A crane with intelligent obstacle avoidance mechanism

Abstract

The present invention discloses a crane with an intelligent obstacle avoidance mechanism, which belongs to the technical field of cranes. A crane with an intelligent obstacle avoidance mechanism comprises a crossbeam, a support frame installed at the end of the crossbeam, a mobile trolley fixedly installed at one end of the support frame away from the crossbeam, a mobile trolley slidably connected to the crossbeam, and an electric control box installed on the support frame. The crossbeam is provided with a track that cooperates with the mobile trolley and the mobile trolley. The crane also comprises a winch, which is fixedly installed on the mobile trolley, a first hoisting rope is wound on the winch, and a hoisting member is provided at one end of the first hoisting rope away from the winch; a damping balance mechanism, which is provided between adjacent hoisting members; the present invention can realize stable hoisting of goods, and at the same time realize the function of detecting obstacles during the hoisting process, can avoid risks in advance, avoid collision accidents, and can adjust the loading and unloading angles of goods to improve the loading and unloading effect.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a crane with an intelligent obstacle avoidance mechanism. Background Art

[0002] With the globalization of cargo transportation, the transportation rate is constantly increasing, and the requirements for high-speed cranes are also increasing. In actual application, the lifting position and unloading position of the cargo are easily in different directions. Therefore, it is necessary to control the rotation of the cargo during crane transportation to achieve directional unloading of the cargo. However, the under-damped flexible characteristics of the crane make the rotation of the cargo very difficult.

[0003] After searching, in the prior art, the Chinese patent with patent application number CN202410247246.2 discloses "a bridge crane, comprising a guide rail; a crossbeam is arranged on the guide rail; a moving trolley is slidably arranged on the crossbeam; a fixed cylinder is fixed on the moving trolley, and a through hole for the wire rope to pass through is arranged in the fixed cylinder; a lifting member is fixed to the lower end of the wire rope, and the lifting member includes an upper connecting section and a lower connecting section that are hooked and matched; the fixed cylinder includes a first connecting section, a second connecting section, a third connecting section and a fourth connecting section that are fixedly connected from top to bottom in sequence; the third center hole and the fourth center hole are respectively adapted to the guide of the lifting structure; the second connecting section is provided with an upper fixing structure, and the upper fixing structure can be fixedly connected to the upper connecting section to achieve a fixed connection between the upper connecting section and the fixed cylinder; the fourth connecting section is provided with a lower fixing structure, and the lower fixing structure can be fixedly connected to the lower connecting section to achieve a fixed connection between the lower connecting section and the fixed cylinder; replacing the lifting of the object by the wire rope with the lifting of the object by the fixed cylinder can prevent the object from swinging during the lifting process", but there are still the following defects:

[0004] (1) Although the patent can guarantee the stability of hoisting to a certain extent, the length limitation of the fixed tube will cause the hoisting mechanism to occupy a certain space in the direction of the equipment height. For bridge cranes with high hoisting height requirements and heavy loads, the maximum hoisting height is close to the crossbeam, and the anti-swaying counterbalancing force is distributed on the upper and lower fixing mechanisms. The load is large and it is easy to cause damage to accessories. While reducing the maximum height of the hoisting operation, it cannot guarantee the stability of the lifting;

[0005] (2) In actual application, the lifting position and unloading position of the cargo are prone to directional deviation. Therefore, it is necessary to control the rotation angle of the cargo during crane transportation to achieve directional unloading of the cargo. For this solution, the structural design of the fixed cylinder is not conducive to achieving the function of adjusting the landing angle of the cargo;

[0006] (3) The lack of obstacle monitoring function during transportation is not conducive to ensuring the stability of cargo lifting constraints. Summary of the invention

[0007] The purpose of the present invention is to solve the problem in the prior art that although the stability of lifting can be guaranteed to a certain extent, the length limitation of the fixed cylinder will cause the lifting mechanism to occupy a certain space in the direction of the equipment height. For bridge cranes with high lifting height requirements and heavy loads, the maximum lifting height is close to the crossbeam, and the anti-sway balancing force is distributed on the upper fixed mechanism and the lower fixed mechanism. The load is large, which is easy to cause damage to accessories, and the maximum height of the lifting operation is reduced while the stability of the lifting cannot be guaranteed. In actual application, the lifting position and unloading position of the goods are prone to directional deviation. Therefore, it is necessary to control the rotation angle of the goods during the crane transportation process to realize the directional unloading of the goods. For this solution, the structural design of the fixed cylinder is not conducive to realizing the function of adjusting the landing angle of the goods; the lack of obstacle monitoring function during transportation is not conducive to ensuring the stability of the cargo lifting constraints. A crane with an intelligent obstacle avoidance mechanism is proposed.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A crane with an intelligent obstacle avoidance mechanism comprises a crossbeam, a support frame installed at the end of the crossbeam, a mobile trolley fixedly installed at one end of the support frame away from the crossbeam, a mobile trolley slidably connected to the crossbeam, and an electric control box installed on the support frame, wherein the crossbeam is provided with a track that cooperates with the mobile trolley and the mobile trolley, and further comprises:

