Remote control unhooking device and method supporting collaborative operation and capable of overload protection

Abstract

The invention discloses remote control unhooking equipment capable of supporting collaborative operation and achieving overload protection and a method. The remote control unhooking equipment comprises a hanging beam body, a driving controller, a power module, an electric control lock catch and a shell. The upper end of the lifting beam main body is provided with a lifting lug for connecting hoisting equipment, and the lower end is connected with an electric control lock catch; a driving controller is arranged in the shell; the shell is fixedly connected with the hanging beam main body; the electric control lock catch comprises a main body lock catch and a push-pull mechanism, the movable end of the push-pull mechanism is connected with the main body lock catch, a bearing pin shaft is arranged on the main body lock catch, a lifting groove is formed in the lower end of the lifting beam main body, pin holes are formed in the two sides of the lifting groove, sensors are installed in the pin holes, and the push-pull mechanism drives the main body lock catch and the bearing pin shaft on the main body lock catch to move back and forth. And the bearing pin shaft is inserted into or withdrawn from the hanging groove of the hanging beam main body. Remote control unhooking is achieved through the electric control lock catch and the controller, the situation that an operator needs to make close contact with heavy objects or dangerous goods in the unhooking process is effectively avoided, the accident occurrence probability is reduced, and the operation safety and the overall operation efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of cargo loading and unloading, and in particular to a remote control unhooking device and method capable of overload protection and supporting collaborative operation. Background Art

[0002] Lifting hooks are usually used in conjunction with lifting equipment such as cranes and hoists, and are widely used in loading and unloading places such as ports, docks, and factories. When loading and unloading goods, manual unhooking operations are traditionally required. However, in harsh environments such as high altitude, high temperature, and high pressure, manual unhooking is not only inefficient, but also poses extremely high safety risks.

[0003] In terms of efficiency, during the use of the sling, workers need to frequently approach the heavy objects or climb to a high place to perform hooking and unhooking actions. The operation of traditional lifting tools is often relatively complicated, which requires a lot of time and cost to hook and unhook during the entire cargo lifting process. In addition, the applicability of general slings is poor, and it is difficult to meet the lifting needs of objects of different shapes, volumes and weights. This leads to the need to frequently replace slings or adjust the lifting plan in actual applications, which reduces work efficiency. In terms of safety, the load-bearing capacity of traditional slings is limited. Due to the influence of materials, manufacturing processes or use environment, its service life is relatively short, and there is no overload protection function. Safety accidents may occur due to untimely replacement, and operators need to be in close contact with the hoisted goods, which may cause risks of falling from heights and being hit by heavy objects. In terms of economy, traditional lifting tools often require one or more operators to assist in operation during use. When the cargo lifting volume is large and multiple lifting equipment are required to be used at the same time, the number of auxiliary operators increases significantly, and the labor cost is high. Therefore, it is particularly important to develop a device that can remotely control the unhooking action. Summary of the invention

[0004] In order to solve the problem that traditional lifting equipment needs to be manually unhooked when in use, which has low work efficiency, high labor costs and risks, the present invention proposes a remote control unhooking device and method that supports collaborative operation and can protect against overload. To this end, the technical solution adopted by the present invention is:

[0005] Provided is a remote control unhooking device with overload protection that supports collaborative operation, including a hanging beam body, a drive controller, a power module, an electric control lock, and a housing;

[0006] The upper end of the lifting beam body is provided with a lifting lug for connecting the lifting equipment, and the lower end is connected with an electric control lock for hooking and unhooking the cargo; inside the shell there is a power module for power supply and a drive controller for receiving the remote control unhooking signal and controlling the electric control lock, and the power module and the drive controller are connected to the electric control lock; the shell is connected and fixed to the lifting beam body;

[0007] The electric-controlled lock includes a main body lock and a push-pull mechanism. The movable end of the push-pull mechanism is connected to the main body lock. A load-bearing pin is provided on the main body lock. A hanging groove with an opening at the bottom is provided at the lower end of the hanging beam body. A sensor for monitoring the weight information of the carried cargo is installed on the load-bearing pin or the hanging beam body. The sensor is electrically connected to the drive controller. The push-pull mechanism drives the main body lock and the load-bearing pin on it to move back and forth, so that the load-bearing pin is laterally inserted into the hanging groove of the hanging beam body or withdrawn from the hanging groove of the hanging beam body.

