A crane obstacle avoidance device and its application in path planning

Abstract

The present invention relates to the field of crane obstacle avoidance technology, and in particular to a crane obstacle avoidance device and its application in path planning, including a hook and a controller, the hook including two pulleys respectively rotating at both ends of a pulley shaft and a pulley cover for protecting the two pulleys, the two pulleys are provided with a wire rope for lifting and lowering the hook, the outer side of the pulley cover is fixedly connected to a fixed column, and also includes an obstacle avoidance mechanism, a driving mechanism, and an auxiliary mechanism, the obstacle avoidance mechanism includes a rotating frame rotatably connected to the outer wall of each fixed column, the outer wall of each rotating frame is fixedly connected to an outer gear ring, and each rotating frame is provided with a monitoring component at one end away from the fixed column, and the two monitoring components cooperate with each other to monitor obstacles around the hook, and the monitoring component is electrically connected to the controller. The present invention can record and detect obstacles around the hook by the monitoring component following the rotation of the rotating frame, so as to avoid the occurrence of monitoring blind spots and effectively avoid obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of crane obstacle avoidance, and in particular to a crane obstacle avoidance device and its application in path planning. Background Art

[0002] A crane refers to a multi-action lifting machinery that can perform vertical lifting and horizontal transportation of heavy objects within a certain range. It is also called an overhead crane, an overhead crane, or a hoist. Common obstacle avoidance monitoring tools include lidar. When the lidar monitors obstacles, the laser in the lidar emits a beam of laser outward. The laser is reflected when it hits an object. The receiver detects the reflected light signal and then measures the time difference between the reflected light and the outgoing light through a time analysis module. The distance the light flies is obtained by multiplying the time by the speed of light, thereby inferring the position of the object being measured. However, since the laser radar has an extremely narrow beam, it is very difficult to search for targets in space if it is always fixed in the same position.

[0003] For example, a Chinese patent with application number 202321919863.X discloses a laser radar obstacle avoidance device, including a mounting plate for detachably mounting on the side of a hook, a support plate is arranged in the horizontal direction on the mounting plate, a laser radar is arranged on the top of the end of the support plate facing away from the hook, and a main control module is connected to the laser radar, and the main control module is connected to the crane controller through a communication module. In this utility model, obstacles around can be detected by laser radar, with high recognition accuracy, capable of identifying obstacles of smaller size, and with a wide detection range. By arranging two 270° laser radars on both sides of the hook, obstacle detection around the hook can be achieved, thereby improving the safety of the hook during operation.

[0004] Although the invention can realize obstacle detection around the hook by means of two 270° laser radars arranged on both sides of the hook, as the weight rises vertically, only the circumference of the hook can be detected by the two 270° laser radars. When the hook moves horizontally with the weight, obstacles located around the bottom of the weight cannot be detected, resulting in a detection blind spot. When the operator is negligent or relies entirely on the two 270° laser radars, a safety accident may occur in which the lower end of the weight scrapes against the obstacle.

[0005] To this end, the present invention proposes a crane obstacle avoidance device and its application in path planning to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide a crane obstacle avoidance device and its application in path planning, so as to solve the problems raised in the background technology through an obstacle avoidance mechanism and a driving mechanism.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A crane obstacle avoidance device comprises a hook and a controller, wherein the hook comprises two pulleys respectively rotating at two ends of a pulley shaft and a pulley cover for protecting the two pulleys, a steel wire rope for lifting the hook is commonly arranged in the two pulleys, a fixing column is fixedly connected to the outer side of the pulley cover, and further comprises;

[0009] Obstacle avoidance mechanism, the obstacle avoidance mechanism comprises a rotating frame rotatably connected to the outer wall of each fixed column, the outer wall of each rotating frame is fixedly connected to an outer gear ring, and each rotating frame is provided with a monitoring component at one end away from the fixed column, and the two monitoring components cooperate with each other to monitor obstacles around the hook, and the monitoring component is electrically connected to the controller;

[0010] A driving mechanism, the driving mechanism comprising a rack meshed with each of the outer gear rings, and also comprising a telescopic air cylinder fixed to the outside of the pulley outer cover, each of the telescopic air cylinders is slidably connected with a first piston, one end of each of the first pistons is fixedly connected to a first piston rod, and one end of each of the first piston rods extending out of the telescopic air cylinder is fixedly connected to the rack;

[0011] The auxiliary mechanism comprises a driving gear which rotates synchronously with each pulley, and each driving gear is fixedly connected to the corresponding pulley via a connecting ring.

