Intelligent crane hoisting path dynamic planning control device based on laser ranging

Abstract

The invention relates to the technical field of data processing systems, and discloses an intelligent crane lifting path dynamic planning control device based on laser ranging, which comprises a bottom plate, a main arm is arranged at the top of the bottom plate, a lifting hook is mounted on one side of the main arm, and a laser transmitter is mounted on one side of the lifting hook and is used for distance measurement; and the changing mechanism is located at the top of the moving mechanism and used for adjusting the height and the direction of the main arm. Through the synergistic effect of the moving mechanism and the changing mechanism, the main arm can flexibly move and adjust in the longitudinal direction, the transverse direction and the vertical direction, a servo motor drives a rotating rod and a gear to be meshed with a rack, and accurate adjustment of the longitudinal position of the main arm is achieved; a first hydraulic telescopic rod is matched with a second pulley to slide in a second sliding groove, the transverse position of the main arm is further finely adjusted, a double-shaft motor drives a moving block to longitudinally move through a two-way lead screw, a rotating plate and a lifting plate are driven to ascend and descend, and vertical lifting adjustment of the main arm is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing systems, and specifically to an intelligent crane hoisting path dynamic planning control device based on laser ranging. Background Art

[0002] In hoisting operations, path planning is a key link to ensure efficient and safe hoisting. Among them, laser ranging technology can accurately obtain the distance information between the crane and the target object by emitting laser pulses and measuring their reflection time, so as to achieve high-precision environmental perception and positioning. Combined with a data processing system, laser ranging technology can analyze the surrounding environmental data in real time, dynamically plan the optimal hoisting path, avoid obstacles and optimize the operation process.

[0003] After retrieval, the patent with the Chinese patent number CN115893227A discloses that the invention belongs to the technical field of construction machinery, and specifically relates to a crane and a hoisting process. The crane includes a turntable and a boom hinged to the head end of the turntable. The boom is used for hoisting large loads. Among them, the crane also includes a mast hoisting component and a luffing mechanism. The mast hoisting component includes a mast. The bottom end of the mast is hinged to the turntable, and the top end is connected to the top end of the boom through a pull plate and is used for hoisting the first balance weight. The luffing mechanism includes a luffing wire rope connected to the mast and a rope winding component installed on the turntable. The rope winding component adjusts the angle between the mast and the turntable by winding and unwinding the luffing wire rope. By hoisting the first balance weight at the top end of the mast, the present invention reduces the tension borne by the luffing wire rope, eliminates the limitation of the allowable tension of the luffing wire rope on the performance of the crane, and enables the crane to break through the original hoisting limit and meet the hoisting requirements of greater weights under the condition that the allowable tension of the luffing wire rope remains unchanged.

[0004] For the above-mentioned crane hoisting, the adjustment of the main boom of the crane depends on a single mechanism. For example, during horizontal or vertical movement, usually only one direction of adjustment can be performed. In a relatively complex building environment, it is difficult to achieve multi-degree-of-freedom coordinated control of longitudinal, lateral, vertical lifting and horizontal rotation, and it will also cause problems such as cumulative positioning errors and action lags during the dynamic planning of the hoisting path. Based on this, the present invention designs an intelligent crane hoisting path dynamic planning control device based on laser ranging to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent crane hoisting path dynamic planning control device based on laser ranging, which solves the problem of difficult multi-directional adjustment in the background art.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: An intelligent crane hoisting path dynamic planning control device based on laser ranging, comprising: A bottom plate, a main arm is provided on the top of the bottom plate, a hook is installed on one side of the main arm, and a laser emitter is installed on one side of the hook and used for distance measurement.

[0007] A moving mechanism, which is located on the top of the bottom plate and is used for adjusting the position of the main arm.

[0008] A changing mechanism, which is located on the top of the moving mechanism and is used for adjusting the height and direction of the main arm. The changing mechanism includes a driving component, a linkage component and a rotating component. The driving component is located on the top of the moving mechanism and is used for driving the rotation of the linkage component and the rotating component. The linkage component is located on the top of the driving component and drives the adjustment of the rotating component and the height of the main arm. The rotating component is located on the top of the linkage component and is used for adjusting the direction of the main arm.