[0010] A winch, wherein the winch is fixedly mounted on the mobile trolley, a first lifting rope is wound around the winch, and a lifting member is provided at one end of the first lifting rope away from the winch;

[0011] A damping balance mechanism, wherein the damping balance mechanism is arranged between adjacent hanging components;

[0012] A central drive seat, the central drive seat is mounted on the cross beam, the central drive seat is located between the two moving carts, and the central drive seat can move along the cross beam when started, and a collision buffer assembly is fixedly connected between the central drive seat and the moving cart;

[0013] A rotating part, the rotating part is fixedly mounted on the top of the central driving seat, and the top of the rotating part is fixedly connected to a mounting seat;

[0014] An electric winch, wherein two groups of the electric winches are symmetrically mounted on the top of a mounting seat through a bracket, a protective shell sleeved on the outside of the electric winch is fixedly connected to the top of the mounting seat, a second lifting rope extending outward through the protective shell is wound on the electric winch, an end of the second lifting rope away from the electric winch is fixedly connected to a lifting ring, an end of the lifting ring away from the second lifting rope is rotatably connected to a lifting seat, and a side of the lifting seat away from the lifting ring is rotatably connected to a first hook;

[0015] Telescopic arms, two groups of telescopic arms are symmetrically mounted on the outer side wall of the mounting seat, the outer side wall of the telescopic section of the telescopic arm close to the top is mounted with a first limiting reel through a U-shaped frame, the telescopic end of the telescopic arm is also mounted with a second limiting reel through the U-shaped frame, and the end of the second lifting rope away from the electric winch is respectively bypassed by the first limiting reel and the second limiting reel;

[0016] A telescopic sleeve assembly, one end of which is fixedly connected to an end of a lifting seat away from a first lifting hook, the other end of which is movably connected to an outer side wall of a telescopic arm close to the telescopic end, and the telescopic sleeve assembly is sleeved on the outer side of a second lifting rope, the telescopic sleeve assembly comprises a first sleeve fixedly connected to the top of the lifting seat, an inflatable airbag is also fixedly mounted on the inner side wall of the first sleeve close to the lifting seat, and an air pump connected to the inflatable airbag is also fixedly connected to the inner side wall of the lifting seat;

[0017] The ultrasonic radar is evenly embedded in the outer side wall of the telescopic sleeve assembly.

[0018] Preferably, the lifting component includes a shell with a top opening arranged below the winch, a rotating wheel in the shell is connected to a movable pulley, a second hook is installed at the bottom of the shell, and U-shaped connectors are fixedly connected to the opposite sides of adjacent shells.

[0019] Preferably, the damping balance mechanism comprises a second hydraulic telescopic cylinder rotatably connected to the U-shaped connecting piece, the telescopic end of the second hydraulic telescopic cylinder is fixedly connected to a damper, and one end of the damper away from the second hydraulic telescopic cylinder is rotatably connected to a balance seat.

[0020] Preferably, a tie ring is provided at the junction of the damper and the balance seat, and a hanging rope is detachably connected between adjacent tie rings, and a balance block is hung on the hanging rope.

[0021] Preferably, the collision buffer assembly includes a U-shaped connecting frame fixedly mounted on one side of the mobile trolley close to the center drive seat, a buffer rod is fixedly connected to one end of the connecting frame close to the center drive seat, a buffer block is slidably connected to one end of the buffer rod away from the connecting frame, a buffer spring is fixedly connected between the buffer block and the connecting frame and is sleeved on the outer wall of the buffer rod, and a pressure sensor connected to the signal of the electric control box is embedded on the side of the buffer block close to the center drive seat.

[0022] Preferably, the end of the first sleeve away from the lifting seat is slidably connected to the middle sleeve, the end of the middle sleeve away from the first sleeve is slidably connected to the tail sleeve, and a transmission rod is rotatably connected between the end of the tail sleeve away from the middle sleeve and the outer side wall of the telescopic arm close to the telescopic end.