[0008] According to the above scheme, the push-pull mechanism is a screw stepper motor; the screw stepper motor includes a stepper motor and a ball screw, the stepper motor is fixed on the shell or the suspension beam body, the output end of the stepper motor is connected to one end of the ball screw, the ball screw is sleeved with a connecting nut, the connecting nut is connected to the main body lock, the stepper motor drives the ball screw to rotate, thereby driving the main body lock to move back and forth along the ball screw through the connecting nut.

[0009] According to the above scheme, a lock cover plate is provided on the outside of the main lock, and the connecting nut is fixed on the middle hole of the main lock. The middle hole of the lock cover plate passes through the connecting nut and is fixed to the main lock by a connecting bolt.

[0010] According to the above solution, the remote control unhooking device also includes a limit sleeve for confirming the moving position of the load-bearing pin shaft, and the limit sleeve is sleeved on the load-bearing pin shaft of the main body lock.

[0011] According to the above scheme, the load-bearing of the remote control unhooking equipment includes the load-bearing of the load-bearing pin shaft and the load-bearing of the inner wall of the pin hole, wherein the maximum load-bearing of the load-bearing pin shaft includes the allowable bending stress and the allowable shear stress, and the maximum load-bearing of the inner wall of the pin hole includes the allowable bending stress; the actual load-bearing of the load-bearing pin shaft includes the actual normal stress and the actual shear stress, and the actual load-bearing of the inner wall of the pin hole includes the actual compressive stress.

[0012] According to the above scheme, the allowable bending stress is calculated from the yield strength and safety factor of the bearing pin material; the actual normal stress is calculated from the bending moment exerted on the bearing pin and the diameter of the bearing pin.

[0013] According to the above scheme, the allowable shear stress is calculated from the shear modulus, yield strength and safety factor of the bearing pin material; the actual shear stress is calculated from the shear force on the bearing pin and the diameter of the bearing pin.

[0014] According to the above scheme, the actual bearing stress is calculated based on the axial force on the pin, the pin hole diameter and the diameter of the load-bearing pin.

[0015] According to the above scheme, the bending moment and shear force on the load-bearing pin are calculated from the load on the load-bearing pin beam and the load length on the beam.

[0016] A remote control decoupling method with overload protection and supporting collaborative operation is also provided, the method comprising:

[0017] Send a hook signal to the drive controller;

[0018] After receiving the hook-up signal, the driving controller controls the push-pull mechanism to operate, and the push-pull mechanism drives the main body lock buckle and the bearing pin shaft thereon to move, so that the bearing pin shaft is horizontally inserted into the hanging groove of the hanging beam main body, and the goods are hooked;

[0019] Lift the cargo slowly and check whether it is overloaded. If not, transport the cargo to the destination;

[0020] Sending a decoupling signal to the drive controller;

[0021] After receiving the unhooking signal, the drive controller controls the push-pull mechanism to operate, and the push-pull mechanism drives the main body lock and the load-bearing pin shaft thereon to move, so that the load-bearing pin shaft laterally withdraws from the hanging groove of the hanging beam body, completing the remote control unhooking.

[0022] The beneficial effects produced by the present invention are:

[0023] 1. The present invention realizes remote control unhooking through an electric lock and a controller, which effectively avoids the situation where the operator needs to come into close contact with heavy objects or dangerous goods during the unhooking process, thereby significantly reducing the probability of accidents, improving the safety of operations, and increasing the overall operation efficiency and reducing labor costs; and the equipment is equipped with a sensor for monitoring the weight information of the carried goods to avoid the safety impact of cargo overload.

[0024] 2. The present invention installs a thin-wall pressure sensor in the pin hole of the lifting beam body connecting the electric-controlled lock, so that the sensor can monitor and capture the weight information of the carried goods in real time, and issue an alarm when the weight of the goods exceeds the loadable weight, thereby effectively playing the role of overload protection and ensuring the safety and reliability of the entire lifting process.