[0009] Preferably, the moving mechanism includes a first chute opened on the top of the bottom plate. A first pulley is slidably connected inside the first chute. There are four groups of first pulleys and they are distributed in a rectangular array. A moving plate is fixedly connected to the top of the first pulley. A rack is installed on one side of the moving plate. A mounting frame is installed on the top of the bottom plate. A servo motor is installed on the top of the mounting frame. A rotating rod is installed at the bottom of the output shaft of the servo motor. A first gear is fixedly connected to the bottom of the rotating rod. The rack and the first gear are meshed with each other. A pushing component is installed on the top of the moving plate.

[0010] Preferably, the pushing component includes a second chute opened on the top of the moving plate. A second pulley is slidably connected inside the second chute. There are four groups of second pulleys and they are distributed in a rectangular array. A connecting frame is fixedly connected to the top of the second pulley. A fixing plate is fixedly connected to the left side of the moving plate. A first hydraulic telescopic rod is fixedly connected to one side of the fixing plate. The first hydraulic telescopic rod and the connecting frame are fixedly connected.

[0011] Preferably, the driving component includes a working plate installed inside the connecting frame. There are two groups of working plates and they are symmetrically distributed. A double-shaft motor is installed inside the working plate located in the front. A bidirectional lead screw is installed on the back of the output shaft of the double-shaft motor. A moving block is threadedly connected to the outer circle of the bidirectional lead screw. A limiting component is installed between the working plates.

[0012] Preferably, the linkage component includes a rotating plate hinged to the top of the moving block. A lifting plate is provided on the top of the rotating plate. A limiting telescopic rod is installed between the working plate and the lifting plate. A sliding block is hinged to the top of the rotating plate. A sliding groove is opened at the bottom of the lifting plate. The sliding block slides inside the sliding groove. A rotating rod is installed on the front of the double-shaft motor.

[0013] Preferably, the rotating assembly includes a rotating frame installed on the top of the lifting plate, the rotating frame is internally rotatably connected with a linkage rod, a second hydraulic telescopic rod is installed on one side of the connecting frame, rotating wheels are installed on the front sides of the rotating rod, the linkage rod and the second hydraulic telescopic rod and the rotating wheels are connected by belts, and a rotating assembly is installed inside the rotating frame.

[0014] Preferably, the rotating assembly includes an active bevel gear installed on the back of the linkage rod, the internal rotation of the rotating frame is connected to a passive rod, the outer ring of the passive rod is fixedly connected to a driven bevel gear, the active bevel gear and the driven bevel gear are meshed with each other, the top of the passive rod is fixedly connected to a rotating disk, the rotating disk is fixedly connected to the main arm, and a sliding assembly is installed between the rotating frame and the rotating disk.

[0015] Preferably, the limiting assembly comprises limiting rods installed between the working plates, the limiting rods are provided in two groups and are symmetrically distributed, and the limiting rods are inserted into the interior of the moving block.

[0016] Preferably, the sliding assembly includes a groove opened at the top of the rotating frame, a ball is slidably connected inside the groove, a connecting rod is installed between the top of the ball and the bottom of the rotating disk, and the balls and connecting rods are provided in multiple groups and distributed in a circular array.

[0017] Preferably, a mounting hole is opened inside the base plate, and the internal thread of the mounting hole is connected to a mounting screw, and the mounting holes and the mounting screws are provided in four groups and distributed in a rectangular array, and the top of the rotating disk is fixedly connected to a limit plate, and the limit plates are provided in two groups and are symmetrically distributed, and an electric hoist is installed between the limit plates, and the output end of the electric hoist is fixedly connected to the hook by a steel cable.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. In the present invention, through the coordinated action of the moving mechanism and the changing mechanism, the main arm can realize flexible movement and adjustment in the longitudinal, lateral and vertical directions. The servo motor drives the rotating rod and the gear to engage with the rack to realize the precise adjustment of the longitudinal position of the main arm; the first hydraulic telescopic rod cooperates with the second pulley to slide in the second slide groove to further fine-tune the lateral position of the main arm. The dual-axis motor drives the moving block to move longitudinally through the bidirectional screw, driving the rotating plate and the lifting plate to produce lifting action, thereby completing the vertical lifting adjustment of the main arm.

[0019] 2. In the present invention, the main arm can be turned horizontally through the design of the rotating component to achieve multi-angle lifting and positioning. The rotation of the dual-axis motor is driven by the rotating rod and the linkage rod to drive the rotating component in the rotating frame to work. The meshing transmission of the active bevel gear and the driven bevel gear drives the rotating disk and the main arm to turn horizontally, meeting the lifting requirements under complex working conditions.

