A fully automatic crane and lifting system with overload warning function

Abstract

The present invention relates to the field of lifting technology, and in particular to a fully automatic crane and lifting system with an overload warning function, comprising: a positioning module for positioning the highest point of a material pile; a lifting module, comprising a material collection unit for collecting materials and a motion constraint unit connected to the material collection unit for constraining the motion trajectory of the materials; a control module, which is respectively connected to the positioning module, the lifting module and the warning module, and is used to adjust the material collection mode of the material collection unit or determine whether the magnetic loss of the electromagnetic suction cup meets the requirements according to the temperature increase rate of the electromagnetic suction cup when the stability of the electromagnetic suction cup does not meet the requirements according to the variance of the difference in the weight of the materials before and after the material collection; and a warning module, which is connected to the control module and is used to issue an alarm when overloaded. The present invention achieves an improvement in the stability of electromagnetic adsorption.

Description

Technical Field

[0001] The present invention relates to the field of lifting technology, and in particular to a fully automatic crane with an overload warning function and a lifting system. Background Art

[0002] In the prior art, during the process of lifting containerized goods at ports, cranes usually require manual operation to lift bulk goods, such as coal, ore, grain, etc. Since the operator's operating position is fixed, there is a deviation in the judgment of the height of the bulk goods, which can easily lead to uneven heights of the cargo piles. Places that are too high are prone to slipping, which is dangerous. Therefore, there is a need for a fully automatic crane that can automatically identify the height of the material and automatically lift the cargo.

[0003] Chinese Patent Publication No.: CN117755970A discloses a monorail lifting beam device and a lifting method thereof, comprising a lifting beam body, a lifting assembly, a tension sensor and a solenoid valve, wherein the lifting assembly comprises a hydraulic hoist, a chain and a pulley block, wherein the hydraulic hoist is installed on one side of the lifting beam body, the pulley block is connected with a hook, one end of the chain is connected to the hydraulic hoist, and the other end of the chain is connected to the tension sensor after passing through the pulley block, and the tension sensor is connected to the other side of the lifting beam body; the solenoid valve is arranged in the hydraulic circuit of the hydraulic hoist, the tension sensor is electrically connected to a controller, and the controller is electrically connected to the solenoid valve, and when the tension detected by the tension sensor exceeds a set value, the hydraulic hoist stops running. It can be seen from this that the monorail lifting beam device and the lifting method thereof have the problem that the lifting rope is affected by the uneven distribution of materials during the material collection process, resulting in a large shaking, which makes the connection tightness between the lifting rope and the electromagnetic suction cup insufficient, thereby causing the stability of electromagnetic adsorption to decrease. Summary of the invention

[0004] To this end, the present invention provides a fully automatic crane and lifting system with an overload warning function, which is used to overcome the problem in the prior art that the lifting rope is affected by the uneven distribution of materials during the material collection process, resulting in a large shaking, thereby causing the connection between the lifting rope and the electromagnetic suction cup to be insufficiently tight, thereby causing the stability of the electromagnetic adsorption to decrease.

[0005] To achieve the above-mentioned purpose, the present invention provides a lifting system with an overload warning function, comprising: a positioning module for positioning the highest point of a material pile; a lifting module, which is connected to the positioning module, comprising a material collection unit for collecting materials and a motion constraint unit connected to the material collection unit for constraining the motion trajectory of the materials; wherein the material collection unit comprises an electromagnetic suction cup for adsorbing materials; a control module, which is respectively connected to the positioning module and the lifting module, and is used to adjust the material collection mode of the material collection unit or determine whether the magnetic loss of the electromagnetic suction cup meets the requirements according to the temperature increase rate of the electromagnetic suction cup when it is determined that the magnetic loss of the electromagnetic suction cup does not meet the requirements according to the variance of the difference in material weight before and after material collection, and, when it is determined that the magnetic loss of the electromagnetic suction cup does not meet the requirements, adjust the number of horizontal reciprocations of the electromagnetic suction cup per unit time or adjust the positioning mode of the positioning module according to the horizontal horizontal distance between the highest points of the material pile; and a warning module, which is connected to the control module, and is used to issue an alarm when overloaded.

[0006] Furthermore, it is characterized in that the material collection unit also includes:

[0007] A temperature sensor is arranged on the upper surface of the electromagnetic chuck to detect the temperature of the upper surface of the electromagnetic chuck;

[0008] A pulley connected to the electromagnetic chuck via a suspension rope, and used to change the vertical position of the electromagnetic chuck;

[0009] A pulley motor is connected to the pulley to provide rotational power for the pulley.

[0010] Furthermore, the positioning module includes:

[0011] A 3D scanning radar is arranged above the electromagnetic chuck to scan the material pile to determine the highest point of the material pile;

[0012] A rotating platform is connected to the 3D scanning radar and is used to adjust the clockwise rotation angle of the 3D scanning radar.

[0013] Furthermore, a weight sensor for detecting the weight of the material is provided below the electromagnetic chuck;

[0014] The control module is connected to the weight sensor, and is used to calculate the variance of the difference in material weight before and after material collection according to the material weight before and after material collection in a number of operation cycles, and to determine that the stability of electromagnetic adsorption does not meet the requirements when the variance of the difference in material weight before and after material collection meets the first variance condition or the second variance condition;

[0015] Among them, the first variance condition is that the variance of the difference in material weight before and after the material collection is greater than the preset first variance and less than or equal to the preset second variance; the second variance condition is that the variance of the difference in material weight before and after the material collection is greater than the preset second variance.