[0025] 3. The remote control unhooking device of the present invention adopts a special pin-hole matching load-bearing structure, which solves the problems of traditional slings that the hook is not firm during use and it is easy to slip during lifting. At the same time, it has good adaptability and expansibility. It can not only adapt well to various shapes of lifting ears and lifting ropes encountered in actual lifting operations, but also can add other slings to the equipment for use in conjunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG. 1( a ) is a schematic front view of a remote control unhooking device structure according to an embodiment of the present invention;

[0027] FIG1( b ) is a schematic side view of the remote control unhooking device structure according to an embodiment of the present invention;

[0028] Figure 2It is an overall model diagram of the remote control unhooking device in the embodiment of the present invention;

[0029] FIG3( a ) is a model diagram of the hooked state of the internal structure of the remote control unhooking device according to an embodiment of the present invention;

[0030] FIG3( b ) is a model diagram of the internal structure of the remote control unhooking device in the unhooking state according to an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of a model of a main component of a suspension beam in an embodiment of the present invention;

[0032] Figure 5 is a schematic diagram of a model of a main body locking component in an embodiment of the present invention;

[0033] Figure 6 is a schematic diagram of a model of a lock cover plate component in an embodiment of the present invention;

[0034] Figure 7 is a schematic diagram of a model of a housing component in an embodiment of the present invention;

[0035] Figure 8 is a schematic diagram of a model of a drive controller component in an embodiment of the present invention;

[0036] Fig. 9 1 is a model and connection diagram of a screw-type stepping motor component in an embodiment of the present invention;

[0037] Fig.10 It is a schematic diagram of the working process of the device according to an embodiment of the present invention;

[0038] Fig.11 is a schematic diagram of force analysis of a simply supported beam in an embodiment of the present invention;

[0039] Fig.12 is a schematic diagram of a shear force diagram obtained in an embodiment of the present invention;

[0040] Fig.13 Schematic diagram of the bending moment diagram obtained in the embodiment of the present invention.

[0041] In the figure: 1-housing; 2-power module; 3-locking cover; 4-connecting nut; 5-connecting bolt; 6-main body lock; 7-limiting sleeve; 8-suspender beam main body; 9-drive controller; 10-bolt; 11-screw stepper motor. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] When carrying out lifting operations on large equipment, facing adverse weather conditions such as rain, fog and snow, and working in high-risk environments such as aerial work, manual operations are often accompanied by greater safety hazards. Especially when unhooking operations are required, operators have to come into close contact with heavy objects or dangerous goods, which undoubtedly increases the possibility of accidents.

[0044] In order to reduce the inconvenience caused by manual unhooking operations, the present invention provides a remote-controlled unhooking device with overload protection that supports collaborative operations, as shown in Figures 1(a) and 1(b), including a hanging beam body 8, a drive controller 9, a power module 2, an electric-controlled lock, and a shell 1.

[0045] Among them, the upper end of the lifting beam body 8 is provided with a lifting ear for connecting the lifting equipment, and the lower end is connected with an electric control lock for hooking and unhooking the goods; the inside of the shell 1 is provided with a power supply module 2 for power supply and a drive controller 9 for receiving the remote control unhooking signal and controlling the electric control lock, wherein the power supply module 2 can be used as a separate power supply, which only needs to be charged regularly, or it can be connected to the power supply line of the lifting equipment to achieve continuous simultaneous charging and discharging; the shell 1 and the lifting beam body 8 are connected and fixed by bolts 10; in a preferred embodiment, the bolts 10 can be hexagonal head bolts.

[0046] The electric-controlled lock includes a main body lock 6 and a push-pull mechanism, the movable end of the push-pull mechanism is connected to the main body lock 6, a load-bearing pin is provided on the main body lock 6, a hanging groove is provided at the lower end of the hanging beam body 8, a sensor for monitoring the weight information of the carried goods is installed on the load-bearing pin or the hanging beam body 8, and the sensor is electrically connected to the drive controller 9; the push-pull mechanism drives the main body lock 6 and the load-bearing pin thereon to move back and forth, so that the load-bearing pin is inserted into the bottom pin hole of the hanging groove of the hanging beam body 8 or exits the bottom pin hole of the hanging groove of the hanging beam body 8; when the equipment is in the hooked state, the load-bearing pin of the main body lock is inserted into the hanging beam body 8; when the equipment is unhooked, the push-pull mechanism drives the main body lock 6 to move until the load-bearing pin of the main body lock 6 exits the hanging beam body 8.

