Remote control steel grabbing device

Abstract

The invention provides a remote control steel grabbing device. The remote control steel grabbing device comprises a steel grabbing locomotive end and a steel grabbing cabin end. The steel grabbing machine locomotive end comprises a hydraulic grab bucket, a movable arm and a bucket rod and is used for remotely controlling the steel grabbing machine so as to finish remote operation of the steel grabbing machine; the steel grabbing cabin end is connected with the steel grabbing locomotive end and used for transmitting a control instruction to the steel grabbing locomotive end, and man-machine co-driving and instruction distinguishing are achieved. According to the remote control steel grabbing device, remote control transformation of the non-line-of-sight drive-by-wire steel grabbing machine can be achieved, the foundation of semi-automatic collaborative operation with an unmanned dumper in a specific scene is laid, the labor cost is greatly reduced, manual operation in a severe environment is avoided, and construction of an intelligent waste steel storage yard is assisted; and meanwhile, the working efficiency in the steel grabbing operation process is improved, the labor cost is reduced, and the operation reliability and safety are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and in particular relates to a remote-controlled steel grabbing device. Background Art

[0002] Domestic scrap steel recycling mainly uses steel grabbers and scrap steel transfer vehicles for stacking, loading, and transfer. The scrap steel recycling yard is an operating environment with heavy dust pollution and poor working conditions.

[0003] At present, the stacking, loading, and transfer of scrap steel in scrap steel recycling yards at home and abroad are mainly driven by manual driving. Among them, the non-line-of-sight joint control application of steel grabbers and transfer vehicles has not yet been found on the market. In combination with the scrap steel recycling scenarios and needs of steel mills, there is currently no application system and technology integration that can be directly transplanted. It is necessary to focus on the specific scenarios of steel mills and apply existing technologies to deeply develop the needs in order to achieve and meet the needs of unmanned and intelligent production operations.

[0004] This patent proposes a remote control modification scheme for the steel grabber currently used in the scrap steel yard among the above two types of engineering machinery.

[0005] Therefore, in the existing remote steel grabbing technology, since it is impossible to realize non-line-of-sight wire-controlled steel grabbing operations, there is no basis for semi-automatic collaborative operations with unmanned dump trucks in specific scenarios, resulting in a large waste of labor costs, and the operators need to work in harsh environments, resulting in greatly reduced safety and low operating efficiency. Summary of the invention

[0006] In view of the shortcomings of the prior art mentioned above, the purpose of the present application is to provide a remote-controlled steel grabbing device to solve the problems in the existing remote steel grabbing technology, such as the inability to realize non-line-of-sight wire-controlled steel grabbing operations, the lack of a basis for semi-automatic collaborative operations with unmanned dump trucks in specific scenarios, resulting in a large waste of labor costs, and the need for operators to work in harsh environments, resulting in greatly reduced safety and low operating efficiency.

[0007] In the first aspect, the present application provides a remote-controlled steel grabbing device, comprising: a steel grabbing locomotive end and a steel grabbing cabin end; the steel grabbing locomotive end is used to control the steel grabbing machine through remote control to complete the remote operation of the steel grabbing machine; the steel grabbing locomotive end comprises: a hydraulic grab, a boom, and a stick; wherein the boom is arranged at the front end of the steel grabbing locomotive end, for providing the load-bearing capacity and operating range acting on the target grasped object; the stick is connected to the boom, for increasing the working range and coordinating the center of gravity position of the whole machine of the steel grabbing machine; the hydraulic grab is connected to the stick, for grabbing the target scrap steel in the target area; the steel grabbing cabin end is connected to the steel grabbing locomotive end, for transmitting control instructions to the steel grabbing locomotive end, so as to realize human-machine co-driving and instruction differentiation.

[0008] In one embodiment of the present application, the Hangzhuogang locomotive end also includes: an acquisition module, an execution module, and a control module; the acquisition module is used to collect the movement status of the target vehicle and the surrounding images; the execution module is used to execute control instructions; the control module is used to receive vehicle control signals through the vehicle network, and process and transmit the vehicle control signals, thereby completing remote control of the vehicle.

[0009] In one embodiment of the present application, the acquisition module includes: a radar and a vehicle-end camera; the radar is arranged on the steel grabbing locomotive end, and is used to sense the distance between the vehicle and the surrounding obstacles based on the early warning strategy, and feed it back to the steel grabbing cabin end through a graphical interface and sound and light alarm; the vehicle-end camera is fixedly arranged on the steel grabbing locomotive end, and is used to capture the panoramic view of the vehicle's exterior.

[0010] In one embodiment of the present application, the execution module includes: a vehicle-mounted industrial computer; the vehicle-mounted industrial computer is arranged in the steel grabbing locomotive end, and is used to receive the real-time data collected by the collection module and process it. When the real-time data exceeds the warning value, the vehicle-mounted industrial computer triggers an action and stops the operation.