[0012] Preferably, each of the telescopic air cylinders is provided with a first ventilation hole on the side wall at one end away from the rotating frame, and each of the telescopic air cylinders is provided with a second ventilation hole on the side wall at one end away from the first ventilation hole. Each of the telescopic air cylinders is provided with a first elastic member and a second elastic member, and the two ends of each of the first elastic members are respectively connected to the end of the first piston away from the first piston rod and the inner wall of the telescopic air cylinder, and each of the second elastic members is sleeved on the outer wall of the first piston rod, and the two ends of each of the second elastic members are respectively connected to one end of the first piston and the inner wall of the telescopic air cylinder.

[0013] Preferably, the driving mechanism also includes a guide block fixed to the side wall of each telescopic air cylinder, each guide block is slidably connected with a guide column, the guide column is circumferentially provided with a first guide groove and a second guide groove, each guide block is provided with a first air inlet hole on the side away from the telescopic air cylinder, each guide block is provided with a first guide hole and a second guide hole, each guide block is fixedly connected to the third air cylinder at one end close to the first guide hole, and each guide block is fixedly connected to the fourth air cylinder at one end away from the third air cylinder.

[0014] Preferably, each of the third air cylinders is slidably connected with a third piston, one end of each of the third pistons is fixedly connected to a third piston rod movably connected to the guide column, the outer wall of each of the third piston rods is sleeved with a third elastic member, the two ends of each of the third elastic members are respectively connected to one end of the third piston and the inner wall of the third air cylinder, one end of each of the third air cylinders is provided with a second air inlet hole for air intake, and one side of each of the third air cylinders is provided with a third air vent hole for ventilation.

[0015] Preferably, each of the fourth air cylinders is slidably connected with a fourth piston, one end of each of the fourth pistons is fixedly connected to a fourth piston rod movably connected to the guide column, the outer wall of each of the fourth piston rods is sleeved with a fourth elastic member, the two ends of each of the fourth elastic members are respectively connected to one end of the fourth piston and the inner wall of the fourth air cylinder, one end of each of the fourth air cylinders is provided with a third air inlet hole for air intake, and one side of each of the fourth air cylinders is provided with a fourth air hole for ventilation.

[0016] Preferably, the auxiliary mechanism also includes an inner gear ring fixedly connected to the inner side of each pulley outer cover, three evenly distributed driven gears are arranged between each inner gear ring and the driving gear, each driven gear is respectively meshed with the corresponding inner gear ring and the driving gear, a transmission rod is fixedly connected to one side of each driven gear, the outer walls of every three transmission rods are rotatably connected to the same rotating bracket, one end of each rotating bracket is fixedly connected to a transmission ring, and one end of each transmission ring is fixedly connected to a cam that rotates synchronously with the rotating bracket.

[0017] Preferably, the auxiliary mechanism also includes a second piston rod movably connected to each of the cams, the outer end of each of the pulley outer cover is fixedly connected to a support frame, each of the support frames is provided with a placement groove, each of the placement grooves is fixedly connected to a gas collecting cylinder, each of the gas collecting cylinders is slidably connected to a second piston, one end of each of the second pistons is fixedly connected to an end of the second piston rod extending into the gas collecting cylinder, a fifth elastic member is provided in each of the gas collecting cylinders, the two ends of each of the fifth elastic member are respectively connected to an end of the second piston away from the second piston rod and the inner wall of the gas collecting cylinder, each of the gas collecting cylinder side walls is provided with an intake hole, and each of the gas collecting cylinders has an exhaust hole at one end, the exhaust hole is connected to the first intake hole through a pipeline, a three-way solenoid valve is provided in the pipeline between the exhaust hole and the first intake hole, the three-way solenoid valve is used to control the on and off of compressed gas in the pipeline through the first intake hole, and a one-way valve is also provided in the pipeline between the exhaust hole and the first intake hole to prevent gas backflow in the first intake hole.

[0018] Preferably, the first vent hole is connected to the first flow guide hole through a three-way pipe, and the three-way pipe is also connected to a first overflow valve for monitoring the gas pressure in the pipeline at the first flow guide hole, and the overflow port of the first overflow valve is connected to the third air inlet hole.

[0019] Preferably, the second flow guide hole is connected to the second air vent through a three-way pipe, and the three-way pipe is also connected to a second overflow valve for monitoring the gas pressure in the pipeline at the second air vent, and the overflow port of the second overflow valve is connected to the second air inlet.

[0020] An application of a crane obstacle avoidance device in path planning comprises the following steps:

[0021] S1. When lifting and lowering heavy objects, the two pulleys rotate by retracting and releasing the wire rope;

[0022] S2. The auxiliary mechanism provides compressed gas to the driving mechanism through the gas collecting cylinder under the rotation of the two pulleys;

[0023] S3. Under the action of compressed gas, the driving mechanism drives the obstacle avoidance mechanism through the rack to deflect, and the obstacles around the hook are monitored through the cooperation of the two monitoring parts.