[0047] In this embodiment, the push-pull mechanism is specifically a screw stepper motor 11; the screw stepper motor 11 includes a stepper motor and a ball screw, the stepper motor is fixed on the housing or the suspension beam body 8, the output end of the stepper motor is connected to one end of the ball screw, the ball screw is sleeved with a connecting nut 4, the connecting nut 4 is connected to the main body lock buckle 6, the stepper motor drives the ball screw to rotate, thereby driving the main body lock buckle 6 to move back and forth along the ball screw through the connecting nut 4;

[0048] Furthermore, a lock cover plate 3 is provided on the outside of the main lock buckle 6, and a connecting nut 4 is fixed on the middle hole of the main lock buckle 6. The middle hole of the lock cover plate 3 passes through the connecting nut 4 and is fixed to the main lock buckle 6 by a connecting bolt 5.

[0049] Specifically, the hanging beam body 8 on both sides of the hanging slot is provided with pin holes for the load-bearing pin shaft to be inserted into the hanging slot, and thin-walled pressure sensors are installed in the pin holes. The thin-walled pressure sensors are electrically connected to the drive controller 9 for monitoring the weight information of the carried goods.

[0050] In addition, the remote control unhooking device also includes a limit sleeve 7 for confirming the moving position of the load-bearing pin shaft, and the limit sleeve 7 is sleeved on the load-bearing pin shaft of the main body lock 6; the limit sleeve 7 can be used to confirm the relative position of the load-bearing pin shaft inserted into or exited from the hanging groove of the hanging beam main body 8, and then determine whether the device has completed hooking or unhooking.

[0051] In a preferred embodiment of the present invention, the lifting lugs of the lifting beam body 8 are circular lifting lugs, which can adapt to the end structures of various lifting equipment and have good adaptability.

[0052] like Figure 2 3(a) and 3(b) are schematic diagrams of the overall model and internal structure model of the remote control unhooking device of this embodiment; Figure 4-Figure 9 This is a schematic diagram of the model of the main components of the remote control unhooking device of this embodiment.

[0053] Specifically, the wall pressure sensor monitors the weight information of the cargo, which is then transmitted by the sensor to the remote control terminal through the controller. The remote control terminal can receive and process the data from the sensor; when the load weight detected by the sensor exceeds the rated range, the remote control terminal will immediately emit a buzzer to alert the operator. This reminder mechanism is to ensure that the operator can detect potential overload conditions in a timely manner and take necessary measures. Once an overload is detected, the operator should immediately stop the current lifting operation and switch to other more reliable and safe lifting solutions. In this way, through the collaborative work of the thin-wall pressure sensor and the remote control terminal, the overload protection can be effectively played to ensure the safety and reliability of the entire lifting process.

[0054] like Fig.10As shown, the staff uses the remote control terminal to remotely control the device of the present invention to perform hooking and unhooking operations. When the hooking operation is performed in this embodiment, the load-bearing pin of the main body lock is not inserted into the bottom pin hole of the hanging groove at the lower end of the hanging beam main body 8. When the boom of the lifting equipment is lifted to a suitable height, the equipment can pass through the hanging point of the goods. At this time, the operator assists in adjusting the angle alignment of the unhooking equipment, starts the hooking key of the remote control terminal, and the driving controller 9 receives the signal from the remote control terminal of the staff, controls the screw stepper motor 11 to rotate forward, drives the ball screw to rotate, so that the connecting nut 4 drives the main body lock 6 to move on the ball screw, and the load-bearing pin of the main body lock 6 is inserted into the pin hole at the bottom end of the hanging beam main body 8 to complete the hooking action; when the goods are transported and unhooking is performed, the controller receives the signal from the remote control terminal of the staff, controls the screw stepper motor 11 to reverse, and the screw stepper motor 11 reverses to drive the ball screw to rotate, so that the connecting nut 4 drives the main body lock 6 to move in the opposite direction of the ball screw, so that the bearing pin of the main body lock 6 gradually withdraws from the pin hole at the bottom end of the hanging beam main body 8, and the remote control unhooking is completed.