[0011] In one embodiment of the present application, the control module includes: a vehicle-end controller; the vehicle-end controller is arranged on the steel grabbing locomotive end, and is used to receive a vehicle control signal from a remote location based on an on-board network communication device, and after processing the vehicle control signal, transmit it to the execution module through a CAN bus.

[0012] In one embodiment of the present application, the control module also includes a steering gear, a service brake and a brake brake; a steering valve group is connected in parallel at the steering gear to ensure that the three-way valve in front of the oil inlet of the steering gear does not divert when under manual control; a brake valve group is added to the brake brake and the vehicle brake cylinder to achieve reverse braking at the steel grabbing locomotive end.

[0013] In one embodiment of the present application, the radar includes: a first ultrasonic radar, a second ultrasonic radar, a third ultrasonic radar and a fourth ultrasonic radar; the first ultrasonic radar is fixedly arranged on the front side of the steel-grasping locomotive end, the second ultrasonic radar is arranged on the back side of the steel-grasping locomotive end, the third ultrasonic radar is arranged on the left side of the steel-grasping locomotive end, and the fourth ultrasonic radar is arranged on the right side of the steel-grasping locomotive end; the vehicle-end camera includes: a forearm camera and several vehicle-end cameras; wherein the forearm camera is arranged at the upper end of the boom of the steel-grasping locomotive end; the vehicle-end camera includes: a first vehicle-end camera, a second vehicle-end camera, a third vehicle-end camera and a fourth vehicle-end camera, which are respectively arranged on the side positions of the steel-grasping locomotive end.

[0014] In one embodiment of the present application, the warning strategies include: a first-level warning strategy, a second-level warning strategy and a third-level warning strategy; the first-level warning strategy refers to issuing a warning when the distance between the vehicle and the surrounding obstacles is less than 5 meters; the second-level warning strategy refers to initiating vehicle control intervention and reducing the vehicle speed when the distance between the vehicle and the surrounding obstacles is less than 3 meters; the third-level warning strategy refers to initiating emergency stop control when the distance between the vehicle and the surrounding obstacles is less than 1.5 meters, and the active safety system response time is less than or equal to 500ms.

[0015] In one embodiment of the present application, the steel grabber cabin end includes a steel grabber cab; a cabin end sports seat is provided in the steel grabber cab.

[0016] In one embodiment of the present application, the proportional valve group at the hydraulic grab is connected in parallel to the hydraulic grab shuttle valve group, the proportional valve group at the boom is connected in parallel to the boom shuttle valve group, and the proportional valve group at the arm is connected in parallel to the arm shuttle valve group, for parallel connection of hydraulic pilot control signals and electrical proportional signals, thereby realizing remote control of the device.

[0017] As described above, the remote control steel grabbing device described in the present application has the following beneficial effects:

[0018] The remote-controlled steel grabbing device of this application can realize the remote-controlled transformation of non-line-of-sight wire-controlled steel grabbing machines, laying the foundation for semi-automatic collaborative operations with unmanned dump trucks in specific scenarios. The application of this application will greatly reduce labor costs, avoid manual operations in harsh environments, and help build a smart scrap steel yard; at the same time, it improves work efficiency during steel grabbing operations, reduces labor costs, and improves the reliability and safety of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A Shown is a schematic diagram of the overall structure of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0020] Figure 1BShown is a schematic diagram of the structure of other parts of the vehicle end of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0021] Figure 2 Shown is a schematic diagram of the vehicle-side mechanical structure of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0022] Figure 3 Shown is a vehicle-side electrical control schematic diagram of the remote-controlled steel gripping device described in an embodiment of the present application.

[0023] Figure 4A Shown is a schematic diagram of the remote control wiring of the vehicle-end hydraulic part of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0024] Figure 4B Shown is a schematic diagram of a hydraulic shuttle valve of a remote-controlled steel grabbing device according to an embodiment of the present application.

[0025] Figure 5 Shown is a schematic diagram of the remote control wiring of the vehicle-end steering gear of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0026] Figure 6 Shown is a schematic diagram of vehicle braking and brake remote control wiring of the remote-controlled steel gripping device described in an embodiment of the present application.

[0027] Fig. 7A Shown is the electrical wiring diagram of the power supply part of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0028] Figure 7B Shown is an electrical schematic diagram of the CAN topology structure of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0029] Figure 7C Shown is the electrical schematic diagram of the electric proportional valve of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0030] Fig.7D Shown is an electrical schematic diagram of the execution process of the electric proportional valve of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0031] Fig. 7E Shown is an electrical schematic diagram of an electric proportional valve between a controller and a vehicle-end component of a remote-controlled steel gripping device as described in an embodiment of the present application.