[0024] Technical effects and advantages of the present invention:

[0025] 1. The present invention enables the monitoring component to monitor obstacles under the hook by rotating the monitoring component along with the rotating frame in the clockwise direction, thereby recording obstacles around the hook before lifting the heavy object, thereby preventing the lifting of the heavy object from forming an obstruction, causing blind spots and inaccurate data when the monitoring component identifies and monitors obstacles under the hook and the heavy object.

[0026] 2. The present invention enables the monitoring component to monitor obstacles above the hook by following the counterclockwise rotation of the rotating frame, thereby recording obstacles around the hook when the heavy object is lifted and moved, thereby preventing the monitoring component from having blind spots and inaccurate data when identifying and monitoring obstacles above the hook and the heavy object when the lifted heavy object follows the movement of the hook. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 It is a bottom view of the overall structure of the present invention.

[0029] Figure 3 It is a top view of the overall structure of the present invention.

[0030] Figure 4 It is a partial cross-sectional view of the support frame of the present invention.

[0031] Figure 5 It is a schematic diagram of the cam structure of the present invention.

[0032] Figure 6 It is an exploded view of the support frame of the present invention.

[0033] Figure 7 This is an exploded view of the rotating bracket of the present invention.

[0034] Figure 8 It is a schematic cross-sectional view of the gas collecting cylinder of the present invention.

[0035] Fig. 9 It is a cutaway schematic diagram of the telescopic gas cylinder of the present invention.

[0036] Fig.10 It is a schematic cross-sectional view of the guide block of the present invention.

[0037] Fig.11 It is an exploded view of the telescopic gas cylinder of the present invention.

[0038] Fig.12 It is an exploded view of the guide block of the present invention.

[0039] In the figure:

[0040] 1. Hook; 101. Pulley; 102. Pulley cover; 103. Wire rope; 104. Fixed column;

[0041] 2. Obstacle avoidance mechanism; 21. Rotating frame; 22. External gear ring; 23. Monitoring component;

[0042] 3. Driving mechanism; 31. Rack; 32. Telescopic air cylinder; 321. First piston; 322. First piston rod; 323. First vent hole; 324. Second vent hole; 325. First elastic member; 326. Second elastic member; 33. Guide block; 331. First air inlet hole; 332. First guide hole; 333. Second guide hole; 34. Guide column; 341. First guide groove; 342. Second guide groove; 35. Third air cylinder; 351. Third piston; 352. Third piston rod; 353. Third elastic member; 354. Second air inlet hole; 355. Third vent hole; 36. Fourth air cylinder; 361. Fourth piston; 362. Fourth piston rod; 363. Fourth elastic member; 364. Third air inlet hole; 365. Fourth vent hole;

[0043] 4. Auxiliary mechanism; 41. Driving gear; 401. Connecting ring; 42. Internal gear ring; 43. Driven gear; 431. Transmission rod; 44. Rotating bracket; 441. Transmission ring; 45. Cam; 46. Air collecting cylinder; 461. Second piston; 462. Second piston rod; 463. Fifth elastic member; 464. Air intake hole; 465. Air exhaust hole;

[0044] 5. Support frame; 51. Placement slot. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] Example 1

[0047] It is found in actual use that when the laser radar monitors obstacles, the laser in the laser radar emits a beam of laser outward. The laser is reflected when it hits an object. The receiver detects the reflected light signal and then measures the time difference between the reflected light and the emitted light through the time analysis module. The distance the light flies is obtained by multiplying the time by the speed of light, thereby calculating the position of the object being measured. However, although the laser radar can monitor obstacles around the hook when used in combination, the laser radar has an extremely narrow beam. If it is always fixed in the same position, it is very difficult to search for targets in space. This embodiment is specially invented to solve the above problem.

[0048] See also Figure 1 and Figure 2 As shown, the first embodiment of the present invention provides a crane obstacle avoidance device, including a hook 1 and a controller, wherein the controller is a prior art and is not described in detail herein. The hook 1 includes two pulleys 101 respectively rotating at both ends of a pulley shaft and a pulley cover 102 for protecting the two pulleys 101, a steel wire rope 103 for lifting the hook 1 is commonly arranged in the two pulleys 101, a fixing column 104 is fixedly connected to the outer side of the pulley cover 102, and also includes an obstacle avoidance mechanism 2, a driving mechanism 3 and an auxiliary mechanism 4.

[0049] See also Figure 3 and Figure 4 The obstacle avoidance mechanism 2 includes a rotating frame 21 rotatably connected to the outer wall of each fixed column 104, and the outer wall of each rotating frame 21 is fixedly connected with an outer gear ring 22. A monitoring component 23 is provided at one end of each rotating frame 21 away from the fixed column 104, wherein the monitoring component 23 is a laser radar, and the detection range of the laser radar is 270°. The laser radar is a prior art and is not described in detail here. The two monitoring components 23 cooperate with each other to monitor obstacles around the hook 1, and the monitoring component 23 is electrically connected to the controller.