[0055] The lifting equipment can be connected to multiple remote control unhooking devices, each remote control unhooking device has an independent drive controller, and each drive controller has a corresponding remote control terminal for precise control; in addition, the present invention also allows a single remote control terminal to be paired with multiple controllers, so that a single remote control terminal can send signals to multiple controllers at one time, thereby realizing simultaneous control of multiple devices. The present invention has significant advantages when used in lifting operations. The number of unhooking devices can be dynamically adjusted according to actual operation requirements, and multiple pieces of cargo can be lifted at one time by centrally controlling the unhooking, which not only improves the operation efficiency, but also greatly simplifies the operation process, making the operation process more efficient and safe.

[0056] In addition, this embodiment provides a strength calculation for the main body lock load-bearing pin shaft and the inner wall of the pin hole connecting the suspension beam main body 8, so as to calculate the maximum load-bearing capacity that the load-bearing pin shaft and the inner wall of the pin hole can meet.

[0057] The load-bearing structure of the equipment is mainly through the cooperation of the load-bearing pin shaft and the pin hole position, in which the middle section of the load-bearing pin shaft bears the downward gravity of the goods, and the parts inserted into the pin holes at both ends are supported by the reaction force of the hanging beam, such as Fig.11 As shown, it can be regarded as a simply supported beam for force analysis, where A and B are support points, q is the load on the beam, x is the supported length of the beam, l is the loaded length of the beam, and F RA 、F RB are the support reactions at both ends of the beam respectively.

[0058] Among them, the reaction force is:

[0059] Shear force equation:

[0060] Bending moment equation:

[0061] where \(0 \lt x \lt 1\), the shear force diagram and bending moment diagram obtained are as shown in Fig.12 and Fig.13 shown.

[0062] Differentiate the bending moment equation with respect to \(x\):

[0063] Stationary point: Then the maximum bending moment value at the mid-span section of the beam is The maximum absolute value of the shear force at the inner sections of the two supports is

[0064] The material of the pin shaft can be approximated as a homogeneous and continuous elastic body. For a pin shaft subjected to bending, its maximum actual normal stress usually occurs at the section with the maximum bending moment. According to the bending theory in mechanics of materials, the maximum actual normal stress \(\sigma\) max can be calculated by the following formula:

[0065] where \(M\) is the bending moment applied to the pin shaft and \(d\) is the diameter of the pin shaft.

[0066] Compare the calculated maximum actual normal stress with the allowable bending stress of the material. The allowable bending stress is usually determined based on the yield strength \(\sigma\) y and the safety factor \(n\):

[0067] For a pin shaft subjected to shear, its maximum actual shear stress usually occurs at the section with the maximum shear force. According to the shear theory in mechanics of materials, the maximum actual shear stress \(\tau\) max can be calculated by the following formula:

[0068]

[0069] where \(V\) is the shear force applied to the pin shaft.

[0070] Compare the calculated maximum actual shear stress with the allowable shear stress \(\tau\) allow of the material. The allowable shear stress is usually determined based on the shear modulus \(G\), yield strength \(\sigma\) y and the safety factor \(n\):

[0071]

[0072] When the pin shaft is subjected to axial force, the inner wall of the pin hole will also be subjected to bearing stress, and the actual bearing stress \(\sigma\) p can be calculated by the following formula:

[0073]

[0074] Where D is the pin hole diameter.

[0075] Where F is the axial force on the bearing pin, D is the pin hole diameter, and d is the pin diameter. allow,b The allowable bending stress of the inner wall of the pin hole is usually calculated based on the yield strength σ y and safety factor n as well as the shape and size of the pressure-bearing area.