[0032] Figure 7F Shown is the electrical schematic diagram of the start and stop control of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0033] Figure 7G Shown is the electrical schematic diagram of the lighting control of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0034] Component number description

[0035] Serial number name 1 Grab the steel locomotive end 2 Grab the steel nacelle end 11. Acquisition Module

[0036] 12 Execution Module

[0037] 13 Control Module

[0038] 14 Hydraulic grab

[0039] 15 Boom

[0040] 16 Arm

[0041] 17 Other parts of the vehicle 21 Cabin-side sports seats 22 Operation table

[0042] 111 Radar

[0043] 112 Car Camera 121 Vehicle-mounted industrial computer 131 Vehicle-side Controller 132 Cabin controller 133 Steering gear

[0044] 134 Service brakes 135 Brakes 171 Remote Execution Unit 172 Engine control unit 173 Cabin end lifting unit 174 Safety locking unit 175 Lighting control unit 221 Left handle

[0045] 222 right handle

[0046] 1111 The first ultrasonic radar 1112 Second Ultrasonic Radar 1113 Third Ultrasonic Radar Serial number name

[0047] 1114 Fourth Ultrasonic Radar

[0048] 1121 First vehicle camera

[0049] 1122 Second vehicle camera

[0050] 1123 Third vehicle camera

[0051] 1124 Fourth vehicle camera

[0052] 1125 Forearm Camera DETAILED DESCRIPTION

[0053] The present application is further described below in conjunction with the accompanying drawings, but the protection scope of the present application is not limited to the following description.

[0054] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0055] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0056] The following embodiments of the present application provide a remote-controlled steel grabbing device, which solves the problems in the existing remote steel grabbing technology, such as the inability to realize non-line-of-sight wire-controlled steel grabbing operations and the lack of a basis for semi-automatic collaborative operations with unmanned dump trucks in specific scenarios, which results in a large waste of labor costs, and the need for operators to work in harsh environments, which greatly reduces safety and reduces working efficiency.

[0057] An embodiment of the present application provides a remote-controlled steel grabbing device, which includes: a steel grabbing locomotive end and a steel grabbing cabin end; the steel grabbing locomotive end includes: a hydraulic grab, a boom, and a dipper arm, which are used to control the steel grabber through remote control to complete remote operation of the steel grabber; the steel grabbing cabin end is connected to the steel grabbing locomotive end, and is used to transmit control instructions to the steel grabbing locomotive end, thereby realizing human-machine co-driving and instruction differentiation.

[0058] The following will describe in detail the implementation of the principle of a remote-controlled steel grabbing device of this embodiment in conjunction with the accompanying drawings, so that those skilled in the art can understand the remote-controlled steel grabbing device of this embodiment without creative work.

[0059] See also Figure 1A , 1B and Figure 2, respectively showing the overall structural diagram of the remote control steel grabbing device according to the embodiment of the present application, showing the structural diagram of other parts of the vehicle end of the remote control steel grabbing device according to the embodiment of the present application, and showing the mechanical structure diagram of the vehicle end of the remote control steel grabbing device according to the embodiment of the present application. Figure 1A , 1B and Figure 2 As shown, the remote-controlled steel grabbing device includes: a steel grabbing locomotive end 1 and a steel grabbing cabin end 2.

[0060] In the present application, the remote control steel grabbing device includes: a steel grabbing locomotive end 1 and a steel grabbing cabin end 2. The steel grabbing locomotive end 1 is used to control the steel grabbing machine through remote control to complete the remote operation of the steel grabbing machine; the steel grabbing locomotive end 1 includes: a hydraulic grab 14, a boom 15, a stick 16 and other parts of the vehicle end 17; wherein the boom 15 is arranged at the front end of the steel grabbing locomotive end 1, and is used to provide the load-bearing capacity and operating range acting on the target grasped object; the stick 16 is connected to the boom 15, and is used to increase the working range and coordinate the center of gravity position of the whole machine of the steel grabbing machine; the hydraulic grab 14 is connected to the stick 16, and is used to grab the target scrap steel in the target area; the steel grabbing cabin end 2 is connected to the steel grabbing locomotive end 1, and is used to transmit the control command to the steel grabbing locomotive end 1, so as to realize human-machine co-driving and command distinction.

[0061] Please continue reading Figure 1A and 1B The locomotive terminal 1 of Hangzhaogang also includes: a collection module 11, an execution module 12, and a control module 13. The collection module 11 is used to collect the motion state of the target vehicle and the surrounding images; the execution module 12 is used to execute the control instructions; the control module 13 is used to receive the vehicle control signal through the vehicle network, and process and transmit the vehicle control signal, so as to complete the remote control of the vehicle.