[0020] 3. In the present invention, the laser transmitter carried by the hook measures the distance to the hoisting target in real time, and the gear rack mechanism driven by the servo motor realizes the longitudinal positioning of the main arm. The cooperation of the dual-axis motor and the bidirectional lead screw in the variable mechanism enables the main arm to be vertically raised and lowered. The path is dynamically planned in conjunction with the laser ranging data, which can automatically avoid obstacles and optimize the hoisting trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the crane hoisting path dynamic planning control device of the present invention; Figure 2 It is an overall front view of the crane hoisting path dynamic planning control device of the present invention; Figure 3 for Figure 1 A magnified image of point A; Figure 4 for Figure 2 A magnified view of point B; Figure 5 It is an overall side view of the crane hoisting path dynamic planning control device of the present invention; Figure 6 for Figure 5 Enlarged view of point C; Figure 7 It is an overall side view of the changing mechanism of the present invention; Figure 8 It is an overall front view of the changing mechanism of the present invention.

[0022] Among them: 1. bottom plate; 2. main arm; 3. hook; 4. first slide; 5. first pulley; 6. moving plate; 7. rack; 8. mounting frame; 9. servo motor; 10. rotating rod; 11. first gear; 12. second slide; 13. second pulley; 14. connecting frame; 15. fixed plate; 16. first hydraulic telescopic rod; 17. working plate; 18. double-axis motor; 19. bidirectional screw rod; 20. moving block; 21. rotating Rotating plate; 22, lifting plate; 23, limiting telescopic rod; 24, rotating rod; 25, rotating frame; 26, linkage rod; 27, second hydraulic telescopic rod; 28, rotating wheel; 29, active bevel gear; 30, passive rod; 31, driven bevel gear; 32, rotating disk; 33, limiting rod; 34, groove; 35, ball; 36, connecting rod; 37, mounting hole; 38, mounting screw; 39, limiting plate; 40, electric hoist. Detailed implementation mode

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] Embodiment 1; Please refer to Figures 1-5 , an intelligent crane hoisting path dynamic planning control device based on laser ranging, comprising: a bottom plate 1, a main arm 2 is arranged on the top of the bottom plate 1, a hook 3 is installed on one side of the main arm 2, a laser emitter is installed on one side of the hook 3 and is used for distance measurement, and the laser emitter carried by the hook 3 measures the hoisting target distance in real time; a moving mechanism, which is located on the top of the bottom plate 1 and is used for adjusting the position of the main arm 2; a changing mechanism, which is located on the top of the moving mechanism and is used for adjusting the height and direction of the main arm 2. The changing mechanism includes a driving component, a linkage component and a rotating component. The driving component is located on the top of the moving mechanism and is used for driving the rotation of the linkage component and the rotating component. The linkage component is located on the top of the driving component and drives the adjustment of the rotating component and the height of the main arm 2. The rotating component is located on the top of the linkage component and is used for adjusting the direction of the main arm 2.

[0025] The moving mechanism includes a first chute 4 opened on the top of the bottom plate 1. A first pulley 5 is slidably connected inside the first chute 4. Four groups of first pulleys 5 are provided and are distributed in a rectangular array. A moving plate 6 is fixedly connected to the top of the first pulley 5. A rack 7 is installed on one side of the moving plate 6. An installation frame 8 is installed on the top of the bottom plate 1. A servo motor 9 is installed on the top of the installation frame 8. A rotating rod 10 is installed at the bottom of the output shaft of the servo motor 9. A first gear 11 is fixedly connected to the bottom of the rotating rod 10. The rack 7 and the first gear 11 are meshed with each other. A pushing component is installed on the top of the moving plate 6. The pushing component includes a second chute 12 opened on the top of the moving plate 6. A second pulley 13 is slidably connected inside the second chute 12. Four groups of second pulleys 13 are provided and are distributed in a rectangular array. A connecting frame 14 is fixedly connected to the top of the second pulley 13. A fixing plate 15 is fixedly connected to the left side of the moving plate 6. A first hydraulic telescopic rod 16 is fixedly connected to one side of the fixing plate 15. The first hydraulic telescopic rod 16 and the connecting frame 14 are fixedly connected.

[0026] The working principle of the embodiment of the present invention is as follows: The servo motor 9 drives the rotating rod 10 and the first gear 11, which meshes with the rack 7, enabling the moving plate 6 to move along the bottom plate 1, thereby adjusting the longitudinal position of the main arm 2. At the same time, the first hydraulic telescopic rod 16 pushes the connecting frame 14, causing the second pulley 13 to slide within the second chute 12, further finely adjusting the lateral position of the main arm 2.