[0023] Preferably, the outer side walls of the first sleeve, the middle sleeve and the tail sleeve are all provided with embedding grooves, and the ultrasonic radar is fixedly installed in the embedding grooves. The length of the first sleeve is greater than that of the middle sleeve, and the length of the middle sleeve is greater than that of the tail sleeve. The inner side walls of the first sleeve, the middle sleeve and the tail sleeve are also provided with shielding layers. When the ultrasonic radar is facing the shielding layer, the ultrasonic radar fails.

[0024] Preferably, an inflation tube is connected between the air outlet end of the air pump and the air inlet end of the inflatable airbag, the air outlet end of the inflatable airbag is provided with an electromagnetic exhaust valve, and the outer side wall of the inflatable airbag is provided with evenly distributed protrusions.

[0025] Preferably, the mobile trolley, the mobile trolley, the central drive seat, the telescopic arm, the hoist, the electric winch, the ultrasonic radar, the air pump and the electromagnetic exhaust valve are all connected to the electric control box signal.

[0026] Preferably, the balancing seat comprises a half seat rotatably connected to an end of the damper away from the second hydraulic telescopic cylinder, and a telescopic rod and a third hydraulic telescopic cylinder are connected between the half seats.

[0027] Compared with the prior art, the present invention provides a crane with an intelligent obstacle avoidance mechanism, which has the following beneficial effects:

[0028] 1. The crane with an intelligent obstacle avoidance mechanism can reduce swing while ensuring the stability of lifting and transportation by setting up two groups of symmetrical lifting components and two groups of first hooks connected by telescopic arms. Moreover, since it adopts the first lifting rope and the second lifting rope for lifting, it will not affect the maximum lifting height while ensuring the stability of lifting. This solves the problem that although the stability of lifting can be guaranteed to a certain extent in the prior art, the length limit of the fixed cylinder will cause the lifting mechanism to occupy a certain space in the direction of the equipment height. For bridge cranes with high lifting height requirements and heavy loads, the maximum lifting height is close to the crossbeam, and the anti-sway balancing force is distributed on the upper fixing mechanism and the lower fixing mechanism. The load is large, which is easy to cause damage to accessories. While reducing the maximum height of the lifting operation, the stability of lifting cannot be guaranteed.

[0029] 2. The crane with an intelligent obstacle avoidance mechanism can accurately control the position of the lifting point through the cooperation of the rotating part and the telescopic arm, combined with the central drive seat and the mobile trolley, and can adjust the rotation angle of the rotating part when the goods are unloaded, thereby realizing lifting and unloading at a directional angle, improving the loading and unloading effect, and solving the problem in the prior art that in actual application, the lifting position and unloading position of the goods are prone to directional deviation. Therefore, it is necessary to control the rotation angle of the goods during crane transportation to realize directional unloading of the goods. For this solution, the structural design of the fixed cylinder is not conducive to realizing the function of adjusting the landing angle of the goods.

[0030] 3. The crane with an intelligent obstacle avoidance mechanism can offset a portion of the swing force generated by the under-damping characteristics of the first hoisting rope through the provided damping balance mechanism, thereby further improving the stability of the hoisting process.

[0031] 4. The crane with an intelligent obstacle avoidance mechanism can offset a portion of the swing force generated by the under-damping characteristics of the second lifting rope through the provision of a telescopic sleeve assembly, thereby further improving the stability of the lifting process.

[0032] 5. The crane with intelligent obstacle avoidance mechanism can detect obstacles on the cargo lifting path through the distributed ultrasonic radar, and transmit the information to the control panel in the electric control box, so as to stop the machine in advance to avoid risks and collision accidents. This solves the problem that the existing technology lacks obstacle monitoring function during transportation, which is not conducive to ensuring the stability of cargo lifting constraints. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is one of the structural schematic diagrams of the present invention;

[0034] Figure 2 This is the second structural schematic diagram of the present invention;

[0035] Figure 3 A top view of the present invention;

[0036] Figure 4 is a side view of the present invention;

[0037] Figure 5 It is a schematic diagram of the connection structure of the central drive seat of the present invention;

[0038] Figure 6 A side view of the connection structure of the central drive seat of the present invention;

[0039] Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged structure of part A;

[0040] Figure 8 is a cross-sectional view of the first sleeve of the present invention;

[0041] Fig. 9 It is one of the structural schematic diagrams of the damping balance mechanism of the present invention;

[0042] Fig.10 This is the second structural schematic diagram of the damping balancing mechanism of the present invention.