[0062] The other parts 17 of the vehicle end include: a remote execution unit 171, an engine control unit 172, a cabin end lifting unit 173, a safety locking unit 174, and a lighting control unit 175, etc. Among them, the remote execution unit 171 is used for remote control of the steel grab locomotive end, and its functions include but are not limited to: remote control forward, remote control backward, remote control parking, remote control parking, shell bucket rotation, etc. The engine control unit 172 is used to control and monitor the working state of the engine, and its functions include but are not limited to: engine control (such as: power on, start, shut down, throttle control, etc.), engine water temperature monitoring, hydraulic oil temperature monitoring, fuel oil level monitoring, etc. The cabin end lifting unit 173 is used to remotely control and adjust the overall rise and fall of the steel grab cabin end, and the functions realized include: cockpit lifting, etc. The safety locking unit 174 is used to control the safe operation of the steel grab during the remote control process, as well as fault alarms, etc., including but not limited to the following functions: remote control emergency stop, remote control safety lock, remote control horn, etc. The lighting control unit 175 includes, but is not limited to, warning lights, turn signals, fault indicator lights, and work lights, etc., which are used to assist, indicate, and alarm the remote control operation process and the movement process of the steel grabbing locomotive through lights.

[0063] Please continue reading Figure 2 The acquisition module 11 includes: a radar 111 and a vehicle-side camera 112; the radar 111 is arranged on the steel grabbing locomotive end 1, and is used to sense the distance between the vehicle and the surrounding obstacles based on the early warning strategy, and feed it back to the steel grabbing cabin end 2 through a graphical interface and sound and light alarms; the vehicle-side camera 112 is fixedly arranged on the steel grabbing locomotive end 1, and is used to capture the panoramic view of the vehicle's exterior.

[0064] In order to reduce the limitations of the cabin's field of view and safety hazards during remote control, automotive-grade high-definition cameras are installed on the front, rear, left, right and forearm of the vehicle to capture the panoramic view of the vehicle's exterior in real time. With the large-size main display screen at the cabin, the operator can observe the vehicle's external environment without blind spots.

[0065] In this embodiment, the acquisition module 11 includes a sensor and a camera. The sensor and the vehicle-side camera 112 are used to collect information such as the target vehicle's operating status, surrounding images, and real-time environment.

[0066] The radar 111 includes a first ultrasonic radar 1111 , a second ultrasonic radar 1112 , a third ultrasonic radar 1113 and a fourth ultrasonic radar 1114 .

[0067] In this embodiment, there is at least one first ultrasonic radar 1111, which is fixedly arranged on the front side of the steel grabbing locomotive end 1 to monitor the road environment and obstacle position status in front of the steel grabbing locomotive end 1; there is at least one second ultrasonic radar 1112, which is arranged behind the steel grabbing locomotive end 1 to sense the road surface and obstacle status at the rear of the steel grabber; there is at least one third ultrasonic radar 1113, which is arranged on the left side of the steel grabbing locomotive end 1 to monitor the surrounding environment status on the left side of the steel grabber, etc.; there is at least one fourth ultrasonic radar 1114, which is arranged on the right side of the steel grabbing locomotive end 1 to monitor the obstacle status and surrounding environment status on the right side of the steel grabber, etc.

[0068] Specifically, in this embodiment, two first ultrasonic radars 1111, two second ultrasonic radars 1112, two third ultrasonic radars 1113 and two fourth ultrasonic radars 1114 are preferably arranged, and a total of eight ultrasonic radars are set. These eight ultrasonic radars all use high-frequency sampling rates for collection, and refresh and collect real-time radar data around the steel grabbing locomotive end 1 at high speed, and transmit the collected real-time radar data to the execution module.

[0069] In this embodiment, the vehicle-end camera 112 includes: a forearm camera 1125 and a plurality of vehicle-end cameras; wherein the forearm camera 1125 is arranged at the upper end of the boom 16 of the steel-grabbing locomotive end 1; the vehicle-end camera 112 includes: a first vehicle-end camera 1121, a second vehicle-end camera 1122, a third vehicle-end camera 1123 and a fourth vehicle-end camera 1124, which are respectively arranged at the side positions of the steel-grabbing locomotive end 1.

[0070] Specifically, this embodiment preferably has a first vehicle-end camera 1121, a second vehicle-end camera 1122, a third vehicle-end camera 1123, and a fourth vehicle-end camera 1124. The first vehicle-end camera 1121 is fixedly arranged at the front end of the steel grabber to monitor the real-time image in front of the vehicle end and the road environment status; the second vehicle-end camera 1122 is fixedly arranged at the back of the steel grabber locomotive end 1 to monitor the real-time image of the rear of the steel grabber locomotive end 1; the third vehicle-end camera 1123 is fixedly arranged at the left side of the steel grabber locomotive end 1 to monitor the real-time image on the left side of the steel grabber locomotive end 1 and the surrounding environment status; the fourth vehicle-end camera 1124 is fixedly arranged at the right side of the steel grabber locomotive end 1 to monitor the real-time image on the right side of the steel grabber and the surrounding environment status.

