Safe obstacle avoidance device for intelligent crane

Abstract

The invention discloses a safe obstacle avoidance device for an intelligent crane, which relates to the technical field of cranes, and adopts the technical scheme that the safe obstacle avoidance device comprises an end beam, an adjusting shell is fixedly connected in the end beam, a third motor is arranged on one side of the adjusting shell, a third threaded rod is arranged at the output end of the third motor, and the third threaded rod is in meshed connection with a transmission part; the transmission part is rotatably connected with a first transmission wheel, the first transmission wheel is fixedly connected with a third gear, the first transmission wheel is in transmission connection with a transmission belt, and the transmission belt is in transmission connection with a second transmission wheel. The third gear is driven by the groove to rotate under the friction effect, the eccentric shaft can be driven to rotate through rotation of the third gear, the friction head can be driven to reciprocate through rotation of the eccentric shaft, and therefore friction is generated between the friction head and the surface of the walking wheel in a reciprocating mode, and snub braking is achieved.

Description

Technical Field

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

[0002] In the field of industrial construction, with the increase in crane operating speed and the growing demand for multi-machine collaborative operations, the limitations of traditional mechanical safety obstacle avoidance devices have become increasingly prominent. Existing technologies mostly rely on the rigid contact between the travel limit switch and the safety scale to trigger power outage, but are easily affected by the wheel tread width deviation, mechanical vibration and installation accuracy. Contact dislocation or overvoltage shock may occur, causing the limit switch to fail. Such devices cannot dynamically perceive environmental changes and have difficulty coping with sudden obstacles under complex working conditions. Similar to the idea of automatic capture cages to achieve active obstacle avoidance through multi-sensor fusion, intelligent crane safety obstacle avoidance devices need to integrate lidar, cameras and ultrasonic sensors to build a three-dimensional environmental model in real time, combine prediction algorithms to predict collision risks, and achieve autonomous obstacle avoidance through dynamic path planning and braking systems, thereby breaking through the passive response limitations of traditional mechanical devices.

[0003] In actual use, the existing device stops the crane in an emergency after detecting an obstacle. Although it can avoid collision, the impact of the emergency stop accelerates the wear of components such as the gearbox and steel cable. In addition, the position of the spreader needs to be recalibrated after braking, which makes the use effect poor. Therefore, a safety obstacle avoidance device for intelligent cranes is proposed. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the existing technology that, after a crane detects an obstacle, it stops urgently. Although it can avoid collision, the impact of the emergency stop accelerates the wear of components such as the gearbox and steel cable, and the position of the spreader needs to be recalibrated after braking, resulting in poor performance. A safety obstacle avoidance device for an intelligent crane is proposed to solve the problems in the existing technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A safety obstacle avoidance device for an intelligent crane comprises an end beam, an adjusting housing is fixedly connected to the end beam, a third motor is provided on one side of the adjusting housing, a third threaded rod is provided on an output end of the third motor, the third threaded rod is meshedly connected to a transmission member, the transmission member is rotatably connected to a first transmission wheel, the first transmission wheel is fixedly connected to a third gear, the first transmission wheel is transmission-connected to a transmission belt, the transmission belt is transmission-connected to a second transmission wheel, the second transmission wheel is rotatably connected to a brake frame, the brake frame is fixedly connected to the end beam, the second transmission wheel is fixedly connected to an eccentric shaft, the eccentric shaft is rotatably connected to a connecting rod, the connecting rod is rotatably connected to a friction head, the friction head is slidingly connected to the brake frame, the end beam is rotatably connected to a walking wheel, one side of the walking wheel is connected to a reduction motor, one side of the walking wheel is provided with a groove, and a disc brake mechanism is provided inside the end beam.

[0007] When an obstacle appears in the running path of the end beam, the reduction motor used for transmission stops moving, while the walking wheel will continue to rotate under the action of inertia, and the third gear will be driven to move by the third motor. After the third gear moves into the groove, it will be driven to rotate through the groove under the action of friction. The rotation of the third gear drives the eccentric shaft to rotate, and the rotation of the eccentric shaft drives the friction head to move back and forth, so that the walking wheel is frequently braked by the friction head to implement the first stage of braking. When the speed of the walking wheel drops, the disc brake mechanism is started again, and the double brake mechanism brakes the walking wheel to ensure safe obstacle avoidance while avoiding direct emergency stop causing component wear and hoist deviation.