[0043] In the figure: 10, cross beam; 110, mobile trolley; 20, support frame; 210, mobile trolley; 220, electric control box; 30, winch; 310, first lifting rope; 320, lifting member; 321, shell; 322, movable pulley; 323, second hook; 324, U-shaped connector; 40, damping balance mechanism; 410, second hydraulic telescopic cylinder; 420, damper; 430, balance seat; 431, half seat; 432, telescopic rod; 433, third hydraulic telescopic cylinder; 440, hanging rope; 450, balance block; 50, central drive seat; 510, collision buffer assembly; 511, connection Frame; 512, buffer rod; 513, buffer block; 514, buffer spring; 520, mounting seat; 530, rotating part; 60, electric winch; 610, protective shell; 620, second lifting rope; 630, first lifting hook; 640, lifting seat; 70, telescopic arm; 710, first limiting reel; 720, second limiting reel; 80, telescopic sleeve assembly; 810, first sleeve; 811, inflatable airbag; 812, air pump; 813, inflatable tube; 814, electromagnetic exhaust valve; 815, protrusion; 820, middle sleeve; 830, tail sleeve; 840, transmission rod; 850, ultrasonic radar. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0045] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein. Example 1

[0046] Reference Figure 1-10 A crane with an intelligent obstacle avoidance mechanism includes a crossbeam 10, a support frame 20 installed at the end of the crossbeam 10, a mobile trolley 210 fixedly installed on the support frame 20 at one end away from the crossbeam 10, a mobile trolley 110 slidably connected to the crossbeam 10, and an electric control box 220 installed on the support frame 20. The crossbeam 10 is provided with a track that cooperates with the mobile trolley 210 and the mobile trolley 110, and also includes,

[0047] A hoist 30, the hoist 30 is fixedly mounted on the mobile vehicle 110, a first lifting rope 310 is wound around the hoist 30, and a lifting member 320 is disposed at one end of the first lifting rope 310 away from the hoist 30;

[0048] A damping balance mechanism 40, wherein the damping balance mechanism 40 is disposed between adjacent hanging components 320;

[0049] A central driving seat 50, the central driving seat 50 is mounted on the cross beam 10, and the central driving seat 50 is located between the two moving carriages 110, and the central driving seat 50 can move along the cross beam 10 when started, and a collision buffer assembly 510 is fixedly connected between the central driving seat 50 and the moving carriage 110;

[0050] The rotating part 530 is fixedly mounted on the top of the central driving seat 50, and the top of the rotating part 530 is fixedly connected with the mounting seat 520;

[0051] The electric winch 60, two sets of electric winches 60 are symmetrically mounted on the top of the mounting seat 520 through a bracket, a protective shell 610 sleeved on the outside of the electric winch 60 is fixedly connected to the top of the mounting seat 520, a second lifting rope 620 extending outward through the protective shell 610 is wound on the electric winch 60, one end of the second lifting rope 620 away from the electric winch 60 is fixedly connected to a lifting ring, one end of the lifting ring away from the second lifting rope 620 is rotatably connected to a lifting seat 640, and one side of the lifting seat 640 away from the lifting ring is rotatably connected to a first hook 630;

[0052] Telescopic arms 70, two sets of telescopic arms 70 are symmetrically mounted on the outer side wall of the mounting seat 520, the outer side wall of the telescopic section of the telescopic arms 70 near the top is mounted with a first limiting reel 710 through a U-shaped frame, the telescopic end of the telescopic arms 70 is also mounted with a second limiting reel 720 through the U-shaped frame, and the end of the second lifting rope 620 away from the electric winch 60 is respectively passed around the first limiting reel 710 and the second limiting reel 720;

[0053] A telescopic sleeve assembly 80, one end of which is fixedly connected to an end of the hoisting seat 640 away from the first hook 630, and the other end of which is movably connected to the outer wall of the telescopic arm 70 close to the telescopic end, and the telescopic sleeve assembly 80 is sleeved on the outer side of the second hoisting rope 620, and the telescopic sleeve assembly 80 includes a first sleeve 810 fixedly connected to the top of the hoisting seat 640, and an inflatable airbag 811 is also fixedly installed on the inner wall of the first sleeve 810 close to the hoisting seat 640, and an air pump 812 connected to the inflatable airbag 811 is also fixedly connected to the inner wall of the hoisting seat 640;

