the centrifugal station to be idle, moves to the centrifugal station and descends to the designated position and then releases the pipe mold. Then, the No. 1 crane resets to the initial position and waits for the next cycle.

3. The control method of the unmanned crane collaborative system for the pipe pile production line according to claim 1, characterized in that: The specific control steps for the No. 2 crane to achieve full-automatic lifting: After the chain machine transports the empty mold in place, wait for the No. 2 crane to be idle, then cooperatively move and descend the No. 2 crane to the designated position to grasp the empty mold. After grasping until it is in place, the No. 2 crane rises until the preset height, and waits for the tensioning station to be in an idle state. When the tensioning station is idle, the No. 2 crane grasps the empty mold and moves to the tensioning station, descends to the designated position and then releases the empty mold for tensioning operation. And the No. 2 crane rises. When waiting for the centrifugal station to be idle, the No. 2 crane descends to the centrifugal station, grasps the pipe mold and then rises to the designated height. After waiting for the pouring station to be idle, it moves to the pouring station, descends and releases the pipe mold. Then, the No. 2 crane rises and resets to the initial position and waits for the next cycle.

4. The control method of the unmanned crane collaborative system for the pipe pile production line according to claim 3, characterized in that: The specific control steps for the No. 3 crane to achieve full-automatic lifting include: After the pouring operation is completed, detect that the No. 3 crane is in an idle state. The No. 3 crane moves to the pouring station, descends and grasps the pipe mold until it is in place, then rises and waits for the curing tank to be idle. When the curing tank is idle, it moves to the curing tank, descends and releases the pipe mold. After the curing operation is completed, the No. 3 crane grasps the pipe mold and waits for the chain machine to be idle. Then it grasps the pipe mold to the chain machine and releases the pipe mold. The No. 3 crane rises and resets to the initial position and waits for the next cycle.

Images