[0050] See also Figure 4 and Fig. 9The driving mechanism 3 includes a rack 31 meshing with each outer gear ring 22, and also includes a telescopic air cylinder 32 fixed to the outside of the pulley outer cover 102, each telescopic air cylinder 32 is slidably connected with a first piston 321, one end of each first piston 321 is fixedly connected to a first piston rod 322, and one end of each first piston rod 322 extending out of the telescopic air cylinder 32 is fixedly connected to the rack 31, combined with Fig.10 A first vent hole 323 is provided on the side wall of one end of each telescopic air cylinder 32 away from the rotating frame 21, a second vent hole 324 is provided on the side wall of one end of each telescopic air cylinder 32 away from the first vent hole 323, a first elastic member 325 and a second elastic member 326 are arranged in each telescopic air cylinder 32, wherein the first elastic member 325 and the second elastic member 326 are both springs, and the two ends of each first elastic member 325 are respectively connected to one end of the first piston 321 away from the first piston rod 322 and the inner wall of the telescopic air cylinder 32, and each second elastic member 326 is sleeved on the outer wall of the first piston rod 322, and the two ends of each second elastic member 326 are respectively connected to one end of the first piston 321 and the inner wall of the telescopic air cylinder 32.

[0051] See also Figure 5 The driving mechanism 3 also includes a guide block 33 fixed on the side wall of each telescopic air cylinder 32, combined with Fig.10 , Fig.11 and Fig.12, each guide block 33 is slidably connected with a guide column 34, and the guide column 34 is circumferentially provided with a first guide groove 341 and a second guide groove 342, and each guide block 33 is provided with a first air inlet hole 331 on a side away from the telescopic air cylinder 32, and each guide block 33 is provided with a first guide hole 332 and a second guide hole 333, and each guide block 33 is fixedly connected with a third air cylinder 35 at one end close to the first guide hole 332, and a fourth air cylinder 36 is fixedly connected with one end of each guide block 33 away from the third air cylinder 35, and each third air cylinder 35 is slidably connected with a guide column 34, and a first guide groove 341 and a second guide groove 342 are circumferentially provided with a first guide groove 341 and a second guide groove 342 are circumferentially provided with a first air inlet hole 331 and a first guide hole 332 and a second guide hole 333 are circumferentially provided with a first guide hole 332 and a second guide hole 333, and each third air cylinder 35 is slidably connected with a guide column 34, and each third air cylinder 35 is slidably connected with a guide column 34, and a first guide groove 341 and a second guide groove 342 are circumferentially provided with a first guide groove 341 and a second guide hole 332 and a second guide hole 333 are circumferentially provided with a first guide hole 332 and a second guide hole 333, and each third air cylinder 35 is slidably connected with a guide column 34, and a first guide groove 341 and a second guide groove 342 are circumferentially provided with a first guide groove 341 and a second guide hole 332 and a second The third piston 351 is movably connected to the third piston 351, one end of each third piston 351 is fixedly connected to a third piston rod 352 movably connected to the guide column 34, the outer wall of each third piston rod 352 is sleeved with a third elastic member 353, wherein the third elastic member 353 is a spring, and the two ends of each third elastic member 353 are respectively connected to one end of the third piston 351 and the inner wall of the third air cylinder 35, one end of each third air cylinder 35 is provided with a second air inlet hole 354 for air intake, and one side of each third air cylinder 35 is provided with a third air vent hole 354 for ventilation. 5. A fourth piston 361 is slidably connected in each fourth air cylinder 36. One end of each fourth air cylinder 361 is fixedly connected to a fourth piston rod 362 movably connected to the guide column 34. The outer wall of each fourth piston rod 362 is sleeved with a fourth elastic member 363, wherein the fourth elastic member 363 is a spring. The two ends of each fourth elastic member 363 are respectively connected to one end of the fourth piston 361 and the inner wall of the fourth air cylinder 36. One end of each fourth air cylinder 36 is provided with a third air inlet hole 364 for air intake. One side of each fourth air cylinder 36 is provided with a third air inlet hole 364 for air intake. A fourth air vent 365 is provided for ventilation, the first air vent 323 is connected to the first flow guide hole 332 by a three-way pipe, the three-way pipe is also connected to a first overflow valve for monitoring the gas pressure in the pipeline at the first flow guide hole 332, the overflow port of the first overflow valve is connected to the third air inlet 364, the second flow guide hole 333 is connected to the second air vent 324 by a three-way pipe, the three-way pipe is also connected to a second overflow valve for monitoring the gas pressure in the pipeline at the second air vent 324, the overflow port of the second overflow valve is connected to the second air inlet 354.