[0054] Ultrasonic radar 850, the ultrasonic radar 850 is evenly embedded in the outer wall of the telescopic sleeve assembly 80;

[0055] The central driving seat 50 is controlled by the electric control box 220 to move along the track of the beam 10 to the center position, and then the mobile trolley 110 is controlled to drive the hoisting machine 30 to move above the cargo hoisting point to realize the adjustment function of the hoisting position of the second hook 323. The telescopic arm 70 is controlled to be extended and retracted by the electric control box 220, and the hoisting position of the first hook 630 is adjusted by unwinding the hoisting machine 30 and the electric winch 60. Then, the first hook 630 and the second hook 323 are hung on the cargo, and the hoisting machine 30 and the electric winch 60 are controlled by the electric control box 220 to rewind and lift the cargo, thereby realizing directional lifting of the cargo. Due to the longitudinally distributed second lifting rope 620 supported by the telescopic arm 70 and the first hook 630 connected thereto and the transversely distributed second hook 323, it is ensured that the center of the beam 10 and the support frame 20 will not be offset during lifting. At the same time, by constraining the cargo at multiple points, the swing during lifting can be reduced, and the stability of lifting and transportation can be improved.

[0056] When the cargo is transported to the designated location, the winch 30 and the electric winch 60 are used to unwind the cargo, causing the cargo to fall. The central drive seat 50 and the mobile trolley are then turned on at the unloading point. The rotating part 530 is controlled to rotate at the same time. The telescopic arm 70 drives the first hook 630 connected to the second lifting rope 620 to fine-tune the lifting angle of the cargo so that it can fit the unloading area of ​​the unloading point as closely as possible to ensure the unloading effect.

[0057] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Fig. 9 and Fig.10 As shown, the lifting component 320 includes a shell 321 with a top opening arranged below the winch 30, a rotating wheel in the shell 321 is connected to a movable pulley 322, a second hook 323 is installed at the bottom of the shell 321, and U-shaped connecting pieces 324 are fixedly connected to the opposite sides of adjacent shells 321.

[0058] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Fig. 9 and Fig.10 As shown, the damping balance mechanism 40 includes a second hydraulic telescopic cylinder 410 rotatably connected to the U-shaped connecting member 324, the telescopic end of the second hydraulic telescopic cylinder 410 is fixedly connected to the damper 420, and the end of the damper 420 away from the second hydraulic telescopic cylinder 410 is rotatably connected to the balance seat 430; a tie ring is provided at the intersection of the damper 420 and the balance seat 430, and a hanging rope 440 is detachably connected between adjacent tie rings, and a balance block 450 is hung on the hanging rope 440. During transportation, the swing of the first hanging rope 310 caused by the under-damping characteristics will be transmitted to the damper 420 through the second hydraulic telescopic cylinder 410 and partially offset, and then transmitted to the balance block 450 located below the balance seat 430 through the damper, and the swing of the first hanging rope 310 is offset by the shaking of the balance block 450, thereby further improving the stability during transportation. For cargo shells of different weights, balance blocks 450 of different weights can be hung on the hanging rope 440 to achieve the function of preventing the swaying.

[0059] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the collision buffer assembly 510 includes a U-shaped connecting frame 511 fixedly installed on the side of the moving trolley 110 close to the center drive seat 50, the connecting frame 511 has a U-shaped structure, one end of the connecting frame close to the center drive seat 50 is fixedly connected to a buffer rod 512, the end of the buffer rod 512 away from the connecting frame 511 is slidably connected to a buffer block 513, a buffer spring 514 is fixedly connected between the buffer block 513 and the connecting frame 511 and is sleeved on the outer wall of the buffer rod 512, and a pressure sensor connected to the signal of the electric control box 220 is embedded on the side of the buffer block 513 close to the center drive seat 50. When the moving trolley 110 drives the winch 30 to touch the center drive seat 50, the pressure sensor detects the pressure signal and transmits it to the electric control box 220, so that the moving trolley 110 is stopped in time. At the same time, the buffer spring 514 buffers the inertia force of the moving trolley, thereby reducing the collision kinetic energy and reducing the loss.