[0076] The maximum load-bearing capacity of the bearing pin includes the allowable bending stress and the allowable shear stress, and the maximum load-bearing capacity of the inner wall of the pin hole includes the allowable bending stress. Substituting the parameters into the calculation, when σ max ≤σ allow,b , the bending strength of the load-bearing pin meets the requirements; when τ max ≤τ allow,b , the shear strength of the bearing pin meets the requirements; when σ p ≤σ allow,b , the pressure-bearing strength of the inner wall of the pin hole meets the requirements.

[0077] In addition, the present invention also provides a remote control unhooking method with overload protection supporting collaborative operation, which is used for unhooking the remote control unhooking device with overload protection supporting collaborative operation described in this embodiment, and the method includes:

[0078] Sending a hook signal to the drive controller 9;

[0079] After receiving the hooking signal, the driving controller 9 controls the push-pull mechanism to operate, and the push-pull mechanism drives the main body lock buckle 6 and the bearing pin shaft thereon to move, so that the bearing pin shaft is laterally inserted into the hanging groove of the hanging beam main body 8, and the goods are hooked;

[0080] Lift the cargo slowly and check whether it is overloaded. If not, transport the cargo to the destination;

[0081] Sending a decoupling signal to the drive controller 9;

[0082] After receiving the unhooking signal, the driving controller 9 controls the push-pull mechanism to operate, and the push-pull mechanism drives the main body lock 6 and the load-bearing pin shaft thereon to move, so that the load-bearing pin shaft laterally withdraws from the hanging groove of the hanging beam main body 8, completing the remote control unhooking.

[0083] The present invention provides a remote control unhooking device and method with overload protection that supports collaborative operation. Remote control unhooking is achieved through an electric lock and a drive controller. The drive controller can quickly and accurately identify and respond to command signals from a remote control terminal, thereby controlling the electric lock to achieve fast and safe hooking and unhooking operations, effectively avoiding the situation where operators need to come into close contact with heavy objects or dangerous goods during the unhooking process, thereby significantly reducing the probability of accidents, improving the safety of operations, and increasing overall operation efficiency, and reducing labor costs; in addition, by installing a thin-walled pressure sensor between the pin hole positions where the lifting beam body is connected to the electric lock, the sensor can monitor and capture the weight information of the carried goods in real time, and an alarm is issued when the weight of the goods exceeds the loadable weight, effectively playing a role of overload protection, ensuring the safety and reliability of the entire lifting process; and the remote control unhooking device adopts a special pin-hole matching load-bearing structure, which solves the problems of loose hooks and easy slipping during lifting in the use of traditional slings, and has good adaptability and expansibility, not only can it be well adapted to various shapes of lifting ears and lifting ropes encountered in actual lifting operations, but also can add other slings to the equipment for use.

[0084] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0085] The order of execution of each step in the above embodiment does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0086] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A remote control unhooking device with overload protection supporting collaborative operation, characterized in that: It comprises a hanging beam body (8), a driving controller (9), a power module (2), an electric-controlled lock, and a housing (1); The upper end of the lifting beam body (8) is provided with a lifting lug for connecting to a lifting device, and the lower end is connected with an electric-controlled lock for hooking and unhooking goods; the shell (1) contains a power module (2) for power supply and a drive controller (9) for receiving a remote-controlled unhooking signal and controlling the electric-controlled lock, and the power module and the drive controller (9) are connected to the electric-controlled lock; the shell (1) is connected and fixed to the lifting beam body (8); The electric lock comprises a main body lock (6) and a push-pull mechanism, wherein the movable end of the push-pull mechanism is connected to the main body lock (6), a load-bearing pin is provided on the main body lock (6), a lower end of the hanging beam main body (8) is provided with a hanging groove with an opening at the bottom, a sensor for monitoring the weight information of the loaded cargo is installed on the load-bearing pin or the hanging beam main body (8), and the sensor is electrically connected to a driving controller (9); the push-pull mechanism drives the main body lock (6) and the load-bearing pin thereon to move back and forth, so that the load-bearing pin is laterally inserted into the hanging groove of the hanging beam main body (8) or withdrawn from the hanging groove of the hanging beam main body (8).