[0016] Furthermore, the control module is connected to the material collection unit to preliminarily determine that the magnetic loss of the electromagnetic chuck does not meet the requirements when the variance of the difference in material weight before and after material collection only satisfies a first variance condition, and to perform a secondary determination on whether the magnetic loss of the electromagnetic chuck meets the requirements based on the temperature rise rate of the electromagnetic chuck.

[0017] Furthermore, the control module is connected to the material collection unit, and is used to provide rotational power for the pulley according to the corresponding material collection method when the variance of the difference in the weight of the material before and after the material collection only satisfies the second variance condition;

[0018] Among them, the corresponding material collection method is that the pulley motor provides rotational power to the pulley at a corresponding motor speed, and the corresponding motor speed is determined by the difference between the variance of the difference in material weight before and after material collection and a preset second variance.

[0019] Further, the control module is connected to the material collection unit, and is used to make a second determination that the magnetic loss of the electromagnetic chuck does not meet the requirement when the temperature increase rate of the electromagnetic chuck meets the first increase rate condition or the second increase rate condition, and to make a preliminary determination that the accuracy of the radar positioning does not meet the requirement when the temperature increase rate of the electromagnetic chuck only meets the second increase rate condition, and to make a second determination on the accuracy of the radar positioning according to the horizontal horizontal distance between the highest points of the material pile;

[0020] The control module is connected to the material collection unit, and is used to increase the number of horizontal reciprocations of the electromagnetic chuck per unit time when the temperature increase rate of the electromagnetic chuck only meets the first increase rate condition;

[0021] The increased number of horizontal reciprocations of the electromagnetic chuck per unit time is determined by the difference between the temperature increase rate of the electromagnetic chuck and the preset first increase rate;

[0022] Among them, the first increase rate condition is that the temperature increase rate of the electromagnetic chuck is greater than the preset first increase rate and less than or equal to the preset second increase rate; the second increase rate condition is that the temperature increase rate of the electromagnetic chuck is greater than the preset second increase rate.

[0023] Furthermore, the calculation formula for the temperature rise rate of the electromagnetic chuck is:

[0024]

[0025] Among them, G is the temperature rise rate of the electromagnetic chuck, K1 is the temperature of the center point of the upper surface of the electromagnetic chuck at the initial moment of a single temperature sampling cycle, K2 is the temperature of the center point of the upper surface of the electromagnetic chuck at the end moment of a single temperature sampling cycle, and T is the duration of a single temperature sampling cycle.

[0026] Furthermore, the control module is connected to the positioning module, and is used to calculate the horizontal horizontal distance between the highest points of the material piles according to the distance between the highest points of the material piles in adjacent periods within a number of material collection cycles, and to secondarily determine that the accuracy of radar positioning does not meet the requirements when the horizontal horizontal distance between the highest points of the material piles is greater than a preset distance, and to locate the highest point of the material pile according to the corresponding positioning method;

[0027] Among them, the corresponding positioning method is that the 3D scanning radar locates the highest point of the material pile at a corresponding rotation angle, and the corresponding rotation angle is determined by the difference between the horizontal horizontal distance between the highest points of the material pile and a preset distance.

[0028] The present invention also provides a fully automatic crane with an overload warning function, and the fully automatic crane comprises any one of the fully automatic lifting systems with an overload warning function.

[0029] Compared with the prior art, the beneficial effect of the present invention lies in that the system of the present invention adjusts the pulley motor speed according to the variance of the difference in material weight before and after material collection by setting a positioning module, a lifting module, an early warning module, a control module and a display screen, thereby reducing the influence of the insufficient tightness of the connection between the lifting rope and the electromagnetic suction cup, which causes the stability of electromagnetic adsorption to decrease, due to the large shaking of the lifting rope caused by the uneven distribution of materials during the material collection process. The horizontal reciprocating times of the electromagnetic suction cup per unit time are adjusted according to the temperature increase rate of the electromagnetic suction cup, and the magnetic loss of the electromagnetic suction cup is secondary determined. When there is a gap between the adsorbed material and the suction cup, the electromagnetic suction cup is The relay switch will leak magnetic flux, causing magnetic loss of the electromagnetic suction cup, thereby reducing the stability of electromagnetic adsorption. By adjusting the number of horizontal reciprocating times of the electromagnetic suction cup per unit time, the impact of the reduced material adsorption capacity due to magnetic loss of the electromagnetic suction cup is reduced. By adjusting the rotation angle of the 3D scanning radar according to the horizontal horizontal distance between the highest points of the material pile, the impact of the strong airflow impact on the radar, which causes the radar scanning position to shift and the inaccurate positioning of the highest point of the material pile, causes the electromagnetic suction cup to adsorb thinner materials, resulting in uneven adsorption of the electromagnetic suction cup on the material, thereby reducing the stability of the electromagnetic adsorption, thereby improving the stability of the electromagnetic adsorption.

[0030] Furthermore, the system of the present invention adjusts the speed of the pulley motor by setting a preset first variance and a preset second variance, thereby reducing the impact of the large shaking of the lifting rope caused by the uneven distribution of materials during the material collection process, thereby resulting in insufficient tightness between the lifting rope and the electromagnetic suction cup, thereby reducing the stability of the electromagnetic adsorption, and further improving the stability of the electromagnetic adsorption.

[0031] Furthermore, the system of the present invention adjusts the number of horizontal reciprocating times of the electromagnetic suction cup per unit time by setting a preset first rising rate and a preset second rising rate, and performs a secondary judgment on the magnetic loss of the electromagnetic suction cup. When there is a gap between the adsorbed material and the suction cup, the electromagnetic relay switch will leak magnetic flux, causing magnetic loss of the electromagnetic suction cup and thus causing the stability of the electromagnetic adsorption to decrease. By adjusting the number of horizontal reciprocating times of the electromagnetic suction cup per unit time, the impact of the decrease in material adsorption capacity due to magnetic loss of the electromagnetic suction cup is reduced, thereby further achieving an improvement in the stability of the electromagnetic adsorption.