[0060] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the end of the first sleeve 810 away from the lifting seat 640 is slidably connected to the middle sleeve 820, and the end of the middle sleeve 820 away from the first sleeve 810 is slidably connected to the tail sleeve 830. The end of the tail sleeve 830 away from the middle sleeve 820 is rotatably connected to the outer wall of the telescopic arm 70 near the telescopic end. When the first hook 630 connected to the second lifting rope 620 falls, the lifting seat 640 drives the first sleeve 810 to fall, and at the same time, the multiple groups of middle sleeves 820 are stretched out, and the first sleeve 810, the multiple groups of middle sleeves 820 are connected. The extended length of the sleeve 820, the tail sleeve 830 and the transmission rod 840 is close to the height of the support frame 20. After the telescopic arm 70 is extended and retracted and the first hook 630 hooks the cargo, the cargo is hoisted to the specified height and the winch 30 and the electric winch 60 are stopped by the electrical control box 220. At this time, the tail sleeve 830 of the telescopic sleeve assembly 80 is constrained by the transmission rod 840 connected to it, so that the multiple groups of sleeves 820 are stretched to surround the second lifting rope 620 hanging from the second limiting reel 720.

[0061] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the outer walls of the first sleeve 810, the middle sleeve 820 and the tail sleeve 830 are all provided with an embedding groove, and the ultrasonic radar 850 is fixedly installed in the embedding groove. The length of the first sleeve 810 is greater than that of the middle sleeve 820, and the length of the middle sleeve 820 is greater than that of the tail sleeve 830. The inner walls of the first sleeve 810, the middle sleeve 820 and the tail sleeve 830 are also provided with a shielding layer. When the ultrasonic radar 850 is facing the shielding layer, the ultrasonic radar 850 fails, and the mobile cart 21 0 moves along the track toward the unloading point. At this time, the ultrasonic radars 850 distributed on the outer walls of the first sleeve 810, the middle sleeve 820 and the rear sleeve 830 monitor the obstacles in the process of moving. When an obstacle is detected in the moving path, the electric control box 220 controls the mobile cart 210 to stop, and then controls the central drive seat 50 and the mobile cart 110 to move along the beam 10 again, and adjusts the position of the hoisted goods to avoid obstacles until it is transported to the unloading point.

[0062] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, an inflation tube 813 is connected between the air outlet end of the air pump 812 and the air inlet end of the inflatable airbag 811, and an electromagnetic exhaust valve 814 is provided at the air outlet end of the inflatable airbag 811. The outer wall of the inflatable airbag 811 is provided with evenly distributed protrusions 815. During lifting and transportation, the air pump 812 is turned on to inflate the inflatable airbag 811 through the inflation tube 813, and the protrusions 815 on the outer wall of the inflatable airbag 811 are inflated against the outer wall of the second lifting rope 620, which can reduce the swing of the second lifting rope 620 caused by the under-damped characteristics and improve the stability of cargo lifting and transportation.

[0063] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the mobile cart 210 , the mobile cart 110 , the central drive seat 50 , the telescopic arm 70 , the hoist 30 , the electric winch 60 , the ultrasonic radar 850 , the air pump 812 and the electromagnetic exhaust valve 814 are all connected to the electric control box 220 by signal.

[0064] The central driving seat 50 is controlled by the electric control box 220 to move along the track of the crossbeam 10 to the central position, and then the mobile trolley 110 is controlled to drive the winch 30 to move above the cargo lifting point to realize the adjustment function of the lifting position of the second hook 323. The telescopic arm 70 is controlled to be extended and retracted by the electric control box 220, and the winch 30 and the electric winch 60 are unwound. When the first hook 630 connected to the second lifting rope 620 falls, the lifting seat 640 drives the first sleeve 810 to fall, and at the same time, the multiple groups of middle sleeves 820 are extended. The extended lengths of the first sleeve 810, the multiple groups of middle sleeves 820, the tail sleeve 830 and the transmission rod 840 are close to the height of the support frame 20, and the lifting position of the first hook 630 is adjusted. Then, the first hook 630 and the second hook 323 are hung on the cargo, and the winch 30 and the electric winch 60 are controlled by the electric control box 220 to reel in and lift the cargo, thereby realizing directional lifting of the cargo.

[0065] After the telescopic arm 70 is fully extended and the first hook 630 hooks the cargo, the cargo is hoisted to the specified height and then the hoist 30 and the electric winch 60 are stopped by the electric control box 220. At this time, the tail sleeve 830 of the telescopic sleeve assembly 80 is constrained by the transmission rod 840 connected thereto, so that the multiple groups of middle sleeves 820 are stretched to surround the second lifting rope 620 hanging from the second limiting reel 720, and then the mobile cart 210 is started to move along the track toward the unloading point. At this time, the ultrasonic radar 850 distributed on the outer walls of the first sleeve 810, the middle sleeve 820 and the tail sleeve 830 monitors the obstacles in the process of moving. When an obstacle is detected on the moving path, the electric control box 220 controls the mobile trolley 210 to stop, and then controls the central drive seat 50 and the mobile trolley 110 to move along the beam 10 again, and adjusts the position of the hoisted cargo to avoid obstacles until it is transported to the unloading point. Due to the longitudinally distributed second lifting rope 620 supported by the telescopic arm 70 and the first hook 630 connected thereto and the transversely distributed second lifting hook 323, the center of the beam 10 and the support frame 20 is ensured not to be offset during hoisting. At the same time, by constraining the cargo at multiple points, the swing during the hoisting process can be reduced, and the stability of hoisting and transportation can be improved.

