Stone hoisting method

Abstract

The invention discloses a stone hoisting method, which comprises an identification step, a loading step and an unloading step, a visual identification module can identify the position relationship between a mounting frame and a to-be-clamped stone, a clamp assembly is longitudinally aligned with the to-be-clamped stone by hoisting and transmitting the clamp assembly, and the to-be-clamped stone is carried by using a hoisting and clamping assembly. The positions between the mounting frame and stones are automatically recognized through the visual recognition module, vertical alignment is achieved, the clamping plates are driven by the hydraulic rods to conduct clamping or discharging action, finally, multi-direction conveying is achieved through hoisting, the stones are sequentially placed according to the set stacking and placing positions, automatic clamping, conveying and discharging are achieved, the intelligent and automatic working mode is achieved, and the working efficiency is improved. The working steps of automatic identification, automatic feeding and automatic discharging are achieved, dependence on human resources is greatly reduced, the transportation cost is reduced, and meanwhile potential safety hazards are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of transportation methods, in particular to a method for lifting stones. Background Art

[0002] In the construction of dams, land reclamation and other projects, a large number of large-tonnage square stones are often required. When the square stones are moved, lifting equipment is needed to lift the square stones onto vehicles or other locations.

[0003] At the same time, when transporting large square stones, each position requires supporting personnel. The stones need to be manually bundled with steel cables and connected to the lifting hooks. The steps are cumbersome and inefficient, and there are certain safety hazards during manual operation. The lifting equipment also needs to be manually operated, requiring the operator to have a high level of professional proficiency. The above traditional transportation plan requires a large amount of human resources, and the transportation efficiency is low, and labor costs account for most of the costs. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for lifting stones, which solves the problems raised in the above background technology. The specific technical solution is as follows: A method for lifting stones comprises the following steps: Step 1: When a stone needs to be lifted, the visual recognition module for intelligent identification and the lifting and clamping components for transporting the stone are activated first; Step 2: The visual recognition module identifies the storage location of the stone in the area to be clamped, as well as the positional relationship between the clamping assembly and the stone to be clamped; Step 3: The clamp assembly is driven by hoisting, and the visual recognition module is used to perform position comparison to align the clamp assembly with the stone to be clamped longitudinally, forming an identification step; Step 4: The hoisting drives the clamp assembly to descend, and the clamping plates on the clamp assembly are used to fix and clamp both sides of the stone, forming the loading step; Step 5: The hoisting drives the clamp assembly and the clamped stone to the unloading area, the clamping plate and the two sides of the stone are separated from each other, and the stone is stored in the unloading area, forming the unloading step; Step 6: Repeat steps 2 to 5 until all the stones in the area to be clamped are transferred to the unloading area, and finally close the visual recognition module and the lifting and clamping components.

[0005] Among them, the loading steps include: after identifying the upper and lower aligned clamp components and the stone to be clamped, the three-axis transmission is hoisted to drive the clamp components to the two sides of the stone to be clamped, and the control system controls the clamping plate to move closer to the center side through the hydraulic rod. The clamping plate contacts the two sides of the stone to be clamped to complete the clamping action.

[0006] The unloading steps include: after the splint clamps the two sides of the stone to be clamped, the three-axis transmission is hoisted to drive the clamp assembly to the unloading area, and the control system controls the splint to expand to both sides through the hydraulic rod, and the splint and the two sides of the stone to be clamped are separated from each other to complete the unloading action.

[0007] Furthermore, the clamp assembly includes a mounting frame and two or more swing arms, which are symmetrically arranged on both sides of the mounting frame and are rotatably connected to the mounting frame; the hydraulic rod is connected to the swing arm to drive the swing arm to rotate; the clamp is installed on the inner side of the lower end of the swing arm, and the extension or contraction of the hydraulic rod forms the clamping or unfolding action of the clamp; the control system is fixed on the mounting frame to drive the hydraulic rod; the control system includes at least a main control unit module, a wireless connection module, a start-stop control module, a power supply module and a visual recognition module, wherein the visual recognition module can identify the alignment position of the mounting frame and the goods to be clamped.

[0008] Preferably, the components of the control system include a hydraulic oil tank, an electromagnetic control valve, a remote control controller, a motor, a pump, a control electrical box and a lithium battery, wherein the motor is linked to the pump, and the two ends of the pump are respectively connected to the hydraulic oil tank and the hydraulic rod.