[0071] Among them, the first vehicle-end camera 1121 is arranged at the front of the steel-grabbing locomotive end 1, and is mainly responsible for scanning and monitoring whether there are obstacles in front of the steel-grabbing locomotive end 1. Therefore, the first vehicle-end camera 1121 adopts advanced recognition algorithms to sense and identify obstacles in front of the vehicle end, thereby eliminating the interference of the boom on the radar 111.

[0072] Similarly, the warning strategy of the obstacle distance sensed by the radar 111 of the steel grab locomotive end 1 is set to three levels, namely: level 1 warning strategy, level 2 warning strategy and level 3 warning strategy. Among them, the level 1 warning strategy means that when the distance between the vehicle and the surrounding obstacles is less than 5 meters, a warning is issued; the level 2 warning strategy means that when the distance between the vehicle and the surrounding obstacles is less than 3 meters, the vehicle control intervention is initiated to reduce the speed; the level 3 warning strategy means that when the distance between the vehicle and the surrounding obstacles is less than 1.5 meters, the emergency stop control is initiated, and the active safety system response time is less than or equal to 500ms.

[0073] From the above, it can be seen that by installing automotive-grade high-definition cameras on the front, rear, left, right and forearm of the steel grabbing device, the panoramic view of the exterior of the vehicle end can be captured in real time; at the same time, with the large-size main display screen configured in the cabin end, the operator can observe the external environment of the vehicle without blind spots, providing a more accurate basis for safe operation.

[0074] The execution module 12 includes: an on-board industrial computer 121. The on-board industrial computer 121 is arranged in the steel grabbing locomotive end 1, and is used to receive and process the real-time data collected by the collection module 11. When the real-time data exceeds the warning value, the on-board industrial computer 121 triggers an action and stops the operation.

[0075] In this embodiment, the vehicle-side industrial computer 121 receives real-time radar data and real-time images of the vehicle's surroundings from the acquisition module 11, processes the information, and executes control instructions. Once the real-time data exceeds the warning value, emergency braking is immediately triggered, thereby stopping the remote control operation.

[0076] The control module 13 includes: a vehicle-end controller 131, a cabin-end controller 132, a steering gear 133, a service brake 134, and a brake 135. The vehicle-end controller 131 is arranged on the steel grab locomotive end 1, and is used to receive a vehicle control signal from a remote location based on an on-board network communication device, and after processing the vehicle control signal, transmit it to the execution module through a CAN bus.

[0077] Specifically, the vehicle-side controller 131 receives the vehicle control signal from the remote cabin through the vehicle-mounted network communication device, and the vehicle controller processes the signal and completes the remote control of the vehicle based on the CAN bus transmission. The main control functions implemented include but are not limited to: remote control of leg extension, remote control of leg retraction, remote control of turning, remote control of arm raising, remote control of arm lowering, remote control of boom raising, remote control of boom lowering, remote control of suction cup suction, remote control of suction cup discharge, remote control of grab bucket grabbing, remote control of grab bucket discharge, etc.

[0078] See also Figure 3 , which shows the vehicle-side electrical control principle diagram of the remote control steel grabbing device described in the embodiment of the present application. Figure 3 As shown in the figure, the throttle, parking switch, and forward gear positions at the cabin end are optimized. On the basis of the original manual control of the steel grabber, the remote control of the throttle knob, parking switch, and forward gear switch is added.

[0079] Specifically, the command of the steel grabber cabin 2 is integrated into the CAN bus (Controller Area Network) through the cabin controller, and then transmitted to the vehicle CAN terminal through the 5G terminal and fed back to the newly added vehicle controller 131 (ie: VCU). At the same time, in order to achieve human-machine co-driving and command distinction, the corresponding original vehicle line is transferred to the newly added controller, and some analog quantities are output to the original vehicle controller through the I / O module, finally realizing the remote control of the steel grabber.

[0080] The steel grabber cabin 2 includes a steel grabber cab. The steel grabber cab is provided with a cabin motion seat 21, an operating table 22, etc. The operating table 22 is provided with components such as a left handle 221 and a right handle 222. The cooperation between the cabin motion seat 21 and the vehicle camera 112 enhances the operator's sense of presence, restores the vehicle control experience, and the trajectory error is ≤20CM.

[0081] See also Figure 4A , showing a schematic diagram of the remote control wiring of the vehicle-end hydraulic part of the remote-controlled steel grabbing device described in an embodiment of the present application.