[0052] See also Figure 4 , Figure 6 and Figure 7The auxiliary mechanism 4 includes a driving gear 41 that rotates synchronously with each pulley 101, and each driving gear 41 is fixedly connected to the corresponding pulley 101 through a connecting ring 401. The auxiliary mechanism 4 also includes an inner gear ring 42 fixedly connected to the inner side of each pulley outer cover 102, and three evenly distributed driven gears 43 are arranged between each inner gear ring 42 and the driving gear 41, and each driven gear 43 is respectively meshed with the corresponding inner gear ring 42 and the driving gear 41. A transmission rod 431 is fixedly connected to one side of each driven gear 43, and the outer walls of each three transmission rods 431 are connected to the same rotating bracket 44 for common rotation. One end of each rotating bracket 44 is fixedly connected to a transmission ring 441, and one end of each transmission ring 441 is fixedly connected to a cam 45 that rotates synchronously with the rotating bracket 44. The auxiliary mechanism 4 also includes a second piston rod 462 movably connected to each cam 45, and the outer end of each pulley outer cover 102 is fixedly connected to a support frame 5, and each support frame 5 is provided with a placement groove 51. Figure 6 and Figure 8 Each placement groove 51 is fixedly connected to a gas collecting cylinder 46, each gas collecting cylinder 46 is slidably connected to a second piston 461, one end of each second piston 461 is fixedly connected to one end of a second piston rod 462 extending into the gas collecting cylinder 46, and each gas collecting cylinder 46 is provided with a fifth elastic member 463, wherein the fifth elastic member 463 is a spring, and the two ends of each fifth elastic member 463 are respectively connected to one end of the second piston 461 away from the second piston rod 462 and the inner wall of the gas collecting cylinder 46, and the side wall of each gas collecting cylinder 46 An air intake hole 464 is provided, and an exhaust hole 465 is provided at one end of each air collecting cylinder 46. The exhaust hole 465 is connected to the first air inlet hole 331 through a pipeline. A three-way solenoid valve is provided in the pipeline between the exhaust hole 465 and the first air inlet hole 331, wherein the three-way solenoid valve is electrically connected to the controller, and the three-way solenoid valve is used to control the flow of compressed gas in the pipeline through the first air inlet hole 331. A one-way valve is also provided in the pipeline between the exhaust hole 465 and the first air inlet hole 331 to prevent the backflow of gas in the first air inlet hole 331.

[0053] When in use, when the wire rope 103 is retracted and released, the two pulleys 101 rotate on the pulley shaft through the retraction of the wire rope 103, and the pulley 101 rotates while driving the driving gear 41 and following the corresponding pulley 101 to rotate synchronously through the connecting ring 401. The driving gear 41 rotates while driving the three driven gears 43 meshing therewith to rotate on their own. The three driven gears 43 rotate around the driving gear 41 in the inner gear ring 42 meshing therewith while rotating. The three driven gears 43 rotate in the inner gear ring 42 while driving the rotating bracket 44 to follow the three driven gears 43 to rotate through the transmission rod 431. Since the number of teeth of the driving gear 41 is less than that of the driven gear 43, and the inner gear ring 42 is fixedly connected to the pulley outer cover 102, the speed at which the three driven gears 43 drive the rotating bracket 44 to rotate is lower than the speed at which the driving gear 41 rotates.

[0054] When the rotating bracket 44 rotates, the cam 45 is driven to rotate synchronously through the transmission ring 441. The second piston rod 462 drives the second piston 461 to slide in the gas collecting cylinder 46 through the continuous rotation of the cam 45. The second piston 461 intermittently squeezes the fifth elastic member 463 while sliding in the gas collecting cylinder 46. When the second piston rod 462 contacts the maximum outer diameter of the cam 45, the second piston 461 compresses the fifth elastic member 463 to the maximum limit state. As the cam 45 rotates, when the second piston rod 462 contacts the minimum outer diameter of the cam 45, the second piston rod 462 is always in contact with the cam 45 under the action of the relaxation of the fifth elastic member 463. When the second piston 461 squeezes the fifth elastic member 463 and moves past the position of the suction hole 464, the gas located in the fifth elastic member 463 in the gas collecting cylinder 46 is compressed.