[0066] During transportation, the swing of the first hanging rope 310 due to the under-damping characteristic will be transmitted to the damper 420 through the second hydraulic telescopic cylinder 410 and partially offset, and then transmitted to the balance block 450 located below the balance seat 430 through the damper 420. The swing of the balance block 450 is used to offset the swing of the first hanging rope 310, further improving the stability during transportation. For cargo shells of different weights, balance blocks 450 of different weights can be hung on the hanging rope 440 to achieve the function of preventing the swaying.

[0067] When lifting and transporting, the air pump 812 is turned on to inflate the airbag 811 through the air inflation tube 813, and the protrusion 815 on the outer wall of the inflatable airbag 811 contacts the outer wall of the second lifting rope 620, which can reduce the swing of the second lifting rope 620 due to the under-damping characteristics and improve the stability of cargo lifting and transportation;

[0068] When the cargo is transported to the designated location, the winch 30 and the electric winch 60 are used to unwind the cargo, causing the cargo to fall. The central drive seat 50 and the mobile trolley are then turned on at the unloading point. The rotating part 530 is controlled to rotate at the same time. The telescopic arm 70 drives the first hook 630 connected to the second lifting rope 620 to fine-tune the lifting angle of the cargo so that it can fit the unloading area of ​​the unloading point as closely as possible to ensure the unloading effect. Example 2

[0069] Reference Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 8 , a crane with an intelligent obstacle avoidance mechanism, which is basically the same as Example 1, and further, the balancing seat 430 includes a half seat 431 rotatably connected to the end of the damper 420 away from the second hydraulic telescopic cylinder 410, and a telescopic rod 432 and a third hydraulic telescopic cylinder 433 are connected between the half seats 431. When the third hydraulic telescopic cylinder 433 is extended, the distance between the half seats 431 increases, thereby raising the height of the balancing block 450, so that it can adapt to the balancing performance of the two second hooks 323 with a large span when lifting goods.

[0070] 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 with an intelligent obstacle avoidance mechanism, comprising a crossbeam, a support frame mounted at the end of the crossbeam, a mobile trolley fixedly mounted on the support frame at one end away from the crossbeam, a mobile trolley slidably connected to the crossbeam, and an electric control box mounted on the support frame, wherein the crossbeam is provided with a track that cooperates with the mobile trolley and the mobile trolley, and is characterized in that: Also includes, A winch, wherein the winch is fixedly mounted on the mobile trolley, a first lifting rope is wound around the winch, and a lifting member is provided at one end of the first lifting rope away from the winch; A damping balance mechanism, wherein the damping balance mechanism is arranged between adjacent hanging components; A central drive seat, the central drive seat is mounted on the cross beam, the central drive seat is located between the two moving carts, and the central drive seat can move along the cross beam when started, and a collision buffer assembly is fixedly connected between the central drive seat and the moving cart; A rotating part, the rotating part is fixedly mounted on the top of the central driving seat, and the top of the rotating part is fixedly connected with a mounting seat; An electric winch, wherein two groups of the electric winches are symmetrically mounted on the top of a mounting seat through a bracket, a protective shell sleeved on the outside of the electric winch is fixedly connected to the top of the mounting seat, a second lifting rope extending outward through the protective shell is wound on the electric winch, an end of the second lifting rope away from the electric winch is fixedly connected to a lifting ring, an end of the lifting ring away from the second lifting rope is rotatably connected to a lifting seat, and a side of the lifting seat away from the lifting ring is rotatably connected to a first hook; Telescopic arms, two groups of telescopic arms are symmetrically mounted on the outer side wall of the mounting seat, the outer side wall of the telescopic section of the telescopic arm close to the top is mounted with a first limiting reel through a U-shaped frame, the telescopic end of the telescopic arm is also mounted with a second limiting reel through the U-shaped frame, and the end of the second lifting rope away from the electric winch is respectively bypassed by the first limiting reel and the second limiting reel; A telescopic sleeve assembly, one end of which is detachably connected to an end of a lifting seat away from a first lifting hook, the other end of which is movably connected to an outer wall of a telescopic arm close to the telescopic end, and the telescopic sleeve assembly is sleeved on the outer side of a second lifting rope, the telescopic sleeve assembly comprises a first sleeve fixedly connected to the top of the lifting seat, an inflatable airbag is also fixedly installed on the inner wall of the first sleeve close to the lifting seat, an air pump connected to the inflatable airbag is also fixedly connected to the inner wall of the lifting seat, and evenly distributed protrusions are arranged on the outer wall of the inflatable airbag. When lifting and transporting, the air pump is turned on to inflate the inflatable airbag through the inflation tube, and the protrusions on the bulging outer wall of the inflatable airbag abut against the outer wall of the second lifting rope; The ultrasonic radar is evenly embedded in the outer side wall of the telescopic sleeve assembly.