[0082] In this embodiment, the proportional valve group at the hydraulic grab 14 is connected in parallel with the hydraulic grab shuttle valve group, the proportional valve group at the boom 15 is connected in parallel with the boom shuttle valve group, and the proportional valve group at the arm 16 is connected in parallel with the arm shuttle valve group, which are used to parallel the hydraulic pilot control signal and the electric proportional signal, thereby realizing remote control of the device.

[0083] For details, please continue to see Figure 4A The left handle 221 and the right handle 222 on the operating console can control and adjust the hydraulic grab 14, boom 15, rotary proportional valve and arm 16. The shuttle valve group is cut off and connected in parallel at the original grab 14, boom 15, arm 16 and cab rotary proportional valve group of the steel grab car, and the hydraulic pilot control signal and the electric proportional signal (vehicle end operation is preferred) are connected in parallel to realize the remote control of the corresponding functions of the steel grab.

[0084] A proportional valve is a hydraulic valve that converts an input electrical signal into force or displacement in proportion, thereby continuously controlling parameters such as pressure and flow. A proportional valve consists of a DC proportional solenoid and a hydraulic valve. The hydraulic valve part is not much different from a general hydraulic valve, but the DC proportional solenoid is different from the solenoid used in a general solenoid valve. The use of a proportional solenoid can obtain a displacement output and suction output proportional to a given current.

[0085] In this embodiment, hydraulic shuttle valve is preferred. Figure 4B , which is a schematic diagram of a hydraulic shuttle valve of a remote-controlled steel grabbing device according to an embodiment of the present application. When air is introduced into channel P2, the valve core is pushed to the left, and channel P1 is closed, so that gas enters the valve body from P2 and flows out from channel A; when air is introduced into P1 and P2 at the same time, A is connected to the end with higher gas pressure, and the other end is automatically closed; when air is introduced into channel P1, the valve core is pushed to the right, and channel P2 is closed, so that gas enters the valve body from P1 and flows out from channel A.

[0086] For example: after the hydraulic grab 14 button is activated, the hydraulic grab 14, boom 15, rotary proportional valve and arm 16 are adjusted by manually operating the left handle 221 and the right handle 222 at the vehicle end under normal circumstances. Alternatively, when receiving remote control instructions at the same time, the vehicle end operation is given priority and manual operation is performed. For example: the hydraulic grab 14 is cut off at number 2 and a shuttle valve group is connected in parallel, and then the hydraulic pilot control signal and the electric proportional signal are connected in parallel to control the grabbing and releasing state of the hydraulic grab 14. At the same time, during the grabbing process, the hydraulic grab 14 button is first activated to start the hydraulic grab 14 and put it in an open state; then the corresponding buttons are used to start and adjust the position and direction of the boom 15 and the dipper 16, so that the hydraulic grab 14 is adjusted to the target scrap steel to be grabbed, and then the grab button of the hydraulic grab 14 is activated to grab the target scrap steel and fix it in the hydraulic grab 14; then the rotary proportional valve is adjusted to adjust the grab position to the new position where the target scrap steel needs to be placed; finally, the hydraulic grab 14 button is activated to place the target scrap steel in the target area. Among them, when the vehicle-side controller 131 receives the remote control command, the adjustment functions of the hydraulic grab 14, the boom 15, the rotary proportional valve and the dipper 16 are activated through the control module.

[0087] See also Figure 5 , respectively showing the remote control wiring diagram of the vehicle-end steering gear of the remote-controlled steel grabbing device described in the embodiment of the present application.

[0088] A steering valve group is connected in parallel to the steering gear 133 to achieve that the three-way valve in front of the oil inlet of the steering gear 133 does not split when it is under manual control. A brake valve group is installed in the brake brake and the vehicle brake cylinder to achieve reverse braking at the steel grab locomotive end.

[0089] In this embodiment, in the original vehicle-end steering gear, the parallel steering valve group 133 is used. Since the initial position of the three-position four-way valve of the original steering gear 133 is the middle position and the liquid flow will not be actively connected, a shuttle valve is no longer connected in parallel. However, a three-way valve needs to be installed in front of the oil inlet of the original steering gear to ensure that the hydraulic pressure will not be diverted when the vehicle end is manually controlled.

[0090] Specifically, the steering valve group is connected in parallel to the steering gear 133, and a three-way valve is added before the oil inlet point P of the steering gear 133 so that the hydraulic pressure is not diverted when the vehicle is controlled.

[0091] See also Figure 6 , showing a schematic diagram of vehicle braking and brake remote control wiring of the remote-controlled steel gripping device described in an embodiment of the present application.

[0092] In this embodiment, the brake valve group shown in the figure is installed in the brake oil cylinder and the brake valve oil circuit of the original vehicle. The service brake of the steel grabber in this modification is reverse braking, that is, the piston rod pushes back for braking, so the original brake valve initial passage does not meet the requirements, and the valve group needs to be replaced to make the left passage the initial passage to ensure the successful operation of remote brake release.