[0008] The above technical solution further includes:

[0009] The disc brake mechanism includes a brake housing fixedly connected to the inside of the end beam, a second motor is provided on one side of the brake housing, and a brake assembly is provided at the output end of the second motor.

[0010] The brake assembly includes a first gear provided at the output end of the second motor, the first gear is meshedly connected to the second gear, the second gear is symmetrically fixedly connected to the second threaded rod on both sides, and the second threaded rod is threadedly connected to the brake disc.

[0011] One side of the brake housing is fixedly connected to a limit rod, and both sides of the limit rod are slidably connected to brake discs.

[0012] The upper portion of the end beam is fixedly connected to the main beam, the upper portion of the main beam is provided with a panoramic camera, and the upper portion of the main beam is fixedly connected to a crane.

[0013] A track is provided at the lower portion of the end beam, and the track is clamped with the traveling wheel.

[0014] A telescopic shell is fixedly connected to the inside of the end beam, a first motor is provided on one side of the telescopic shell, a first threaded rod is provided at the output end of the first motor, the first threaded rod is threadedly connected to the anti-collision beam, and a connecting plate is fixedly connected to the end of the anti-collision beam away from the first motor.

[0015] The front end of the connecting plate is fixedly connected to a spring, the front end of the spring is fixedly connected to an anti-collision head, and the rear end of the anti-collision head is rotatably connected to a guide rod.

[0016] The guide rod is slidably connected to the damping shell, and the damping shell is rotatably connected to the connecting plate. An oil chamber is provided inside the damping shell, and a piston is slidably connected inside the oil chamber. The piston is fixedly connected to the guide rod, a damping hole is provided on the upper part of the piston, a damping medium is provided inside the oil chamber, and sealing plates are provided on both sides of the oil chamber.

[0017] The present invention has the following beneficial effects:

[0018] 1. In the present invention, when the panoramic camera detects an obstacle near the track during the operation of the crane, the reduction motor arranged on one side of the traveling wheel stops running immediately, and the traveling wheel continues to rotate under the action of inertia, thereby driving the crane to slide. At this time, the third motor is started to drive the transmission member to move, and the movement of the transmission member drives the third gear to contact the groove, and the third gear is driven by the groove to rotate under the action of friction. The rotation of the third gear drives the eccentric shaft to rotate, and the rotation of the eccentric shaft drives the friction head to move back and forth, thereby rubbing against the surface of the traveling wheel to achieve point braking. When the speed of the traveling wheel drops, the disc brake mechanism is started again to drive the brake disc to close inward for secondary braking. Through the segmented and step-by-step braking method, while effectively ensuring the braking effect, it can maximize the protection of components such as the gear box and steel cable, and also reduce the degree of deviation of the spreader.

[0019] 2. In the present invention, if a moving obstacle suddenly appears near the track and the crane's braking cannot avoid a collision, the first motor can be started to drive the anti-collision beam to move, extend from the front end of the end beam and lock in position, and restrict the crane from approaching further when it makes rigid contact with the obstacle. The front end of the anti-collision beam is also provided with an anti-collision head. When a collision occurs, the anti-collision head can replace the end beam to receive the impact of the impact, and after the anti-collision head receives the impact, a combination of a spring and a damper is used to achieve progressive energy absorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a safety obstacle avoidance device for an intelligent crane proposed by the present invention;

[0021] Figure 2 Schematic diagram of the internal structure of the end beam in the present invention;

[0022] Figure 3 Schematic diagram of the buffer mechanism structure of the present invention;

[0023] Figure 4 Schematic diagram of the internal structure of the damping shell in the present invention;

[0024] Figure 5 Schematic diagram of the internal structure of the telescopic shell in the present invention;

[0025] Figure 6 Schematic diagram of the internal structure of the brake housing in the present invention;

[0026] Figure 7 Schematic diagram of the internal structure of the travel wheel in the present invention;

[0027] Figure 8 Schematic diagram of the internal structure of the regulating shell in the present invention.