[0032] Furthermore, the system of the present invention adjusts the rotation angle of the 3D scanning radar by setting a preset distance, thereby reducing the impact of strong airflow on the radar, which causes the radar scanning position to be offset, resulting in inaccurate positioning of the highest point of the material pile, causing the material adsorbed by the electromagnetic suction cup to be relatively thin, resulting in uneven adsorption of the material by the electromagnetic suction cup, and thus causing a decrease in the stability of the electromagnetic adsorption, thereby further improving the stability of the electromagnetic adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of a lifting system with an overload warning function according to an embodiment of the present invention;

[0034] Figure 2 This is an overall structural block diagram of a lifting system with an overload warning function according to an embodiment of the present invention;

[0035] Figure 3 A specific structural block diagram of a lifting module of a lifting system with an overload warning function according to an embodiment of the present invention;

[0036] Figure 4 A block diagram of the connection structure of a lifting module and a control module of a lifting system with an overload warning function according to an embodiment of the present invention;

[0037] The figure numbers are as follows: 1-travel track, 2-electromagnetic suction cup, 3-bracket, 4-3D scanning radar, 5-hoisting crane, 6-pulley, 7-pulley motor, 8-pulley track, 9-driving motor, 10-suspension rope, 11-temperature sensor, 12-electromagnetic relay switch, 13-material placement platform, 14-weight sensor, 15-rotating table. DETAILED DESCRIPTION

[0038] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0040] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0041] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] It should be pointed out that the data in this embodiment are obtained by the hoisting system with overload warning function of the present invention before the current lifting according to the historical data and the data statistics in the corresponding detection process, test experiments and comprehensive analysis based on the experimental results; the hoisting system with overload warning function of the present invention is the variance of the difference in material weight before and after material collection, the temperature rise rate of the electromagnetic suction cup and the horizontal horizontal distance between the highest points of the material pile for 1598 cases that have been cumulatively counted, detected and calculated within 93 days before the current detection, and comprehensively determines the values ​​of various preset parameter standards for the hoisting system with overload warning function. It can be understood by those skilled in the art that the hoisting system with overload warning function of the present invention can determine the single parameter of the above parameters by selecting the value with the highest proportion as the preset standard parameter according to the data distribution, as long as the system of the present invention can clearly define the different specific situations in the single judgment process through the obtained values.

[0043] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4As shown, they are respectively an overall structural schematic diagram of a fully automatic crane and a lifting system with an overload warning function according to an embodiment of the present invention, an overall structural block diagram, a specific structural block diagram of a lifting module, and a connection structural block diagram of the lifting module and the control module. A lifting system with an overload warning function according to the present invention comprises:

[0044] Positioning module, used to locate the highest point of the material pile;

[0045] A lifting module connected to the positioning module, comprising a material collection unit for collecting materials and a motion constraint unit connected to the material collection unit for constraining the motion trajectory of the materials;

[0046] Wherein, the material collection unit includes an electromagnetic suction cup 2 for adsorbing materials;

[0047] a control module, which is connected to the positioning module and the lifting module respectively, and is used to adjust the material collection mode of the material collection unit or to determine whether the magnetic loss of the electromagnetic chuck 2 meets the requirements according to the temperature increase rate of the electromagnetic chuck 2 when it is determined that the stability of the electromagnetic adsorption does not meet the requirements according to the variance of the difference in the weight of the materials before and after the material collection,

[0048] And, when it is determined that the magnetic loss of the electromagnetic chuck 2 does not meet the requirements, the horizontal reciprocating times of the electromagnetic chuck 2 per unit time are adjusted or the positioning mode of the positioning module is adjusted according to the horizontal horizontal distance between the highest points of the material pile;

[0049] The early warning module is connected to the control module and is used to issue an alarm when overloaded.

[0050] Specifically, a lifting system with an overload warning function also includes a display module connected to the positioning module, the lifting module and the control module respectively for displaying the operating status of the material collection process.

[0051] Specifically, the display module may be a display screen.

[0052] Specifically, a lifting system with an overload warning function also includes a material placement platform 13 for stacking materials.

[0053] Specifically, the variance of the difference in material weight before and after material collection is the variance of the difference in material weight before and after material collection within several operating cycles. The calculation method for the variance of the difference in material weight before and after material collection is a conventional technical means well known to those skilled in the art. Therefore, the calculation process of the variance of the difference in material weight before and after material collection will not be repeated here.

[0054] Specifically, the calculation formula for the difference in material weight before and after material collection is:

[0055] S=|E2-E1|

[0056] Among them, S is the difference in material weight before and after material collection, E2 is the weight of the remaining material on the material placement platform 13 after material collection, and E1 is the weight of the remaining material on the material placement platform 13 before material collection.

[0057] Specifically, the horizontal horizontal distance between the highest points of the material pile is calculated as:

[0058]

[0059] Among them, Z is the horizontal distance between the highest points of the material pile, X a -X a-1 is the distance between the highest point of the material pile in the a-th material collection cycle and the highest point of the material pile in the a-1-th material collection cycle, n is the number of material collection cycles, and n is a natural number greater than or equal to 2.

[0060] Specifically, the number of horizontal reciprocating movements of the electromagnetic chuck 2 per unit time means the number of reciprocating movements in the horizontal direction when the electromagnetic chuck 2 falls to the target point for material collection per unit time in order to prevent the electromagnetic chuck 2 from experiencing magnetic loss and causing a decrease in the electromagnetic adsorption capacity.