[0055] The compressed gas in the fifth elastic member 463 in the gas collecting cylinder 46 enters the first air inlet hole 331 provided in the guide block 33 through the three-way solenoid valve and the one-way valve. The compressed gas entering the first air inlet hole 331 enters the first guide hole 332 through the first guide groove 341 provided in the guide column 34. The compressed gas in the first guide hole 332 enters the first vent hole 323 through the three-way valve. The compressed gas enters the inner cavity of the telescopic gas cylinder 32 through the first vent hole 323. The pressure of the compressed gas entering the inner cavity of the telescopic gas cylinder 32 through the first vent hole 323 is continuously increased by the continuous rotation of the cam 45. As the pressure of the compressed gas in the telescopic gas cylinder 32 is continuously increased, the compressed gas pushes the first piston 321 to move in the telescopic gas cylinder 32. The first piston 321 is continuously squeezed while moving. The second elastic member 326 and the first piston 321 move synchronously with the first piston rod 322, and the first piston rod 322 moves and drives the rack 31 to move. The rack 31 moves and causes the outer gear ring 22 meshing therewith to rotate clockwise. The outer gear ring 22 rotates clockwise and drives the rotating frame 21 to rotate on the outer wall of the fixed column 104. The rotating frame 21 rotates clockwise around the fixed column 104 and drives the monitoring member 23 to deflect synchronously. The monitoring member 23 follows the rotating frame 21 to rotate clockwise, so that the monitoring member 23 monitors the obstacles under the hook 1, thereby recording the obstacles around the hook 1 before lifting the heavy object, to prevent the lifting of the heavy object from forming an obstruction, causing the monitoring member 23 to have blind spots and inaccurate data when identifying and monitoring the obstacles under the hook 1 and the heavy object.

[0056] To summarize, by the monitoring component 23 rotating clockwise with the rotating frame 21, the monitoring component 23 monitors the obstacles below the hook 1, thereby recording the obstacles around the hook 1 before lifting the heavy object, to prevent the shape of the lifted heavy object from blocking the monitoring component 23 and causing blind spots and inaccurate data when identifying and monitoring the obstacles below the hook 1 and the heavy object.

[0057] Example 2

[0058] On the basis of the above-mentioned embodiment, it was found during use that when the monitoring part 23 only monitors the obstacles below the hook 1 by following the clockwise rotation of the rotating frame 21, it is impossible to monitor the higher obstacles located in the upper front part of the hook 1 and temporarily stacked when the hook 1 is moving according to the actual situation of the on-site activity stacking, and there is a monitoring blind spot. In order to solve the above-mentioned problem, the above-mentioned embodiment has been further improved.

[0059] As the pressure of the compressed gas in the telescopic gas cylinder 32 entering through the first vent hole 323 continues to increase, when the second elastic member 326 is compressed to the maximum limit, the compressed gas in the telescopic gas cylinder 32 and the first vent hole 323 opens the overflow port of the first overflow valve, and the compressed gas in the first vent hole 323 and the telescopic gas cylinder 32 enters the third air inlet hole 364 through the overflow port of the first overflow valve. At this time, the compressed gas enters the fourth gas cylinder 36 through the third air inlet hole 364, and the compressed gas squeezes the fourth piston 361. While the fourth piston 361 moves, it drives the fourth piston rod 362 to continuously move the guide column 34. While the fourth piston 361 moves, it continuously squeezes the fourth elastic member 363. When the fourth elastic member 363 is compressed to the maximum limit, the fourth piston rod 362 pushes the guide column 34 to move in the guide block 33 to the closest distance to the third piston rod 352. At the same time, the first air inlet hole 331 is connected with the second guide hole 333, and the first guide hole 332 is blocked by the guide column 34.

[0060] As the compressed gas continuously enters the second guide hole 333 through the first air inlet hole 331, the compressed gas in the second guide hole 333 enters the second vent hole 324 through the three-way valve, and the compressed gas enters the inner cavity of the telescopic gas cylinder 32 through the second vent hole 324. The cam 45 continuously rotates, so that the pressure of the compressed gas entering the inner cavity of the telescopic gas cylinder 32 through the second vent hole 324 continuously increases. As the pressure of the compressed gas in the telescopic gas cylinder 32 continuously increases, the compressed gas pushes the first piston 321 to move in the telescopic gas cylinder 32. While the first piston 321 moves, it continuously squeezes the first elastic member 325. While the first piston 321 moves, it drives the first piston rod 322 to move synchronously. When the rod 322 moves, it drives the rack 31 to move. When the rack 31 moves, the outer gear ring 22 meshing with it rotates counterclockwise. When the outer gear ring 22 rotates counterclockwise, it drives the rotating frame 21 to rotate on the outer wall of the fixed column 104. When the rotating frame 21 rotates counterclockwise around the fixed column 104, it drives the monitoring component 23 to deflect synchronously. The monitoring component 23 follows the rotating frame 21 to rotate counterclockwise, so that the monitoring component 23 monitors the obstacles on the upper part of the hook 1, thereby recording the obstacles around the hook 1 when the heavy object is lifted and moved, preventing the monitoring component 23 from having blind spots and inaccurate data when identifying and monitoring the obstacles above the hook 1 and the heavy object when the heavy object is lifted and moves following the hook 1.