2. A crane with an intelligent obstacle avoidance mechanism according to claim 1, characterized in that: The hoisting component comprises a shell with a top opening arranged below the winch, a rotating wheel in the shell is connected to a movable pulley, a second hook is installed at the bottom of the shell, and U-shaped connectors are fixedly connected to the opposite sides of adjacent shells.

3. A crane with an intelligent obstacle avoidance mechanism according to claim 2, characterized in that: The damping balance mechanism comprises a second hydraulic telescopic cylinder rotatably connected to the U-shaped connecting piece, the telescopic end of the second hydraulic telescopic cylinder is fixedly connected to a damper, and one end of the damper away from the second hydraulic telescopic cylinder is rotatably connected to a balance seat.

4. A crane with an intelligent obstacle avoidance mechanism according to claim 3, characterized in that: A tie ring is arranged at the junction of the damper and the balance seat, and a hanging rope is detachably connected between adjacent tie rings, and a balance block is hung on the hanging rope.

5. The crane with an intelligent obstacle avoidance mechanism according to claim 1, characterized in that: The collision buffer assembly includes a U-shaped connecting frame fixedly mounted on one side of the mobile trolley close to the center drive seat, a buffer rod is fixedly connected to one end of the connecting frame close to the center drive seat, a buffer block is slidably connected to one end of the buffer rod away from the connecting frame, a buffer spring is fixedly connected between the buffer block and the connecting frame and is sleeved on the outer wall of the buffer rod, and a pressure sensor connected to the signal of the electric control box is embedded on the side of the buffer block close to the center drive seat.

6. The crane with an intelligent obstacle avoidance mechanism according to claim 1, characterized in that: The end of the first sleeve away from the lifting seat is slidably connected to the middle sleeve, the end of the middle sleeve away from the first sleeve is slidably connected to the tail sleeve, and a transmission rod is rotatably connected between the end of the tail sleeve away from the middle sleeve and the outer side wall of the telescopic arm close to the telescopic end.

7. A crane with an intelligent obstacle avoidance mechanism according to claim 6, characterized in that: The outer side walls of the first sleeve, the middle sleeve and the tail sleeve are all provided with embedding grooves, and the ultrasonic radar is fixedly installed in the embedding grooves. The length of the first sleeve is greater than that of the middle sleeve, and the length of the middle sleeve is greater than that of the tail sleeve. The inner side walls of the first sleeve, the middle sleeve and the tail sleeve are also provided with shielding layers. When the ultrasonic radar is facing the shielding layer, the ultrasonic radar fails.

8. The crane with an intelligent obstacle avoidance mechanism according to claim 7, characterized in that: An inflation tube is connected between the air outlet end of the air pump and the air inlet end of the inflatable airbag, an electromagnetic exhaust valve is arranged at the air outlet end of the inflatable airbag, and evenly distributed protrusions are arranged on the outer side wall of the inflatable airbag.

9. A crane with an intelligent obstacle avoidance mechanism according to claim 8, characterized in that: The mobile trolley, the mobile trolley, the central driving seat, the telescopic arm, the hoist, the electric winch, the ultrasonic radar, the air pump and the electromagnetic exhaust valve are all connected to the electric control box signal.

10. The crane with an intelligent obstacle avoidance mechanism according to claim 4, characterized in that: The balancing seat comprises a half seat rotatably connected to an end of the damper away from the second hydraulic telescopic cylinder, and a telescopic rod and a third hydraulic telescopic cylinder are connected between the half seats.

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