[0061] Specifically, the motion constraint unit includes:

[0062] A pulley track 8 connected to the lifting trolley 5 to provide a movement path for the pulley 6 on the lifting trolley 5;

[0063] A bracket 3, which is connected to the lifting trolley 5 and is used to support the lifting trolley 5;

[0064] The vehicle track 1 is connected to the support 3 to provide a movement path for the support 3 to move.

[0065] Specifically, the pulley track 8 and the vehicle track 1 are both driven by electric motors, so that the pulley 6 and the bracket 3 move on the pulley track 8 and the vehicle track 1 respectively.

[0066] Specifically, the model of the traveling track 1 and the model of the bracket 3 can be replaced according to actual needs. The preferred embodiment of the model of the traveling track 1 in the present invention is the KP type traveling track, and the preferred embodiment of the model of the bracket 3 is the double-beam traveling bracket.

[0067] In practice, the system of the present invention is provided with a positioning module, a lifting module, an early warning module, a control module and a display screen, and adjusts the rotation speed of the pulley motor 7 according to the variance of the difference in material weight before and after material collection, thereby reducing the influence of the large shaking of the lifting rope 10 caused by the uneven distribution of materials during the material collection process, thereby reducing the influence of insufficient tightness of the connection between the lifting rope 10 and the electromagnetic suction cup 2, and causing the stability of electromagnetic adsorption to decrease. By adjusting the number of horizontal reciprocating times of the electromagnetic suction cup 2 per unit time according to the temperature increase rate of the electromagnetic suction cup 2, the magnetic loss of the electromagnetic suction cup 2 is secondary determined, and when there is a gap between the adsorbed material and the suction cup, the electromagnetic relay switch 1 2 will leak magnetic field, causing magnetic loss of the electromagnetic suction cup 2, thereby causing the stability of electromagnetic adsorption to decrease. By adjusting the number of horizontal reciprocating times of the electromagnetic suction cup 2 per unit time, the influence of the decrease in material adsorption capacity due to magnetic loss of the electromagnetic suction cup 2 is reduced. By adjusting the rotation angle of the 3D scanning radar 4 according to the horizontal horizontal distance between the highest points of the material pile, the influence of the radar being impacted by strong airflow, which causes the radar scanning position to shift and the positioning of the highest point of the material pile to be inaccurate, resulting in the electromagnetic suction cup 2 adsorbing the material relatively thin, resulting in uneven adsorption of the material by the electromagnetic suction cup 2, thereby causing the influence of the decrease in the stability of electromagnetic adsorption, thereby achieving the improvement of the stability of electromagnetic adsorption.

[0068] Specifically, the material collection unit also includes:

[0069] A temperature sensor 11, which is arranged on the upper surface of the electromagnetic chuck 2, and is used to detect the temperature of the upper surface of the electromagnetic chuck 2;

[0070] A pulley 6, which is connected to the electromagnetic chuck 2 via a suspension rope 10, and is used to change the vertical position of the electromagnetic chuck 2;

[0071] The pulley motor 7 is connected to the pulley 6 to provide rotational power for the pulley 6 .

[0072] Specifically, the material collection unit also includes:

[0073] A lifting crane 5, which is arranged above the electromagnetic chuck 2 and is used to change the horizontal position of the electromagnetic chuck 2;

[0074] A driving motor 9, which is connected to the lifting crane 5 and is used to provide power for the lifting crane 5 to operate;

[0075] The electromagnetic relay switch 12 is connected to the electromagnetic chuck 2 and is used to control the working state of the electromagnetic chuck 2 .

[0076] Specifically, the positioning module includes:

[0077] A 3D scanning radar 4, which is arranged above the electromagnetic chuck 2, and is used to scan the material pile to determine the highest point of the material pile;

[0078] The rotating platform 15 is connected to the 3D scanning radar 4 and is used to adjust the clockwise rotation angle of the 3D scanning radar 4 .

[0079] Those skilled in the art will appreciate that the relative positioning of the 3D scanning radar and the rotating table in the present invention is a preferred embodiment. Under the condition of achieving a clockwise rotation angle of the 3D scanning radar, the connection method between the 3D scanning radar and the rotating table, the thickness of the rotating table and the setting height of the radar can be adaptively adjusted.

[0080] Specifically, the model of the electromagnetic chuck 2 can be an EPM series electromagnetic chuck 2 , a VEP series electromagnetic chuck 2 , or an EM series electromagnetic chuck 2 . The preferred embodiment of the model of the electromagnetic chuck 2 in the present invention is the EPM series electromagnetic chuck 2 .

[0081] Specifically, the model of the pulley 6 can be a U-shaped pulley 6, a V-shaped pulley 6, or a double-wheel pulley 6. The preferred embodiment of the model of the pulley 6 in the present invention is a V-shaped pulley 6.

[0082] Specifically, the material of the suspension rope 10 can be a steel wire rope, a fiber rope, or an aluminum alloy rope. The preferred embodiment of the material of the suspension rope 10 in the present invention is a steel wire rope.

[0083] Specifically, the model of the electromagnetic relay switch 12 can be a thermal relay, a current relay, or an electromagnetic displacement relay. The preferred embodiment of the model of the electromagnetic relay switch 12 in the present invention is a current relay.

[0084] Specifically, a weight sensor 14 for detecting the weight of the material is provided below the electromagnetic chuck 2;

[0085] The control module is connected to the weight sensor 14, and is used to calculate the variance of the difference in material weight before and after material collection according to the material weight before and after material collection in a number of operation cycles, and to determine that the stability of electromagnetic adsorption does not meet the requirements when the variance of the difference in material weight before and after material collection meets the first variance condition or the second variance condition;

[0086] Among them, the first variance condition is that the variance of the difference in material weight before and after the material collection is greater than the preset first variance and less than or equal to the preset second variance; the second variance condition is that the variance of the difference in material weight before and after the material collection is greater than the preset second variance.