[0061] When it is necessary to perform fixed-point monitoring of obstacles around the hook 1 through the monitoring component 23, the three-way solenoid valve is energized by the controller so that the compressed gas is discharged through the three-way solenoid valve, and a one-way valve is set in the pipeline between the exhaust hole 465 and the first air inlet hole 331 to prevent the backflow of gas in the first air inlet hole 331, so that the rotating frame 21 is limited by the rack 31 to the outer gear ring 22, so that the rotating frame 21 is maintained at the set position, and the monitoring component 23 further performs fixed-point monitoring of obstacles around the hook 1.

[0062] To summarize, by following the counterclockwise rotation of the rotating frame 21, the monitoring component 23 monitors obstacles on the upper part of the hook 1, thereby recording obstacles around the hook 1 when the heavy object is lifted and moved, to prevent the monitoring component 23 from having blind spots and inaccurate data when identifying and monitoring obstacles above the hook 1 and the heavy object when following the movement of the hook 1; by energizing the three-way solenoid valve with the controller, the compressed gas is discharged through the three-way solenoid valve, and a one-way valve is set in the pipeline between the exhaust hole 465 and the first air inlet hole 331 to prevent the backflow of gas in the first air inlet hole 331, so that the rotating frame 21 is limited by the rack 31 to the outer gear ring 22, so that the rotating frame 21 is maintained at the set position, and further the monitoring component 23 performs fixed-point monitoring of obstacles around the hook 1.

[0063] Example 3

[0064] On the basis of the above embodiment, this embodiment further provides a crane obstacle avoidance device and its application in path planning, including the following specific steps:

[0065] S1. When the heavy object is lifted and lowered, the two pulleys 101 rotate by the retraction of the wire rope 103;

[0066] S2. The auxiliary mechanism 4 provides compressed gas to the driving mechanism 3 through the gas collecting cylinder 46 under the rotation of the two pulleys 101;

[0067] S3. The driving mechanism 3 drives the obstacle avoidance mechanism 2 to deflect through the rack 31 under the action of compressed gas, and the obstacles around the hook 1 are monitored through the cooperation of the two monitoring components 23 .

[0068] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A crane obstacle avoidance device, comprising a hook (1) and a controller, wherein the hook (1) comprises two pulleys (101) respectively rotating at two ends of a pulley shaft and a pulley cover (102) for protecting the two pulleys (101), and the two pulleys (101) are provided with a steel wire rope (103) for lifting the hook (1), characterized in that: The outer side of the pulley cover (102) is fixedly connected to a fixing column (104), and further comprises: An obstacle avoidance mechanism (2), the obstacle avoidance mechanism (2) comprising a rotating frame (21) rotatably connected to the outer wall of each of the fixed columns (104), the outer wall of each of the rotating frames (21) being fixedly connected to an outer gear ring (22), and each of the rotating frames (21) being provided with a monitoring component (23) at one end away from the fixed column (104), the two monitoring components (23) cooperating with each other to monitor obstacles around the hook (1), and the monitoring component (23) being electrically connected to a controller; A driving mechanism (3), the driving mechanism (3) comprising a rack (31) meshing with each of the outer gear rings (22), and also comprising a telescopic air cylinder (32) fixed to the outside of the pulley outer cover (102), each of the telescopic air cylinders (32) being slidably connected to a first piston (321), one end of each of the first pistons (321) being fixedly connected to a first piston rod (322), and one end of each of the first piston rods (322) extending out of the telescopic air cylinder (32) being fixedly connected to the rack (31); An auxiliary mechanism (4), the auxiliary mechanism (4) comprising a driving gear (41) that rotates synchronously with each pulley (101), and each driving gear (41) is fixedly connected to the corresponding pulley (101) via a connecting ring (401); A first vent hole (323) is provided on the side wall of one end of each telescopic air cylinder (32) away from the rotating frame (21); a second vent hole (324) is provided on the side wall of one end of each telescopic air cylinder (32) away from the first vent hole (323); a first elastic member (325) and a second elastic member (326) are provided in each telescopic air cylinder (32); two ends of each first elastic member (325) are respectively connected to one end of the first piston (321) away from the first piston rod (322) and the inner wall of the telescopic air cylinder (32); each second elastic member (326) is sleeved on the outer wall of the first piston rod (322); and two ends of each second elastic member (326) are respectively connected to one end of the first piston (321) and the inner wall of the telescopic air cylinder (32); The driving mechanism (3) further comprises a guide block (33) fixed to a side wall of each telescopic air cylinder (32), each guide block (33) being slidably connected with a guide column (34), the guide column (34) being circumferentially provided with a first guide groove (341) and a second guide groove (342), each guide block (33) being provided with a first air inlet hole (331) on a side away from the telescopic air cylinder (32), and each guide block (33) being provided with a second air inlet hole (331). a guide hole (332) and a second guide hole (333), one end of each guide block (33) close to the first guide hole (332) is fixedly connected to a third gas cylinder (35), and one end of each guide block (33) away from the third gas cylinder (35) is fixedly connected to a fourth gas cylinder (36), and the compressed gas entering the first air inlet hole (331) enters the first guide hole (332) through a first guide groove (341) formed on the guide column (34); The auxiliary mechanism (4) further comprises an inner gear ring (42) fixedly connected to the inner side of each pulley outer cover (102); three evenly distributed driven gears (43) are arranged between each inner gear ring (42) and the driving gear (41); each driven gear (43) is respectively meshed with the corresponding inner gear ring (42) and the driving gear (41); one side of each driven gear (43) is fixedly connected to a transmission rod (431); the outer walls of each of the three transmission rods (431) are rotatably connected to the same rotating bracket (44); one end of each rotating bracket (44) is fixedly connected to a transmission ring (441); one end of each transmission ring (441) is fixedly connected to a cam (45) that rotates synchronously with the rotating bracket (44); The auxiliary mechanism (4) further comprises a second piston rod (462) movably connected to each of the cams (45); the outer end of each of the pulley outer covers (102) is fixedly connected to a support frame (5); each of the support frames (5) is provided with a placement groove (51); each of the placement grooves (51) is fixedly connected to a gas collecting cylinder (46); each of the gas collecting cylinders (46) is slidably connected to a second piston (461); one end of each of the second pistons (461) is fixedly connected to one end of the second piston rod (462) extending into the gas collecting cylinder (46); each of the gas collecting cylinders (46) is provided with a fifth elastic member (463); both ends of each of the fifth elastic members (463) are respectively connected to the second One end of the piston (461) away from the second piston rod (462) is connected to the inner wall of the gas collecting cylinder (46); a suction hole (464) is provided on the side wall of each gas collecting cylinder (46); an exhaust hole (465) is provided at one end of each gas collecting cylinder (46); the exhaust hole (465) is connected to the first gas inlet hole (331) through a pipeline; a three-way solenoid valve is provided in the pipeline between the exhaust hole (465) and the first gas inlet hole (331); the three-way solenoid valve is used to control the flow of compressed gas in the pipeline through the first gas inlet hole (331); a one-way valve is also provided in the pipeline between the exhaust hole (465) and the first gas inlet hole (331) to prevent gas in the first gas inlet hole (331) from flowing back; The first vent hole (323) and the first flow guide hole (332) are connected via a three-way pipe, and the three-way pipe is also connected to a first overflow valve for monitoring the gas pressure in the pipeline at the first flow guide hole (332), and the overflow port of the first overflow valve is connected to the third air inlet hole (364).