2. The remote control unhooking device with overload protection supporting collaborative operation according to claim 1, characterized in that: The push-pull mechanism is a screw stepper motor (11); the screw stepper motor (11) comprises a stepper motor and a ball screw, the stepper motor is fixedly mounted on a housing or a suspension beam body (8), the output end of the stepper motor is connected to one end of the ball screw, a connecting nut (4) is sleeved on the ball screw, the connecting nut (4) is connected to the main body lock buckle (6), the stepper motor drives the ball screw to rotate, thereby driving the main body lock buckle (6) to move back and forth along the ball screw through the connecting nut (4); A lock cover plate (3) is arranged on the outside of the main lock buckle (6), a connecting nut (4) is fixed on a middle hole of the main lock buckle (6), the middle hole of the lock cover plate (3) passes through the connecting nut (4), and is fixed on the main lock buckle (6) by a connecting bolt (5).

3. The remote control unhooking device with overload protection supporting collaborative operation according to claim 1, characterized in that: The hanging beam bodies (8) on both sides of the hanging groove are provided with pin holes for the load-bearing pin shafts to be inserted into the hanging grooves, and thin-walled pressure sensors are installed in the pin holes. The thin-walled pressure sensors are electrically connected to the drive controller (9) and are used to monitor the weight information of the loaded goods.

4. The remote control unhooking device with overload protection supporting collaborative operation according to claim 1, characterized in that: The remote control unhooking device also includes a limiting sleeve (7) for confirming the moving position of the load-bearing pin shaft, and the limiting sleeve (7) is sleeved on the load-bearing pin shaft of the main body lock buckle (6).

5. The remote control unhooking device with overload protection supporting collaborative operation according to claim 3, characterized in that: The load-bearing capacity of the remote control unhooking device includes the load-bearing capacity of the load-bearing pin shaft and the load-bearing capacity of the inner wall of the pin hole, wherein the maximum load-bearing capacity of the load-bearing pin shaft includes the allowable bending stress and the allowable shear stress, and the maximum load-bearing capacity of the inner wall of the pin hole includes the allowable bending stress; the actual load-bearing capacity of the load-bearing pin shaft includes the actual normal stress and the actual shear stress, and the actual load-bearing capacity of the inner wall of the pin hole includes the actual compressive stress.

6. The remote control unhooking device with overload protection supporting collaborative operation according to claim 4, characterized in that: The allowable bending stress is calculated based on the yield strength and safety factor of the bearing pin material; the actual normal stress is calculated based on the bending moment on the bearing pin and the diameter of the bearing pin.

7. The remote control unhooking device with overload protection supporting collaborative operation according to claim 6, characterized in that: The allowable shear stress is calculated from the shear modulus, yield strength and safety factor of the bearing pin material; the actual shear stress is calculated from the shear force on the bearing pin and the diameter of the bearing pin.

8. The remote control unhooking device with overload protection supporting collaborative operation according to claim 6, characterized in that: The actual bearing stress is calculated based on the axial force on the pin, the pin hole diameter and the diameter of the load-bearing pin.

9. A remote control unhooking device with overload protection supporting collaborative operation according to claim 7 or 8, characterized in that: The bending moment and shear force on the bearing pin are calculated from the load on the bearing pin beam and the load length on the beam.

10. A remote control uncoupling method with overload protection supporting collaborative operation, characterized in that: The method comprises: Sending a hook signal to a drive controller (9); After receiving the hooking signal, the driving controller (9) controls the push-pull mechanism to operate, and the push-pull mechanism drives the main body lock buckle (6) and the bearing pin shaft thereon to move, so that the bearing pin shaft is laterally inserted into the hanging groove of the hanging beam main body (8), thereby completing the hooking of the goods; Lift the cargo slowly and check whether it is overloaded. If not, transport the cargo to the destination; Sending a decoupling signal to a drive controller (9); After receiving the unhooking signal, the driving controller (9) controls the push-pull mechanism to operate, and the push-pull mechanism drives the main body lock (6) and the bearing pin shaft thereon to move, so that the bearing pin shaft laterally withdraws from the hanging groove of the hanging beam main body (8), thereby completing the remote control unhooking.

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