[0027] Embodiment 2; Please refer to Figures 1-8 , in the embodiment of the present invention, the driving assembly includes a working plate 17 installed inside the connecting frame 14. There are two groups of working plates 17 and they are symmetrically distributed. Inside the working plate 17 located at the front, a dual-axis motor 18 is installed. On the back of the output shaft of the dual-axis motor 18, a bidirectional lead screw 19 is installed. The outer ring of the bidirectional lead screw 19 is threadedly connected with a moving block 20. The dual-axis motor 18 drives the moving block 20 to move longitudinally along the second chute 12 through the bidirectional lead screw 19, causing the linkage rotating plate 21 and the lifting plate 22 to generate a lifting action, completing the vertical lifting adjustment of the main arm 2. A limiting assembly is installed between the working plates 17. The linkage assembly includes a rotating plate 21 hinged to the top of the moving block 20. At the top of the rotating plate 21, a lifting plate 22 is provided. A limiting telescopic rod 23 is installed between the working plate 17 and the lifting plate 22. A sliding block is hinged to the top of the rotating plate 21. A sliding groove is opened at the bottom of the lifting plate 22. The sliding block slides inside the sliding groove. A rotating rod 24 is installed on the front of the dual-axis motor 18. The rotating assembly includes a rotating frame 25 installed on the top of the lifting plate 22. Inside the rotating frame 25, a linkage rod 26 is rotatably connected. On one side of the connecting frame 14, a second hydraulic telescopic rod 27 is installed. Rotating wheels 28 are installed on the front of the rotating rod 24, the linkage rod 26, and the second hydraulic telescopic rod 27, and the rotating wheels 28 are connected by a belt. A rotating component is installed inside the rotating frame 25.

[0028] The working principle of the embodiment of the present invention is as follows: The rotating rod 24 and the linkage rod 26 are connected by a belt and rotating wheels 28. The rotation of the dual-axis motor 18 not only drives the lifting of the lifting plate 22 but also, through the transmission of the rotating rod 24 and the linkage rod 26, causes the rotating component inside the rotating frame 25 to start working, thereby adjusting the direction of the main arm 2; through the cooperation of the second hydraulic telescopic rod 27, the tension of the belt can be adjusted to prevent the belt from being unable to drive the rotation of the linkage rod 26 due to the descent of the lifting plate 22.

[0029] Embodiment 3; Please refer to Figures 1-8, in the embodiment of the present invention, the rotating assembly includes a driving bevel gear 29 installed on the back of the linkage rod 26. A driven rod 30 is rotatably connected inside the rotating frame 25. A driven bevel gear 31 is fixedly connected to the outer circle of the driven rod 30. The driving bevel gear 29 meshes with the driven bevel gear 31. A rotating disk 32 is fixedly connected to the top of the driven rod 30. The rotating disk 32 is fixedly connected to the main arm 2. The second hydraulic telescopic rod 27 drives the linkage rod 26 and the driven rod 30 to rotate through the belt-driven rotating wheel 28. Through the meshing transmission of the driving bevel gear 29 and the driven bevel gear 31, the rotating disk 32 and the main arm 2 are driven to turn in the horizontal direction, realizing multi-angle hoisting positioning. A sliding assembly is installed between the rotating frame 25 and the rotating disk 32. The limiting assembly includes a limiting rod 33 installed between the working plates 17. There are two groups of limiting rods 33 and they are symmetrically distributed. The limiting rod 33 is inserted into the inside of the moving block 20. The sliding assembly includes a groove 34 opened at the top of the rotating frame 25. A ball 35 is slidably connected inside the groove 34. A connecting rod 36 is installed between the top of the ball 35 and the bottom of the rotating disk 32. There are multiple groups of balls 35 and connecting rods 36 and they are distributed in a circumferential array. The rotating frame 25 assists the rotating disk 32 to rotate smoothly through the balls 35 and the connecting rods 36 in the groove 34, reducing the frictional resistance.

[0030] Installation holes 37 are opened inside the bottom plate 1. Installation screws 38 are threadedly connected inside the installation holes 37. There are four groups of installation holes 37 and installation screws 38 and they are distributed in a rectangular array. The bottom plate 1 is fixed to the operation base through the installation holes 37 and the installation screws 38. A limiting plate 39 is fixedly connected to the top of the rotating disk 32. There are two groups of limiting plates 39 and they are symmetrically distributed. An electric hoist 40 is installed between the limiting plates 39. The output end of the electric hoist 40 is fixedly connected to the hook 3 through a steel cable. The limiting plate 39 and the electric hoist 40 cooperate to control the lifting amplitude of the hook 3, ensuring the accuracy of the suspension and release of the heavy object.