[0087] It can be understood that the three intervals corresponding to the preset first variance and the preset second variance correspond to three situations respectively. The first situation is that the variance of the difference in material weight before and after material collection is less than or equal to the preset first variance, and the stability of electromagnetic adsorption meets the requirements; the second situation is that the variance of the difference in material weight before and after material collection is greater than the preset first variance and less than or equal to the preset second variance, and the control module preliminarily determines that the magnetic loss of the electromagnetic suction cup 2 does not meet the requirements, and makes a secondary judgment on whether the magnetic loss of the electromagnetic suction cup 2 meets the requirements based on the temperature rise rate of the electromagnetic suction cup 2; the third situation is that the variance of the difference in material weight before and after material collection is greater than the preset second variance, and the speed of the pulley motor 7 is increased. In practice, the preset first variance is generally selected in the range of [2.5kg 2 , 3.5kg 2 ], the preset second variance is generally selected in the range of [4.5kg 2 , 5.5kg 2 ], when the selected value of the preset second variance is less than 4.5kg 2 The corresponding influencing factors will change. For example, when there is a gap between the adsorbed material and the suction cup, the electromagnetic relay switch 12 will leak magnetic field, causing magnetic loss of the electromagnetic suction cup 2. When magnetic loss occurs, the temperature rise rate of the electromagnetic suction cup 2 changes accordingly. During the material collection process, the hanging rope 10 is affected by the uneven distribution of materials, resulting in a large shake, which makes the connection between the hanging rope 10 and the electromagnetic suction cup 2 not tight enough. The electromagnetic relay switch 12 will leak magnetic field when there is a gap between the adsorbed material and the suction cup, causing magnetic loss of the electromagnetic suction cup 2. The impact is greater.

[0088] Optionally, the preferred embodiment of the preset first variance Q1 is Q1=3kg 2 The preferred embodiment of the preset second variance Q2 is Q2=5kg 2 .

[0089] Specifically, the variance of the difference in material weight before and after material collection is recorded as Q, and the difference between the variance of the difference in material weight before and after material collection and the preset second variance is recorded as ΔQ, and ΔQ=Q-Q2 is set.

[0090] In implementation, the system of the present invention determines the stability of electromagnetic adsorption by setting a preset first variance and a preset second variance, thereby reducing the impact of decreased accuracy of radar positioning due to inaccurate judgment of the stability of electromagnetic adsorption, and further improving the stability of electromagnetic adsorption.

[0091] Specifically, the control module is connected to the material collection unit, and is used to preliminarily determine that the magnetic loss of the electromagnetic chuck 2 does not meet the requirements when the variance of the difference in material weight before and after material collection only satisfies the first variance condition, and to perform a secondary determination on whether the magnetic loss of the electromagnetic chuck 2 meets the requirements based on the temperature rise rate of the electromagnetic chuck 2.

[0092] Specifically, the control module is connected to the material collection unit, and is used to provide rotational power to the pulley 6 according to the corresponding material collection method when the variance of the difference in the weight of the material before and after the material collection only satisfies the second variance condition;

[0093] Among them, the corresponding material collection method is that the pulley motor 7 provides rotational power to the pulley 6 at a corresponding motor speed, and the corresponding motor speed is determined by the difference between the variance of the difference in material weight before and after material collection and a preset second variance.

[0094] Specifically, the specific process of determining the corresponding motor speed by the difference between the variance of the difference in material weight before and after material collection and the preset second variance is:

[0095] If △Q≤△Q0, the control module uses a preset first speed adjustment coefficient to adjust the speed of the pulley motor 7 to a first speed;

[0096] If △Q>△Q0, the control module uses a preset second speed adjustment coefficient to adjust the speed of the pulley motor 7 to a second speed;

[0097] Wherein, the preset first speed adjustment coefficient is smaller than the preset second speed adjustment coefficient.

[0098] Specifically, the corresponding motor speed includes a first speed and a second speed.

[0099] Optionally, the preferred embodiment of the preset variance difference ΔQ0 is ΔQ0=1kg 2 .

[0100] Specifically, the preset first speed adjustment coefficient is recorded as α1, and α1 is set to 1.2. The preset second speed adjustment coefficient is recorded as α2, and α2 is set to 1.4. The speed of the pulley motor 7 is recorded as V, wherein 1<α1<α2. The speed of the pulley motor 7 after adjustment is recorded as V', and V' is set to V×(1+αi) / 2, wherein αi is the preset i-th speed adjustment coefficient, and i is set to 1, 2.

[0101] In practice, the system of the present invention adjusts the rotation speed of the pulley motor 7 by setting a preset first variance and a preset second variance, thereby reducing the large shaking of the lifting rope 10 caused by the uneven distribution of materials during the material collection process, thereby reducing the stability of the electromagnetic adsorption due to the insufficient tightness of the connection between the lifting rope 10 and the electromagnetic suction cup 2, thereby further improving the stability of the electromagnetic adsorption.

[0102] Specifically, the control module is connected to the material collection unit, and is used to make a second determination that the magnetic loss of the electromagnetic chuck 2 does not meet the requirement when the temperature increase rate of the electromagnetic chuck 2 meets the first increase rate condition or the second increase rate condition, and to make a preliminary determination that the accuracy of the radar positioning does not meet the requirement when the temperature increase rate of the electromagnetic chuck 2 only meets the second increase rate condition, and to make a second determination on the accuracy of the radar positioning according to the horizontal horizontal distance between the highest points of the material pile;

[0103] The control module is connected to the material collection unit, and is used to increase the number of horizontal reciprocations of the electromagnetic chuck 2 per unit time when the temperature increase rate of the electromagnetic chuck 2 only meets the first increase rate condition;

[0104] Among them, the first increase rate condition is that the temperature increase rate of the electromagnetic chuck 2 is greater than the preset first increase rate and less than or equal to the preset second increase rate; the second increase rate condition is that the temperature increase rate of the electromagnetic chuck 2 is greater than the preset second increase rate.