[0093] Specifically, a shuttle valve and a two-way valve are added between the service brake oil cylinder and the brake oil circuit.

[0094] See also Fig. 7A , 7B , 7C, 7D, 7E, 7F and 7G respectively show the electrical wiring diagram of the power supply part of the remote-controlled steel grabbing device described in the embodiment of the present application, the electrical schematic diagram of the CAN topology structure of the remote-controlled steel grabbing device described in the embodiment of the present application, the electrical schematic diagram of the electric proportional valve of the remote-controlled steel grabbing device described in the embodiment of the present application, the electrical schematic diagram of the execution process of the electric proportional valve of the remote-controlled steel grabbing device described in the embodiment of the present application, the electrical schematic diagram of the electric proportional valve between the controller and the vehicle-end components of the remote-controlled steel grabbing device described in the embodiment of the present application, the electrical schematic diagram of the start-stop control of the remote-controlled steel grabbing device described in the embodiment of the present application and the electrical schematic diagram of the lighting control of the remote-controlled steel grabbing device described in the embodiment of the present application.

[0095] In this embodiment, before the steel grab locomotive 1 starts working, it is necessary to start the main power switch to put the VCU vehicle-end controller 131 in a standby state. At the same time, a circuit breaker is loaded in the power supply circuit of the VCU vehicle-end controller 131 to protect the circuit.

[0096] A circuit breaker is a switch device that can close, carry and disconnect current under normal circuit conditions and close, carry and disconnect current under abnormal circuit conditions within a specified time. Circuit breakers are divided into high-voltage circuit breakers and low-voltage circuit breakers according to their scope of use. Circuit breakers can be used to distribute electrical energy, start asynchronous motors infrequently, and protect power lines and motors. When they have serious overloads or short circuits and undervoltage faults, they can automatically cut off the circuit. Its function is equivalent to a combination of a fuse switch and an over-underheating relay.

[0097] Please continue reading Figure 7B The CAN terminal is connected to the VCU vehicle-side controller 131. At the same time, the VCU vehicle-side controller 131 is respectively connected to the original vehicle-side CAN bus, the bus panel, and the IO expansion module, and the fuse resistors are respectively connected to organize the CAN topology structure of the present application.

[0098] Furthermore, the VCU vehicle-side controller 131 connected to the electric proportional valve is matched to the corresponding foot throttle, hand throttle, leg handle, gripper button, parking switch, forward gear, reverse gear, travel gear, etc., and the foot throttle, hand throttle, handle, etc. are connected to the IO expansion module. At the same time, the boom, hydraulic grab valve, arm valve, swing valve, service brake valve, etc. are connected to the VCU vehicle-side controller.

[0099] At the same time, digital signal data, such as power-on, start, emergency stop, car keys and electric horns, as well as body work lights, turn signals, high beams and low beams, can all be controlled through relays to control their working status.

[0100] All the hardware used in this application is from big brands to ensure its quality and reliability. The system software has also been strictly tested and verified, stable and reliable, with a system operation failure rate of ≤1 time / 250H; the vehicle end uses CPE equipment as the access end of the operator's 5G private network signal, and the switching between 5G network and industrial WIFI is realized by configuring the working mode of CPE equipment.

[0101] In summary, the remote control steel grabbing device of the present application optimizes the mechanical parts of the steel grabbing locomotive such as radar, camera, vehicle-side controller, and wire control, so that the original steel grabbing machine that can only be controlled by manual operation can be changed to a remote control method to execute control instructions, realizing the unmanned steel grabbing operation of the scrap steel yard and meeting the needs of intelligent production operations. The remote control steel grabbing device of the present application has a simple structure and can realize the remote control transformation of the non-line-of-sight wire-controlled steel grabbing machine, laying the foundation for semi-automatic collaborative operation with unmanned dump trucks in specific scenarios; it can greatly reduce labor costs, avoid manual operations in harsh environments, and help build a smart scrap steel yard; at the same time, it improves the work efficiency in the steel grabbing operation process, reduces labor costs, and improves the reliability and safety of the operation. It solves the existing remote control steel grabbing device technology, which cannot realize the non-line-of-sight wire-controlled steel grabbing operation, and has no basis for semi-automatic collaborative operation with unmanned dump trucks in specific scenarios, resulting in a large waste of labor costs, and the need for operators to work in harsh environments, resulting in greatly reduced safety and low operating efficiency. The remote-controlled steel grabbing device adopted in the present application has strong versatility, a wide range of applications and high practical value.