[0031] The working principle of the embodiment of the present invention is: The installation holes 37 and the installation screws 38 of the bottom plate 1 are used to fix the entire device, ensuring the operation stability. The cooperation of the limiting plate 39 and the electric hoist 40 enables the hook 3 to accurately lift and lower the heavy object. At the same time, the electric hoist 40 is connected to the hook 3 through a steel cable, providing the pulling force required for hoisting.

[0032] Working principle: During the operation of the crane, the moving mechanism and the variable mechanism work together to achieve precise positioning and direction adjustment of the main arm 2. The main arm 2 on the top of the base plate 1 is connected to the weight through the hook 3. The laser transmitter on the hook 3 monitors the distance information of the surrounding space in real time to ensure the safety of lifting. The moving mechanism consists of a first slide 4 and a first pulley 5, allowing the moving plate 6 to be adjusted on the base plate 1. The servo motor 9 drives the rotating rod 10 and the first gear 11, which engages with the rack 7, so that the moving plate 6 can move along the base plate 1, thereby adjusting the longitudinal position of the main arm 2. At the same time, the first hydraulic telescopic rod 16 pushes the connecting frame 14, so that the second pulley 13 slides in the second slide 12, further fine-tuning the lateral position of the main arm 2.

[0033] The double-axis motor 18 in the driving assembly drives the two-way screw 19 to rotate, driving the moving block 20 to move along the limit rod 33, thereby adjusting the height of the rotating plate 21 and the lifting plate 22, and realizing the vertical adjustment of the main arm 2. The rotating rod 24 is connected to the linkage rod 26 through a belt and a rotating wheel 28. The rotation of the double-axis motor 18 not only drives the lifting plate 22 to rise and fall, but also drives the rotating assembly in the rotating frame 25 to start working through the transmission of the rotating rod 24 and the linkage rod 26, thereby adjusting the direction of the main arm 2. Through the cooperation of the second hydraulic telescopic rod 27, the tension of the belt can be adjusted to prevent the lifting plate 22 from falling and causing the belt to be unable to drive the linkage rod 26 to rotate. The active bevel gear 29 and the driven bevel gear 31 in the rotating frame 25 are meshed, and the rotational motion is transmitted to the passive rod 30 and the rotating disk 32, so that the main arm 2 can rotate to the desired direction. The ball 35 and the connecting rod 36 in the sliding assembly slide in the groove 34 to ensure the smooth rotation of the rotating disk 32.

[0034] The mounting holes 37 and mounting screws 38 of the bottom plate 1 are used to fix the entire device to ensure operational stability. The cooperation between the limit plate 39 and the electric hoist 40 enables the hook 3 to accurately lift and lower heavy objects. At the same time, the electric hoist 40 is connected to the hook 3 through a steel cable to provide the pulling force required for lifting.

[0035] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit thereof, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent crane lifting path dynamic programming control device based on laser ranging, characterized in that, Comprising: A bottom plate (1), a main arm (2) is arranged on the top of the bottom plate (1), a hook (3) is installed on one side of the main arm (2), and a laser emitter is installed on one side of the hook (3) and used for distance measurement; A moving mechanism, which is located on the top of the bottom plate (1) and used for adjusting the position of the main arm (2); A changing mechanism, which is located on the top of the moving mechanism and used for adjusting the height and direction of the main arm (2). The changing mechanism includes a driving component, a linkage component and a rotating component. The driving component is located on the top of the moving mechanism and used for driving the rotation of the linkage component and the rotating component. The linkage component is located on the top of the driving component and drives the adjustment of the rotating component and the height of the main arm (2). The rotating component is located on the top of the linkage component and used for adjusting the direction of the main arm (2).

2. The intelligent crane hoisting path dynamic planning control device based on laser ranging according to claim 1, characterized in that: The moving mechanism includes a first chute (4) opened on the top of the bottom plate (1). A first pulley (5) is slidably connected inside the first chute (4). Four groups of first pulleys (5) are provided and distributed in a rectangular array. A moving plate (6) is fixedly connected to the top of the first pulley (5). A rack (7) is installed on one side of the moving plate (6). An installation frame (8) is installed on the top of the bottom plate (1). A servo motor (9) is installed on the top of the installation frame (8). A rotating rod (10) is installed at the bottom of the output shaft of the servo motor (9). A first gear (11) is fixedly connected to the bottom of the rotating rod (10). The rack (7) and the first gear (11) are meshed with each other. A pushing component is installed on the top of the moving plate (6).