[0105] It can be understood that the three intervals corresponding to the preset first rising rate and the preset second rising rate correspond to three situations respectively. The first situation is that the temperature rising rate of the electromagnetic chuck 2 is less than or equal to the preset first rising rate, and it is secondary judged that the magnetic loss of the electromagnetic chuck 2 meets the requirements; the second situation is that the temperature rising rate of the electromagnetic chuck 2 is greater than the preset first rising rate and less than or equal to the preset second rising rate, and the number of horizontal reciprocations of the electromagnetic chuck 2 per unit time is increased; the third situation is that the temperature rising rate of the electromagnetic chuck 2 is greater than the preset second rising rate, and it is preliminarily judged that the accuracy of the radar positioning does not meet the requirements, and the accuracy of the radar positioning is secondary judged according to the horizontal horizontal distance between the highest points of the material pile. In practice, the preset first rising rate is generally selected in the range of [2.5°C / h, 3.5°C / h], and the preset second rising rate is generally selected in the range of [4.5°C / h, 5.5°C / h]. When the selected value of the preset first rising rate exceeds 3.5°C / h, the corresponding influencing factors will change. For example, the radar is affected by the strong airflow impact, which causes the radar scanning position to shift, resulting in inaccurate positioning of the highest point of the material pile, causing the material adsorbed by the electromagnetic suction cup 2 to be relatively thin, resulting in uneven adsorption of the material by the electromagnetic suction cup 2. When the suction cup absorbs unevenly, the horizontal horizontal distance between the highest points of the material pile changes accordingly. When there is a gap between the adsorbed material and the suction cup, the electromagnetic relay switch 12 will leak magnetic flux, causing the magnetic loss of the electromagnetic suction cup 2 to be greater than the impact of the radar being affected by the strong airflow, causing the radar scanning position to shift, resulting in inaccurate positioning of the highest point of the material pile, thereby causing the material adsorbed by the electromagnetic suction cup 2 to be relatively thin, resulting in uneven adsorption of the material by the electromagnetic suction cup 2.

[0106] Specifically, a preferred embodiment of the preset first increase rate P1 is P1 = 3°C / h, and a preferred embodiment of the preset second increase rate P2 is P2 = 5°C / h.

[0107] Specifically, the temperature increase rate of the electromagnetic chuck 2 is recorded as P, and the difference between the temperature increase rate of the electromagnetic chuck 2 and the preset first increase rate is recorded as ΔP, and ΔP is set to be P-P1.

[0108] In implementation, the system of the present invention performs a secondary determination of the magnetic loss of the electromagnetic suction cup 2 by setting a preset first rising rate and a preset second rising rate, thereby reducing the impact of the inaccurate secondary determination of the magnetic loss of the electromagnetic suction cup 2 on the stability of the electromagnetic adsorption, and further improving the stability of the electromagnetic adsorption.

[0109] Specifically, the increased number of horizontal reciprocations of the electromagnetic chuck 2 per unit time is determined by the difference between the temperature increase rate of the electromagnetic chuck 2 and the preset first increase rate.

[0110] Specifically, the specific process of determining the number of horizontal reciprocations of the electromagnetic chuck 2 per unit time by the difference between the temperature increase rate of the electromagnetic chuck 2 and the preset first increase rate is:

[0111] If △P≤△P0, the control module uses the preset first number adjustment coefficient to adjust the number of horizontal reciprocations of the electromagnetic chuck 2 per unit time to the first number;

[0112] If △P>△P0, the control module uses the preset second number adjustment coefficient to adjust the number of horizontal reciprocations of the electromagnetic chuck 2 per unit time to the second number;

[0113] Wherein, the preset first number adjustment coefficient is smaller than the preset second number adjustment coefficient.

[0114] Optionally, a preferred embodiment of the preset increase rate difference ΔP0 is ΔP0=2°C / h.

[0115] Specifically, the preset first number adjustment coefficient is recorded as β1, and β1 is set to 1.1. The preset second number adjustment coefficient is recorded as β2, and β2 is set to 1.3. The number of horizontal reciprocations of the electromagnetic suction cup 2 per unit time is recorded as H, wherein 1<β1<β2. The number of horizontal reciprocations of the electromagnetic suction cup 2 per unit time after adjustment is recorded as H', and H' is set to H×(1+2βj) / 3, wherein βj is the preset j-th number adjustment coefficient, and j is set to 1, 2.

[0116] In implementation, the system of the present invention adjusts the number of horizontal reciprocating times of the electromagnetic suction cup 2 per unit time by setting a preset first rising rate and a preset second rising rate, and performs a secondary judgment on the magnetic loss of the electromagnetic suction cup 2. When there is a gap between the adsorbed material and the suction cup, the electromagnetic relay switch 12 will leak magnetic flux, causing magnetic loss of the electromagnetic suction cup 2 and thus causing the stability of electromagnetic adsorption to decrease. By adjusting the number of horizontal reciprocating times of the electromagnetic suction cup 2 per unit time, the influence of the decrease in material adsorption capacity due to magnetic loss of the electromagnetic suction cup 2 is reduced, thereby further achieving the improvement of the stability of electromagnetic adsorption.