[0102] The above embodiments are only for explaining the principle and effect of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A remote-controlled steel grabbing device, characterized in that: The device comprises: a steel grabbing locomotive end and a steel grabbing nacelle end; The steel grab locomotive end is used to control the steel grabber through remote control to complete the remote operation of the steel grabber; the steel grab locomotive end includes: a hydraulic grab bucket, a boom, and a dipper arm; wherein the boom is arranged at the front end of the steel grab locomotive end, and is used to provide the load-bearing capacity and operating range acting on the target grasped object; the dipper arm is connected to the boom, and is used to increase the working range and coordinate the center of gravity position of the steel grabber; the hydraulic grab bucket is connected to the dipper arm, and is used to grab the target scrap steel in the target area; The steel grabbing cabin end is connected to the steel grabbing locomotive end, and is used to transmit control instructions to the steel grabbing locomotive end, thereby realizing human-machine co-driving and instruction differentiation.

2. The remote-controlled steel grabbing device according to claim 1, characterized in that: The Hangzhagang locomotive terminal also includes: a collection module, an execution module, and a control module; The acquisition module is used to acquire the target vehicle's motion state and surrounding images; The execution module is used to execute the control instruction; The control module is used to receive a vehicle control signal through the vehicle network, and process and transmit the vehicle control signal, thereby completing remote control of the vehicle.

3. The remote-controlled steel grabbing device according to claim 2, characterized in that: The acquisition module includes: radar and vehicle-side camera; The radar is arranged on the steel grabbing locomotive end, and is used to sense the distance between the vehicle and surrounding obstacles based on the early warning strategy, and feed it back to the steel grabbing nacelle end through a graphical interface and sound and light alarm forms; The vehicle-end camera is fixedly arranged on the steel grabbing locomotive end and is used to capture the panoramic view of the vehicle exterior.

4. The remote-controlled steel grabbing device according to claim 2, characterized in that: The execution module includes: an on-board industrial computer; The on-board industrial computer is arranged in the steel grabbing locomotive end, and is used to receive and process the real-time data collected by the collection module. When the real-time data exceeds the warning value, the on-board industrial computer triggers an action and stops the operation.

5. The remote-controlled steel grabbing device according to claim 2, characterized in that: The control module includes: a vehicle-side controller; The vehicle-end controller is arranged on the steel grabbing locomotive end, and is used to receive a vehicle control signal from a remote location based on an on-board network communication device, and after processing the vehicle control signal, transmit it to the execution module via a CAN bus.

6. The remote-controlled steel grabbing device according to claim 2, characterized in that: The control module also includes a steering gear, a service brake and a brake brake; A steering valve group is connected in parallel to the steering gear to ensure that the three-way valve in front of the oil inlet of the steering gear does not split when it is in manual control; A brake valve group is installed in the brake brake and the vehicle brake cylinder to achieve reverse braking of the steel grabbing locomotive end.

7. The remote-controlled steel grabbing device according to claim 3, characterized in that: The radars include: a first ultrasonic radar, a second ultrasonic radar, a third ultrasonic radar and a fourth ultrasonic radar; The first ultrasonic radar is fixedly arranged on the front of the steel grabbing locomotive end, the second ultrasonic radar is arranged on the back of the steel grabbing locomotive end, the third ultrasonic radar is arranged on the left side of the steel grabbing locomotive end, and the fourth ultrasonic radar is arranged on the right side of the steel grabbing locomotive end; The vehicle-end camera includes: a forearm camera and several vehicle-end cameras; wherein the forearm camera is arranged at the upper end of the boom of the steel-grabbing locomotive end; the vehicle-end camera includes: a first vehicle-end camera, a second vehicle-end camera, a third vehicle-end camera and a fourth vehicle-end camera, which are respectively arranged at the side positions of the steel-grabbing locomotive end.

8. The remote-controlled steel grabbing device according to claim 3, characterized in that: The early warning strategies include: first-level early warning strategy, second-level early warning strategy and third-level early warning strategy; The first-level warning strategy refers to issuing a warning when the distance between the vehicle and surrounding obstacles is less than 5 meters; The secondary warning strategy is to start vehicle control intervention and reduce the speed when the distance between the vehicle and the surrounding obstacles is less than 3 meters; The three-level warning strategy means that when the distance between the vehicle and the surrounding obstacles is less than 1.5 meters, emergency stop control is initiated, and the active safety system response time is less than or equal to 500ms.

9. The remote control steel grabbing device according to claim 1, characterized in that: The steel grabbing machine cabin end includes a steel grabbing machine cab; A cabin end sports seat is arranged in the driving cab of the steel grabber.

10. The remote-controlled steel grabbing device according to claim 1, characterized in that: The proportional valve group at the hydraulic grab bucket is connected in parallel with the hydraulic grab bucket shuttle valve group, the proportional valve group at the boom is connected in parallel with the boom shuttle valve group, and the proportional valve group at the stick is connected in parallel with the stick shuttle valve group, which are used to parallelize the hydraulic pilot control signal and the electric proportional signal, thereby realizing remote control of the device.

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