[0028] In the figure: 1. end beam; 2. track; 3. anti-collision head; 4. main beam; 5. crane; 6. panoramic camera; 7. walking wheel; 8. telescopic shell; 9. adjustment shell; 10. brake shell; 11. brake disc; 12. connecting plate; 13. spring; 14. damping shell; 15. guide rod; 16. oil chamber; 17. piston; 18. damping hole; 19. first motor; 20. anti-collision beam; 21. first threaded rod; 22. second motor; 23. first gear; 24. second gear; 25. second threaded rod; 26. limit rod; 27. groove; 28. third gear; 29. first transmission wheel; 30. transmission belt; 31. second transmission wheel; 32. eccentric shaft; 33. connecting rod; 34. friction head; 35. brake frame; 36. third motor; 37. third threaded rod; 38. transmission part. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Example 1

[0031] like Figures 1-8As shown, a safety obstacle avoidance device for an intelligent crane includes an end beam 1, an adjusting housing 9 is fixedly connected to the end beam 1, a third motor 36 is provided on one side of the adjusting housing 9, a third threaded rod 37 is provided at the output end of the third motor 36, and the third threaded rod 37 is meshed with a transmission member 38, the transmission member 38 is rotatably connected to the first transmission wheel 29, the first transmission wheel 29 is fixedly connected to the third gear 28, the first transmission wheel 29 is transmission-connected to the transmission belt 30, the transmission belt 30 is transmission-connected to the second transmission wheel 31, the second transmission wheel 31 is rotatably connected to the brake frame 35, the brake frame 35 is fixedly connected to the end beam 1, the second transmission wheel 31 is fixedly connected to the eccentric shaft 32, the eccentric shaft 32 is rotatably connected to the connecting rod 33, the connecting rod 33 is rotatably connected to the friction head 34, the friction head 34 and the brake frame 35 are slidingly connected, the end beam 1 is rotatably connected to the walking wheel 7, one side of the walking wheel 7 is connected to the reduction motor, one side of the walking wheel 7 is provided with a groove 27, and a disc brake mechanism is provided inside the end beam 1.

[0032] When an obstacle appears in the running path of the end beam 1, the reduction motor used for transmission stops moving, while the travel wheel 7 will continue to rotate under the action of inertia, and the third gear 28 will be driven to move by the third motor 36. After the third gear 28 moves into the inside of the groove 27, it will be driven to rotate by the groove 27 under the action of friction. The rotation of the third gear 28 drives the eccentric shaft 32 to rotate, and the rotation of the eccentric shaft 32 drives the friction head 34 to move back and forth, thereby frequently braking the travel wheel 7 through the friction head 34 to implement the first stage of braking. When the speed of the travel wheel 7 drops, the disc brake mechanism is started again, and the double braking mechanism brakes the travel wheel 7 to ensure safe obstacle avoidance while avoiding direct emergency stops that cause component wear and deviation of the hoist.

[0033] The disc brake mechanism includes a brake housing 10 fixedly connected to the inside of the end beam 1, a second motor 22 is provided on one side of the brake housing 10, and a brake assembly is provided at the output end of the second motor 22. The brake assembly includes a first gear 23 provided at the output end of the second motor 22, the first gear 23 is meshingly connected to the second gear 24, and the second gear 24 is symmetrically fixedly connected to the second threaded rod 25 on both sides, and the second threaded rod 25 is threadedly connected to the brake disc 11. A limiting rod 26 is fixedly connected to one side of the brake housing 10, and the brake disc 11 is slidably connected on both sides of the limiting rod 26. The upper part of the end beam 1 is fixedly connected to the main beam 4, and a panoramic camera 6 is provided on the upper part of the main beam 4. The upper part of the main beam 4 is fixedly connected to the crane 5, and the lower part of the end beam 1 is provided with a track 2, which is clamped between the track 2 and the walking wheel 7.

[0034] In this embodiment, when the panoramic camera 6 detects an obstacle near the track 2 during crane operation, the reduction motor provided on one side of the traveling wheel 7 immediately stops operating, while the traveling wheel 7 continues to rotate due to inertia, thereby driving the crane to slide. At this time, the third motor 36 is activated to drive the third threaded rod 37 to rotate. The rotation of the third threaded rod 37 drives the threaded transmission member 38 to move. The movement of the transmission member 38 drives the third gear 28 to contact the groove 27. The third gear 28 is driven to rotate by the groove 27 under the action of friction. The rotation of the third gear 28 drives the fixedly connected first transmission wheel 29 to rotate. The rotation of the first transmission wheel 29 drives the rotation of the second transmission wheel 31 connected via the transmission belt 30. The rotation of the second transmission wheel 31 drives the fixedly connected eccentric shaft 32 to rotate. The rotation of the eccentric shaft 32 drives the rotatably connected connecting rod 33 to rotate. The rotation of the connecting rod 33 drives the rotatably connected friction head 34 to reciprocate, thereby generating friction with the surface of the traveling wheel 7 to achieve point braking.