[0009] Furthermore, the middle and upper part of the swing arm is rotatably connected to the side end of the mounting frame; there are two ways to connect the hydraulic rod and the swing arm: one, the two ends of the hydraulic rod are respectively connected to the upper ends of the mutually symmetrical swing arms, driving the mutually symmetrical swing arms to rotate; the other end of the hydraulic rod is connected to the upper end of each swing arm, and the other end is connected to the mounting frame, driving each swing arm to rotate independently.

[0010] Preferably, the surface of the clamping plate is provided with a rubber sheet to increase the friction force on the surface of the clamping plate, which is more conducive to clamping the stone; Furthermore, an extension portion extends upward from the center of the mounting frame, and a lifting ring is provided on the top of the extension portion; the lifting device is connected to the lifting ring and can be transmitted to the mounting frame in a three-axis manner.

[0011] Preferably, the remote control operation controller is provided with a wireless connection module, which can be remotely controlled wirelessly.

[0012] Furthermore, the visual recognition module includes several interconnected cameras, and several cameras can be installed on the clamp assembly, hoisting or area to be clamped.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses a visual recognition module to automatically identify the position between the mounting frame and the stone, realizes upper and lower alignment, and drives the clamping plate to perform clamping or discharging actions through a hydraulic rod, and finally realizes multi-directional transmission by hoisting. According to the set stacking position, the stones are placed in sequence, and the clamping, transportation and discharging are automatically performed, achieving an intelligent and automated working mode, and achieving the working steps of automatic identification, automatic loading and automatic unloading, which greatly reduces the dependence on human resources, reduces transportation costs, and reduces safety hazards.

[0014] The present invention provides a connection method for the mounting frame and the swing arm. When the swing arm is extended in a vertical direction, the swing arm can be directly extended from above into the gap between the stones, thereby reducing the space occupied and being able to clamp stones that are densely placed and have small gaps one by one; and by providing a clamping plate and a rubber sheet, the friction between the stone and the clamp structure is increased, the stone is clamped stably, and the overall volume of the clamp structure can be made smaller, which is convenient for transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a front view of a structure of the clamp assembly of the present invention; Figure 2 A side view of a structure of a clamp assembly in the present invention; Figure 3 It is a principle block diagram of the control system in the present invention; Figure 4 Another structural schematic diagram of the fixture assembly. DETAILED DESCRIPTION

[0016] 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.

[0017] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "horizontal," "vertical," "top," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] See also Figures 1 to 3The present invention provides an embodiment of a stone lifting method, comprising the following steps: Step 1: When a stone needs to be lifted, the visual recognition module for intelligent identification and the lifting and clamping components for transporting the stone are activated first; Step 2: The visual recognition module identifies the storage location of the stone in the area to be clamped, as well as the positional relationship between the clamping assembly and the stone to be clamped; Step 3: The clamp assembly is driven by hoisting, and the visual recognition module is used to perform position comparison to align the clamp assembly with the stone to be clamped longitudinally, forming an identification step; Step 4: After identifying the aligned clamp components and the stone to be clamped, the hoist drives the clamp component to descend, and the hoisting three-axis transmission drives the clamp component to the two sides of the stone to be clamped. The control system controls the clamping plates to move toward the center through the hydraulic rods. The clamping plates respectively contact the two sides of the stone to be clamped, and the clamping plates on the clamp component fix and clamp the two sides of the stone to form a clamping action, completing the loading step; Step 5: The hoisting drives the clamp assembly and the clamped stone to the unloading area. The control system controls the clamping plates to expand to both sides through the hydraulic rod. The clamping plates and the two sides of the stone to be clamped are separated from each other, and the stone is stored in the unloading area, completing the unloading step. Step 6: Repeat steps 2 to 5 until all the stones in the area to be clamped are transferred to the unloading area, and finally close the visual recognition module and the lifting and clamping components.