[0117] Specifically, the calculation formula for the temperature rise rate of the electromagnetic chuck 2 is:

[0118]

[0119] Wherein, G is the temperature rise rate of the electromagnetic chuck 2, K1 is the temperature of the center point of the upper surface of the electromagnetic chuck 2 at the initial moment of a single temperature sampling cycle, K2 is the temperature of the center point of the upper surface of the electromagnetic chuck 2 at the end moment of a single temperature sampling cycle, and T is the duration of a single temperature sampling cycle.

[0120] Specifically, the control module is respectively connected to the positioning module and the material collection unit, and is used to calculate the horizontal horizontal distance between the highest points of the material piles according to the distance between the highest points of the material piles in adjacent periods within a number of material collection cycles, and to secondary determine that the accuracy of radar positioning does not meet the requirements when the horizontal horizontal distance between the highest points of the material piles is greater than a preset distance, and to locate the highest point of the material pile according to the corresponding positioning method.

[0121] It can be understood that the preset distance corresponds to two intervals, corresponding to two situations respectively. The first situation is that the horizontal horizontal distance between the highest points of the material pile is less than or equal to the preset distance, and the accuracy of the secondary determination radar positioning meets the requirements; the second situation is that the horizontal horizontal distance between the highest points of the material pile is greater than the preset distance, and the rotation angle of the 3D scanning radar 4 is increased. In practice, the preset distance is generally selected in the range of [2cm, 4cm]. When the preset distance exceeds 4cm, the corresponding influencing factors will change. For example, the radar scanning position is offset due to the impact of strong airflow on the radar, resulting in inaccurate positioning of the highest point of the material pile, which in turn causes the electromagnetic chuck 2 to adsorb relatively thin materials, making the electromagnetic chuck 2 adsorb uneven materials.

[0122] Optionally, a preferred embodiment of the preset distance Y0 is Y0=3 cm.

[0123] Specifically, the horizontal horizontal distance between the highest points of the material pile is recorded as Y, and the difference between the horizontal horizontal distance between the highest points of the material pile and the preset distance is recorded as △Y, and △Y=Y-Y0 is set.

[0124] In implementation, the system of the present invention performs a secondary judgment on the accuracy of radar positioning by setting a preset distance, thereby reducing the impact of the decreased stability of electromagnetic adsorption due to inaccurate secondary judgment on the accuracy of radar positioning, and further improving the stability of electromagnetic adsorption.

[0125] Specifically, the corresponding positioning method is that the 3D scanning radar 4 locates the highest point of the material pile at a corresponding rotation angle, and the corresponding rotation angle is determined by the difference between the horizontal horizontal distance between the highest points of the material pile and a preset distance.

[0126] Specifically, the specific process of determining the corresponding rotation angle by the difference between the horizontal horizontal distance between the highest points of the material pile and the preset distance is as follows:

[0127] If △Y≤△Y0, the control module uses a preset first rotation angle adjustment coefficient to adjust the rotation angle of the 3D scanning radar 4 to a first rotation angle;

[0128] If △Y>△Y0, the control module uses a preset second rotation angle adjustment coefficient to adjust the rotation angle of the 3D scanning radar 4 to a second rotation angle;

[0129] Wherein, the preset first rotation angle adjustment coefficient is smaller than the preset second rotation angle adjustment coefficient.

[0130] Specifically, the corresponding rotation angle includes a first rotation angle and a second rotation angle.

[0131] Optionally, a preferred embodiment of the preset distance difference △Y0 is △Y0=1 cm.

[0132] Specifically, the preset first rotation angle adjustment coefficient is recorded as γ1, and γ1 is set to 1.15. The preset second rotation angle adjustment coefficient is recorded as γ2, and γ2 is set to 1.25. The rotation angle of the 3D scanning radar 4 is recorded as L, wherein 1<γ1<γ2, and the corresponding rotation angle is recorded as L', and L'=L×(1+3γm) / 4, wherein γm is the preset mth rotation angle adjustment coefficient, and m is set to 1, 2.

[0133] In implementation, the system of the present invention adjusts the rotation angle of the 3D scanning radar 4 by setting a preset distance, thereby reducing the impact of strong airflow on the radar, which causes the radar scanning position to be offset, resulting in inaccurate positioning of the highest point of the material pile, causing the material adsorbed by the electromagnetic suction cup 2 to be relatively thin, resulting in uneven adsorption of the material by the electromagnetic suction cup 2, and thus causing the stability of the electromagnetic adsorption to decrease, thereby further improving the stability of the electromagnetic adsorption.

[0134] Specifically, a fully automatic crane with an overload warning function comprises any one of the fully automatic lifting systems with an overload warning function.

[0135] Example 1

[0136] The hoisting system with overload warning function in this embodiment 1 is applied to the hoisting of coal in the port. The control module adjusts the pulley motor speed according to the difference between the variance of the weight difference of the materials before and after the material collection and the preset second variance. The preset first speed adjustment coefficient is recorded as α1, and α1=1.2 is set. The preset second speed adjustment coefficient is recorded as α2, and α2=1.4 is set. The pulley motor speed is recorded as V, wherein 1<α1<α2, α1=1.2, α2=1.4 are set, and △Q0=1kg 2 , V = 800r / min, Q = 7kg 2 , Q2=5kg 2 , △Q=Q-Q2.

[0137] In this embodiment 1, ΔQ=2kg 2The control module determines that ΔQ>ΔQ0 and uses the preset first speed adjustment coefficient to adjust the speed of the pulley motor to the second speed, and calculates that V'=800r / min×(1+1.2) / 2=880r / min.