2. The crane obstacle avoidance device according to claim 1, characterized in that: A third piston (351) is slidably connected inside each of the third air cylinders (35), one end of each of the third pistons (351) is fixedly connected to a third piston rod (352) movably connected to the guide column (34), the outer wall of each of the third piston rods (352) is sleeved with a third elastic member (353), the two ends of each of the third elastic members (353) are respectively connected to one end of the third piston (351) and the inner wall of the third air cylinder (35), one end of each of the third air cylinders (35) is provided with a second air inlet (354) for air intake, and one side of each of the third air cylinders (35) is provided with a third air vent (355) for ventilation.

3. The crane obstacle avoidance device according to claim 2, characterized in that: A fourth piston (361) is slidably connected in each of the fourth air cylinders (36), one end of each of the fourth pistons (361) is fixedly connected to a fourth piston rod (362) movably connected to the guide column (34), the outer wall of each of the fourth piston rods (362) is sleeved with a fourth elastic member (363), the two ends of each of the fourth elastic members (363) are respectively connected to one end of the fourth piston (361) and the inner wall of the fourth air cylinder (36), one end of each of the fourth air cylinders (36) is provided with a third air intake hole (364) for air intake, and one side of each of the fourth air cylinders (36) is provided with a fourth air vent (365) for ventilation.

4. The crane obstacle avoidance device according to claim 3, characterized in that: The second flow guide hole (333) is connected to the second vent hole (324) via a three-way pipe, and the three-way pipe is also connected to a second overflow valve for monitoring the gas pressure in the pipeline at the second vent hole (324), and the overflow port of the second overflow valve is connected to the second air inlet hole (354).

5. Application of a crane obstacle avoidance device in path planning, using the crane obstacle avoidance device according to claim 1, characterized in that: The following steps are involved: S1. When the heavy object is lifted, the two pulleys (101) rotate by the retraction and extension of the wire rope (103); S2. The auxiliary mechanism (4) provides compressed gas to the driving mechanism (3) through the gas collecting cylinder (46) under the rotation of the two pulleys (101); S3. Under the action of compressed gas, the driving mechanism (3) drives the obstacle avoidance mechanism (2) to deflect via the rack (31), and monitors obstacles around the hook (1) through the cooperation of the two monitoring components (23).

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