[0035] After the speed of the traveling wheel 7 drops, the second motor 22 is started again, and the first gear 23 is driven to rotate by the second motor 22. The rotation of the first gear 23 drives the meshing second gear 24 to rotate, and the rotation of the second gear 24 can drive the fixedly connected second threaded rod 25 to rotate. The rotation of the second threaded rod 25 can drive the threaded brake disc 11 to move, and the slidingly connected limit rod 26 during the movement of the brake disc 11 can ensure the stability of the brake disc 11 during movement. By controlling the brake discs 11 on both sides to close inward, secondary braking can be performed. Through the segmented step-by-step braking method, while effectively ensuring the braking effect, it can also protect the gear box, steel cable and other components to the maximum extent, and at the same time, it also reduces the degree of offset of the sling.

[0036] Example 2

[0037] like Figures 1-8 As shown, the end beam 1 is fixedly connected to a telescopic shell 8, a first motor 19 is provided on one side of the telescopic shell 8, a first threaded rod 21 is provided at the output end of the first motor 19, the first threaded rod 21 is threadedly connected to the anti-collision beam 20, and the anti-collision beam 20 is fixedly connected to a connecting plate 12 at one end away from the first motor 19, a spring 13 is fixedly connected to the front end of the connecting plate 12, an anti-collision head 3 is fixedly connected to the front end of the spring 13, and a guide rod 15 is rotatably connected to the rear end of the anti-collision head 3, the guide rod 15 and the damping shell 14 are slidingly connected, and the damping shell 14 and the connecting plate 12 are rotatably connected, an oil chamber 16 is provided inside the damping shell 14, a piston 17 is slidably connected inside the oil chamber 16, the piston 17 and the guide rod 15 are fixedly connected, a damping hole 18 is provided on the upper part of the piston 17, a damping medium is provided inside the oil chamber 16, and sealing plates are provided on both sides of the oil chamber 16.

[0038] In this embodiment, if a moving obstacle suddenly appears near the track 2 and the crane braking can no longer avoid a collision, the first motor 19 can be started to drive the first threaded rod 21 to rotate. The rotation of the first threaded rod 21 drives the threaded anti-collision beam 20 to move, and it is locked in position after extending from the front end of the end beam 1. When it comes into rigid contact with the obstacle, the crane is restricted from approaching further. An anti-collision head 3 is also provided at the front end of the anti-collision beam 20. When a collision occurs, the anti-collision head 3 can replace the end beam 1 to be impacted by the impact. After the anti-collision head 3 is impacted, the anti-collision head 3 will be displaced. The displacement of the anti-collision head 3 can drive the guide rod 15 to move, and the movement of the guide rod 15 can drive the damping shell 14 to move inside the oil chamber 16, so that the damping medium inside the oil chamber 16 passes through the damping hole 18 to generate throttling resistance, absorbs the energy generated by the impact, and realizes progressive energy absorption through the combination of the spring 13 and the damper.