[0019] The clamp assembly in the above steps includes a mounting frame 1 and two swing arms 2, the two swing arms 2 are symmetrically arranged on both sides of the mounting frame 1, and the middle and upper parts of the swing arms 2 are rotatably connected to the side ends of the mounting frame 1; the two ends of the hydraulic rod 3 are respectively connected to the upper ends of the two swing arms 2, and the inner sides of the lower ends of the swing arms 2 are installed with clamps 4; the expansion or contraction of the hydraulic rod 3 can drive the two clamps 4 to move closer or farther away, forming a clamping action; wherein, when the two clamps 4 approach each other, a clamping action is performed to clamp the square stone. In addition, the clamp 4 is parallel to the inner sides of the swing arms 2. When the swing arms 2 are extended to a vertical state, it can be directly extended from above between the two stones, reducing the space occupied by the swing arms 2, and making the overall volume of the clamp assembly smaller, which is convenient for transportation; a rubber sheet is provided on the surface of the clamp 4, which can increase the friction between the stone and the clamp structure, and keep the stone clamped stably. An extension 13 extends upward from the center of the mounting frame 1. A lifting ring 14 is provided at the top of the extension 13. The lifting device is connected to the lifting ring 14, enabling three-axis transmission between the mounting frame 1 and the mounting frame 1. Several reinforcing ribs 12 are provided on the swing arm 2, and these ribs 12 are evenly distributed on the corresponding swing arm 2. This structure can enhance the tensile strength of the swing arm 2.

[0020] The control system in the above steps at least includes a main control unit module 21 and a wireless connection module 22 connected to the main control unit module 21, a start-stop control module 23, a power supply module 24 and a visual recognition module 25, wherein the visual recognition module 25 is externally connected to install a number of camera devices, which can compare and identify the positional relationship between the mounting frame 1 and the stone from multiple angles. The components of the control system include a hydraulic oil tank 5, an electromagnetic control valve 6, a remote control controller 7, a motor 8, a pump 9, a control electrical box 10 and a lithium battery 11, wherein the motor 8 is linked to the pump 9, and the motor 8 can improve the transmission effect of the pump 9. The two ends of the pump 9 are respectively connected to the hydraulic oil tank 4 and the hydraulic rod 3; the power supply module 24 is electrically connected to the lithium battery 11, and controls the lithium battery 11 to supply power to the electromagnetic control valve 6, the remote control controller 7, the motor 8, the pump 9 and the control electrical box 10; the start-stop control module 23 is electrically connected to the control electrical box 10, and the control electrical box 10 is used to control the motor 8 The opening or closing of the pump 9 and the electromagnetic control valve 6 controls the input or output of hydraulic oil to the hydraulic rod 3, thereby controlling the opening or contraction of the hydraulic rod 3; the wireless connection module 22 is electrically connected to the remote control controller 7 to control the driving or closing of the clamp assembly and the lifting. The remote control controller 7 is equipped with a wireless connection module for remote wireless control. The wireless connection module can be any of the wireless connection methods such as Zig-Bee, Bluetooth, wireless broadband (Wi-Fi), ultra-wideband (UWB), and near-field communication (NFC). The components of the control system are all mounted on the mounting frame 1, further reducing the overall volume of the clamp structure and facilitating transportation.

[0021] The hoisting equipment used in the aforementioned steps can be any type of truck crane, dock crane, or ship crane, or it can be the most suitable, safe, labor-saving, energy-saving, and efficient high-tech machinery for loading and unloading granite and other materials. The hoisting equipment can be connected to the control system via a network and equipped with an independent wireless receiving module. The hoisting equipment has an independent control and drive system and can be connected to the network of the clamping assembly to achieve coordinated coordination. The camera equipment generally uses conventional infrared recognition or laser recognition cameras. Several cameras can be mounted on a mounting frame 1, a hoist (not shown), a transport vehicle, or the area to be clamped. By comparing the positional relationship between the mounting frame 1 and the stone from multiple angles, the hoist drives the mounting frame 1 to align the mounting frame 1 with the stone, automatically identifying the position, and automatically finding and moving the camera to the aligned position to clamp the stone.

[0022] After identifying the aligned mounting frame 1 and the stone, the three-axis transmission of the hoisting equipment drives the two swing arms 2 to the two sides of the stone. The control system controls the hydraulic rod 3 to open, and the lower ends of the two swing arms 2 and the splint 4 move toward the center. The two splints 4 respectively contact the two sides of the stone to form a clamping action, achieving an intelligent and automated loading step.

[0023] After the two splints 4 clamp the two sides of the stone, the three-axis transmission of the lifting equipment drives the clamp assembly to the set discharge area, and then places several stones in a planned order according to the preset placement order. The control system controls the hydraulic rod 3 to retract, and the lower ends of the two swing arms 2 and the splints 4 are expanded to both sides. The two splints 4 are separated from the two sides of the stone, forming a discharge action, achieving an intelligent and automated unloading step.