[0138] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A fully automatic lifting system with overload warning function, characterized in that: include: Positioning module, used to locate the highest point of the material pile; A lifting module connected to the positioning module, comprising a material collection unit for collecting materials and a motion constraint unit connected to the material collection unit for constraining the motion trajectory of the materials; Wherein, the material collection unit includes an electromagnetic suction cup for adsorbing materials; a control module, which is connected to the positioning module and the lifting module respectively, and is used to adjust the material collection mode of the material collection unit or determine whether the magnetic loss of the electromagnetic chuck meets the requirements according to the temperature increase rate of the electromagnetic chuck when it is determined that the stability of the electromagnetic adsorption does not meet the requirements according to the variance of the difference in the weight of the materials before and after the material collection, And, when it is determined that the magnetic loss of the electromagnetic chuck does not meet the requirements, the horizontal reciprocating times of the electromagnetic chuck per unit time are adjusted or the positioning mode of the positioning module is adjusted according to the horizontal horizontal distance between the highest points of the material pile; An early warning module, which is connected to the control module and is used to issue an alarm when overloaded; The positioning module comprises: A 3D scanning radar is arranged above the electromagnetic chuck to scan the material pile to determine the highest point of the material pile; A rotating platform connected to the 3D scanning radar, used to adjust the clockwise rotation angle of the 3D scanning radar; A weight sensor for detecting the weight of the material is arranged below the electromagnetic chuck; The control module is connected to the weight sensor, and is used to calculate the variance of the difference in material weight before and after material collection according to the material weight before and after material collection in a number of operation cycles, and to determine that the stability of electromagnetic adsorption does not meet the requirements when the variance of the difference in material weight before and after material collection meets the first variance condition or the second variance condition; Among them, the first variance condition is that the variance of the difference in material weight before and after the material collection is greater than the preset first variance and less than or equal to the preset second variance; the second variance condition is that the variance of the difference in material weight before and after the material collection is greater than the preset second variance.

2. The fully automatic lifting system with overload warning function according to claim 1 is characterized in that: The material collection unit also includes: A temperature sensor is arranged on the upper surface of the electromagnetic chuck to detect the temperature of the upper surface of the electromagnetic chuck; A pulley connected to the electromagnetic chuck via a suspension rope, and used to change the vertical position of the electromagnetic chuck; A pulley motor is connected to the pulley to provide rotational power for the pulley.

3. The fully automatic lifting system with overload warning function according to claim 2 is characterized in that: The control module is connected to the material collection unit, and is used to preliminarily determine that the magnetic loss of the electromagnetic chuck does not meet the requirements when the variance of the difference in material weight before and after material collection only satisfies the first variance condition, and to perform a secondary determination on whether the magnetic loss of the electromagnetic chuck meets the requirements based on the temperature rise rate of the electromagnetic chuck.

4. The fully automatic lifting system with overload warning function according to claim 3 is characterized in that: The control module is connected to the material collection unit, and is used to provide rotational power for the pulley according to the corresponding material collection method when the variance of the difference in the weight of the material before and after the material collection only satisfies the second variance condition; Among them, the corresponding material collection method is that the pulley motor provides rotational power to the pulley at a corresponding motor speed, and the corresponding motor speed is determined by the difference between the variance of the difference in material weight before and after material collection and a preset second variance.

5. The fully automatic lifting system with overload warning function according to claim 4 is characterized in that: The control module is connected to the material collection unit, and is used to make a second determination that the magnetic loss of the electromagnetic chuck does not meet the requirement when the temperature increase rate of the electromagnetic chuck meets the first increase rate condition or the second increase rate condition, and to make a preliminary determination that the accuracy of the radar positioning does not meet the requirement when the temperature increase rate of the electromagnetic chuck only meets the second increase rate condition, and to make a second determination on the accuracy of the radar positioning according to the horizontal horizontal distance between the highest points of the material pile; The control module is connected to the material collection unit, and is used to increase the number of horizontal reciprocations of the electromagnetic chuck per unit time when the temperature increase rate of the electromagnetic chuck only meets the first increase rate condition; The increased number of horizontal reciprocations of the electromagnetic chuck per unit time is determined by the difference between the temperature increase rate of the electromagnetic chuck and the preset first increase rate; Among them, the first increase rate condition is that the temperature increase rate of the electromagnetic chuck is greater than the preset first increase rate and less than or equal to the preset second increase rate; the second increase rate condition is that the temperature increase rate of the electromagnetic chuck is greater than the preset second increase rate.

6. The fully automatic lifting system with overload warning function according to claim 5 is characterized in that: The calculation formula for the temperature rise rate of the electromagnetic chuck is: ， Among them, G is the temperature rise rate of the electromagnetic chuck, K1 is the temperature of the center point of the upper surface of the electromagnetic chuck at the initial moment of a single temperature sampling cycle, K2 is the temperature of the center point of the upper surface of the electromagnetic chuck at the end moment of a single temperature sampling cycle, and T is the duration of a single temperature sampling cycle.

7. The fully automatic lifting system with overload warning function according to claim 6 is characterized in that: The control module is connected to the positioning module, and is used to calculate the horizontal horizontal distance between the highest points of the material piles according to the distance between the highest points of the material piles in adjacent periods within a number of material collection cycles, and to secondarily determine that the accuracy of radar positioning does not meet the requirements when the horizontal horizontal distance between the highest points of the material piles is greater than a preset distance, and to locate the highest point of the material pile according to the corresponding positioning method; Among them, the corresponding positioning method is that the 3D scanning radar locates the highest point of the material pile at a corresponding rotation angle, and the corresponding rotation angle is determined by the difference between the horizontal horizontal distance between the highest points of the material pile and a preset distance.

8. A fully automatic crane with overload warning function, characterized in that: The fully automatic crane comprises the fully automatic lifting system with overload warning function as described in any one of claims 1-7.

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