[0039] While 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 variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A safety obstacle avoidance device for an intelligent crane, comprising an end beam (1), characterized in that: The end beam (1) is fixedly connected to an adjustment housing (9) inside, a third motor (36) is provided on one side of the adjustment housing (9), an output end of the third motor (36) is provided with a third threaded rod (37), the third threaded rod (37) is meshedly connected to a transmission member (38), the transmission member (38) is rotatably connected to a first transmission wheel (29), the first transmission wheel (29) is fixedly connected to a third gear (28), the first transmission wheel (29) is transmission-connected to a transmission belt (30), the transmission belt (30) is transmission-connected to a second transmission wheel (31), the second transmission wheel (31) is rotationally connected to the first transmission wheel (29), the first transmission wheel (29) is fixedly connected to a third gear (28), the first transmission wheel (29) is transmission-connected to a transmission belt (30), the transmission belt (30) is transmission-connected to a second transmission wheel (31), and the second transmission wheel (31) is rotationally connected to the first transmission wheel (29). The brake frame (35) is rotatably connected to the end beam (1), the brake frame (35) is fixedly connected to the end beam (1), the second transmission wheel (31) is fixedly connected to the eccentric shaft (32), the eccentric shaft (32) is rotatably connected to the connecting rod (33), the connecting rod (33) is rotatably connected to the friction head (34), the friction head (34) and the brake frame (35) are slidably connected, the end beam (1) is rotatably connected to a travel wheel (7), one side of the travel wheel (7) is connected to a reduction motor, one side of the travel wheel (7) is provided with a groove (27), and a disc brake mechanism is provided inside the end beam (1); When an obstacle appears in the running path of the end beam (1), the reduction motor for transmission stops moving, while the walking wheel (7) continues to rotate under the action of inertia, and the third gear (28) is driven to move by the third motor (36). After the third gear (28) moves into the inside of the groove (27), the third gear (28) is driven to rotate by the groove (27) under the action of friction. The rotation of the third gear (28) drives the eccentric shaft (32) to rotate, and the rotation of the eccentric shaft (32) drives the friction head (34) to move back and forth, thereby frequently braking the walking wheel (7) through the friction head (34) to implement the first stage of braking. When the speed of the walking wheel (7) decreases, the disc brake mechanism is activated again, and the double brake mechanism brakes the walking wheel (7), ensuring safe obstacle avoidance while avoiding direct emergency stop causing component wear and sling deviation.

2. The safety obstacle avoidance device for an intelligent crane according to claim 1, characterized in that: The disc brake mechanism comprises a brake housing (10) fixedly connected to the interior of the end beam (1); a second motor (22) is provided on one side of the brake housing (10); and a brake assembly is provided at the output end of the second motor (22).

3. The safety obstacle avoidance device for an intelligent crane according to claim 2, characterized in that: The brake assembly comprises a first gear (23) provided at the output end of a second motor (22), the first gear (23) being meshedly connected to a second gear (24), the second gear (24) being symmetrically fixedly connected to a second threaded rod (25) on both sides, and the second threaded rod (25) being threadedly connected to a brake disc (11).

4. The safety obstacle avoidance device for an intelligent crane according to claim 2, characterized in that: One side of the brake housing (10) is fixedly connected to a limit rod (26), and both sides of the limit rod (26) are slidably connected to brake discs (11).

5. The safety obstacle avoidance device for an intelligent crane according to claim 1, characterized in that: The upper portion of the end beam (1) is fixedly connected to a main beam (4), the upper portion of the main beam (4) is provided with a panoramic camera (6), and the upper portion of the main beam (4) is fixedly connected to a crane (5).

6. The safety obstacle avoidance device for an intelligent crane according to claim 1, characterized in that: A track (2) is provided at the lower portion of the end beam (1), and the track (2) is clamped with the running wheel (7).

7. The safety obstacle avoidance device for an intelligent crane according to claim 1, characterized in that: A telescopic housing (8) is fixedly connected inside the end beam (1), a first motor (19) is provided on one side of the telescopic housing (8), a first threaded rod (21) is provided at the output end of the first motor (19), the first threaded rod (21) is threadedly connected to an anti-collision beam (20), and an end of the anti-collision beam (20) away from the first motor (19) is fixedly connected to a connecting plate (12).

8. The safety obstacle avoidance device for an intelligent crane according to claim 7, characterized in that: The front end of the connecting plate (12) is fixedly connected to a spring (13), the front end of the spring (13) is fixedly connected to an anti-collision head (3), and the rear end of the anti-collision head (3) is rotatably connected to a guide rod (15).

9. The safety obstacle avoidance device for an intelligent crane according to claim 8, characterized in that: The guide rod (15) is slidably connected to the damping housing (14), the damping housing (14) is rotationally connected to the connecting plate (12), and an oil chamber (16) is provided inside the damping housing (14).

10. The safety obstacle avoidance device for an intelligent crane according to claim 9, characterized in that: A piston (17) is slidably connected to the inside of the oil chamber (16), the piston (17) is fixedly connected to the guide rod (15), and a damping hole (18) is provided on the upper part of the piston (17).

Images