3. The intelligent crane hoisting path dynamic planning control device based on laser ranging according to claim 2, characterized in that: The pushing component includes a second chute (12) opened on the top of the moving plate (6). A second pulley (13) is slidably connected inside the second chute (12). Four groups of second pulleys (13) are provided and distributed in a rectangular array. A connecting frame (14) is fixedly connected to the top of the second pulley (13). A fixing plate (15) is fixedly connected to the left side of the moving plate (6). A first hydraulic telescopic rod (16) is fixedly connected to one side of the fixing plate (15). The first hydraulic telescopic rod (16) and the connecting frame (14) are fixedly connected to each other.

4. The intelligent crane hoisting path dynamic planning control device based on laser ranging according to claim 3, characterized in that: The driving component includes a working plate (17) installed inside the connecting frame (14). Two groups of working plates (17) are provided and distributed symmetrically. A double-shaft motor (18) is installed inside the working plate (17) located at the front. A bidirectional lead screw (19) is installed on the back of the output shaft of the double-shaft motor (18). A moving block (20) is threadedly connected to the outer ring of the bidirectional lead screw (19). A limiting component is installed between the working plates (17).

5. The intelligent crane hoisting path dynamic programming control device based on laser ranging according to claim 4, characterized in that: The linkage assembly includes a rotating plate (21) hinged to the top of the moving block (20). A lifting plate (22) is arranged at the top of the rotating plate (21). A limiting telescopic rod (23) is installed between the working plate (17) and the lifting plate (22). A sliding block is hinged to the top of the rotating plate (21). A sliding groove is formed at the bottom of the lifting plate (22). The sliding block slides inside the sliding groove. A rotating rod (24) is installed on the front of the dual-axis motor (18).

6. The intelligent crane hoisting path dynamic planning control device based on laser ranging according to claim 5, characterized in that: The rotating assembly includes a rotating frame (25) installed at the top of the lifting plate (22). A linkage rod (26) is rotatably connected inside the rotating frame (25). A second hydraulic telescopic rod (27) is installed on one side of the connecting frame (14). Rotating wheels (28) are installed on the front of the rotating rod (24), the linkage rod (26), and the second hydraulic telescopic rod (27), and the rotating wheels (28) are connected by a belt. A rotating component is installed inside the rotating frame (25).

7. The intelligent crane hoisting path dynamic programming control device based on laser ranging according to claim 6, characterized in that: The rotating component includes a driving bevel gear (29) installed on the back of the linkage rod (26). A driven rod (30) is rotatably connected inside the rotating frame (25). A driven bevel gear (31) is fixedly connected to the outer circle of the driven rod (30). The driving bevel gear (29) meshes with the driven bevel gear (31). A rotating disk (32) is fixedly connected to the top of the driven rod (30). The rotating disk (32) is fixedly connected to the main arm (2). A sliding component is installed between the rotating frame (25) and the rotating disk (32).

8. The intelligent crane hoisting path dynamic programming control device based on laser ranging according to claim 4, characterized in that: The limiting component includes a limiting rod (33) installed between the working plates (17). There are two groups of the limiting rods (33) and they are symmetrically distributed. The limiting rods (33) penetrate inside the moving block (20).

9. The intelligent crane hoisting path dynamic programming control device based on laser ranging according to claim 7, characterized in that: The sliding component includes a groove (34) formed at the top of the rotating frame (25). A ball (35) is slidably connected inside the groove (34). A connecting rod (36) is installed between the top of the ball (35) and the bottom of the rotating disk (32). There are multiple groups of the balls (35) and the connecting rods (36) and they are distributed in a circular array.

10. The intelligent crane hoisting path dynamic planning control device based on laser ranging according to claim 7, characterized in that: Installation holes (37) are formed inside the bottom plate (1). Installation screws (38) are threadedly connected inside the installation holes (37). There are four groups of the installation holes (37) and the installation screws (38) and they are distributed in a rectangular array. A limiting plate (39) is fixedly connected to the top of the rotating disk (32). There are two groups of the limiting plates (39) and they are symmetrically distributed. An electric hoist (40) is installed between the limiting plates (39). The output end of the electric hoist (40) is fixedly connected to the hook (3) through a steel cable.

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