[0024] The hoisting and clamping components reciprocate through the identification step, loading step and unloading step, which can transport the stones in the set area in an orderly, intelligent and automatic sequence.

[0025] like Figure 4 As shown, the swing arms 2' in the clamp assembly can also be set to four, symmetrically distributed on both sides of the mounting frame 1'. One end of the hydraulic rod 3' is connected to the upper end of each swing arm 2', and the other end is connected to the mounting frame 1', which can drive each swing arm 2' to rotate independently, making the clamping action more flexible.

[0026] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A method for lifting stones, characterized in that: The following steps are involved: Step 1: When a stone needs to be lifted, the visual recognition module for intelligent identification and the lifting and clamping components for transporting the stone are activated first; Step 2: The visual recognition module identifies the storage location of the stone in the area to be clamped, as well as the positional relationship between the clamping assembly and the stone to be clamped; Step 3: The clamp assembly is driven by hoisting, and the visual recognition module is used to perform position comparison to align the clamp assembly with the stone to be clamped longitudinally, forming an identification step; Step 4: Hoisting drives the clamp assembly down, and the clamping plates on the clamp assembly fix and clamp both sides of the stone to complete the loading step; Step 5: The hoisting drives the clamp assembly and the clamped stone to the unloading area, the clamping plate and the two sides of the stone are separated from each other, and the stone is stored in the unloading area, completing the unloading step; Step 6: Repeat steps 2 to 5 until all the stones in the area to be clamped are transferred to the unloading area, and finally close the visual recognition module and the lifting and clamping components.

2. A stone lifting method according to claim 1, characterized in that: The loading step includes: after identifying the upper and lower aligned clamp assemblies and the stone to be clamped, hoisting the three-axis transmission to drive the clamp assembly to the two sides of the stone to be clamped, and the control system controls the clamping plate to move toward the center side through the hydraulic rod. The clamping plate respectively contacts the two sides of the stone to be clamped to form a clamping action to complete the loading.

3. A stone lifting method according to any one of claims 1 or 2, characterized in that: The unloading step includes: after the splint clamps the two sides of the stone to be clamped, the three-axis transmission is hoisted to drive the clamp assembly to the unloading area, and the control system controls the splint to expand to both sides through the hydraulic rod, and the splint and the two sides of the stone to be clamped are separated from each other, forming a unloading action.

4. A stone lifting method according to claim 3, characterized in that: The clamp assembly includes a mounting frame and two or more swing arms, which are symmetrically arranged on both sides of the mounting frame and are rotatably connected to the mounting frame; the hydraulic rod is connected to the swing arm to drive the swing arm to rotate; the clamp is installed on the inner side of the lower end of the swing arm, and the extension or contraction of the hydraulic rod forms the clamping or unfolding action of the clamp; the control system is fixed on the mounting frame and is used to drive the hydraulic rod; the control system includes at least a main control unit module, a wireless connection module, a start-stop control module, a power supply module and a visual recognition module, wherein the visual recognition module can identify the alignment position of the mounting frame and the goods to be clamped.

5. The stone lifting method according to claim 4, characterized in that: The components of the control system include a hydraulic oil tank, an electromagnetic control valve, a remote control controller, a motor, a pump, a control electrical box and a lithium battery, wherein the motor is linked to the pump, and the two ends of the pump are respectively connected to the hydraulic oil tank and the hydraulic rod.

6. The stone lifting method according to claim 4, characterized in that: The middle and upper parts of the swing arms are rotatably connected to the side ends of the mounting frame, and the two ends of the hydraulic rod are respectively connected to the upper ends of the mutually symmetrical swing arms to drive the mutually symmetrical swing arms to rotate.

7. The stone lifting method according to claim 4, characterized in that: The middle and upper parts of the swing arms are rotatably connected to the side ends of the mounting brackets. One end of the hydraulic rod is connected to the upper ends of the swing arms, and the other end is connected to the mounting bracket, driving the swing arms to rotate independently.

8. The stone lifting method according to claim 4, characterized in that: The surface layer of the splint is provided with a rubber sheet.

9. The stone lifting method according to claim 4, characterized in that: An extension portion extends upward from the center of the mounting frame, and a lifting ring is provided on the top of the extension portion; the lifting device is connected to the lifting ring and can be transmitted to the mounting frame through three axes.

10. The stone lifting method according to claim 4, characterized in that: The visual recognition module includes several interconnected cameras, and several cameras can be installed on the clamp assembly, hoisting or area to be clamped.

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