Gantry automatic positioning walking device and method for automatic change of electrode

Abstract

This invention discloses an automatic positioning and walking device and method for overhead cranes used in automated pole changing. The automatic positioning and walking device for overhead cranes in automated pole changing includes a mounting frame. Mounting frames are installed between the two sides of the trolley moving structure and the moving slide rails. The mounting frames are equipped with drive wheel rotation devices that are driven and cooperate with the moving slide rails. The mounting frames also include a positioning structure and a calibration structure. Multiple calibration structures are equidistantly arranged on the workshop wall. A laser positioning component corresponding to the position of the calibration structure is installed at the top of the mounting frame. The laser positioning component performs multi-angle positioning with the calibration structure to modify the movement position data of the trolley moving structure within the positioning structure. This invention solves the problem in the prior art where the positioning of the trolley moving structure is inaccurate during start-up and shutdown operations, and where there is insufficient time to correct the deviation when sequentially replacing two closely spaced residual poles using the positioning correction structure.

Description

Technical Field

[0001] This invention relates to the field of overhead crane technology, and more specifically to an automatic positioning and walking device and method for overhead cranes used in automated pole changing. Background Technology

[0002] The overhead crane is a technical device used in the prior art for moving mechanical equipment installed in the air above a workshop along the X and Y axes. It includes two moving slide rails, a trolley moving structure, and a carriage moving structure. The two moving slide rails are respectively set on the top sides of the workshop. The trolley moving structure moves between the two moving slide rails, while the carriage moving structure moves vertically relative to the moving slide rails on the trolley moving structure. The mechanical equipment is installed on the carriage moving structure, enabling large-area movement of the mechanical equipment within the workshop. In an aluminum electrolysis workshop, a PTM automatic electrode changing device is installed on the carriage moving structure. When the residual electrode in the aluminum electrolysis cell needs to be replaced, the PTM automatic electrode changing device needs to be moved to the top of the aluminum electrolysis cell that needs to be replaced. Then, when using the PTM automatic electrode changing device to replace the residual electrode in the aluminum electrolysis cell, it is necessary to complete the technical methods of moving the PTM automatic electrode changing device, including disassembling and grabbing the residual electrode, moving the residual electrode, grabbing the anode, and installing the anode. In implementing the above technical methods, a workshop electrode changing program is used to automatically control the movement of the overhead crane, realizing automated electrode changing technology.

[0003] However, in actual use, since the trolley moving structure and the moving slide rail also use a mechanical transmission structure to achieve the lateral movement of the trolley moving structure, when using the mechanical transmission structure for a long time, due to the problem of slippage or poor hard contact between the mechanical transmission structure and the moving slide rail during the start and stop process, it is easy for the actual moving distance of the trolley moving structure to be inaccurate compared with the distance calibrated in the workshop pole-changing program. Therefore, a dedicated positioning and correction structure is usually set between the trolley moving structure and the moving slide rail, such as installing a position sensor on the trolley moving structure that corresponds to the workshop wall.

[0004] However, because the weight distribution of the trolley moving structure and the PTM automatic pole changing equipment is uneven during the movement of the trolley moving structure, when the trolley moving structure brakes and stops on the moving rail, it will still move a small distance after braking. This causes a slight change in the position of the trolley moving structure. Sometimes, the two residual poles that need to be replaced are close to each other. If there is no time to reposition the trolley moving structure with the position sensor on the workshop wall, the residual poles need to be replaced. At this time, it is difficult to ensure the movement accuracy of the trolley moving structure. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automatic positioning and walking device and method for overhead cranes used in automated pole changing, thereby solving the problem mentioned in the background art where the positioning of the overhead crane moving structure is inaccurate during start-up and shutdown operations, and when replacing two closely spaced residual poles in sequence, there is not enough time to correct the deviation through the positioning correction structure.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automatic positioning and traveling device for an overhead crane used for automated pole changing includes a mounting frame. The mounting frame is positioned between each side of the trolley's moving structure and a moving slide rail. The mounting frame is equipped with a drive wheel rotation device that drives the moving slide rail. The mounting frame also includes a positioning structure. The device further includes:

[0008] The calibration structure is provided in a plurality of such calibration structures that are equidistantly arranged on the workshop wall. The top of the mounting frame is provided with a laser positioning component that corresponds to the position of the calibration structure. The laser positioning component performs multi-angle positioning with the calibration structure to modify the movement position data of the trolley moving structure within the positioning structure.

[0009] The flexible slide bar is provided in the movable slide rail. Two flexible slide bars are provided between the mounting frame and the two flexible slide bars. The curved conveying structure moves with the trolley moving structure. When the trolley moving structure brakes, the flexible slide bar changes its path within the curved conveying structure to determine the actual distance of the trolley moving structure.

[0010] To further locate the moving structure of the large vehicle at different positions, the calibration structure includes a mounting rod and calibration points. The mounting rod is set on the workshop wall, and a receiving cylinder is fixedly connected to the mounting rod. Multiple calibration points are equidistantly installed on the bottom of the receiving cylinder, and lenses are set on the side wall of the receiving cylinder corresponding to the calibration points.

[0011] To coordinate with the calibration structure and position the moving structure of the trolley, the laser positioning assembly further includes a rotating base and a laser position sensor. The rotating base is fixedly connected to the top of the mounting frame, and a mounting cylinder is rotatably connected inside the rotating base. The laser position sensor is mounted on the mounting cylinder, and the laser position sensor coordinates with the calibration points at different positions inside the receiving cylinder.

[0012] To detect the braking distance of the trolley moving structure during braking, the two curved conveying structures located on the upper and lower sides are further arranged in opposite directions. Each curved conveying structure includes a slide bar positioning component, an arc-shaped conveying cylinder, and a rotation locking component. The slide bar positioning component determines the conveying position of the flexible slide bar within the arc-shaped conveying cylinder. The flexible slide bar is conveyed in a curved shape within the arc-shaped conveying cylinder. The rotation locking component is used to lock the flexible slide bar. When the trolley moving structure brakes, the flexible slide bar located within the arc-shaped conveying cylinder changes its movement path. A distance measuring component is provided between the arc-shaped conveying cylinder and the flexible slide bar.

[0013] To determine the conveying position of the flexible slide bar within the arc-shaped conveying cylinder, the slide bar positioning assembly further includes a meshing seat, which is fixedly connected to the mounting frame. The flexible slide bar is in contact with the inner wall of the meshing seat, and a pressing wheel is provided on the meshing seat, which is in contact with the flexible slide bar.

[0014] To further lock the corresponding area of ​​the flexible slide bar, the rotation locking assembly includes a through mounting groove, a moving part, and a support plate. The through mounting groove is fixedly connected to the mounting frame. A sliding part is provided on one side of the through mounting groove, and a rotating wheel is longitudinally slidably arranged inside the sliding part. The rotating wheel rotates within the sliding part. Bending clamps are provided on both sides of the sliding part. The rotating wheel stops rotating after contacting the bending clamps. A moving part is provided on the other side of the through mounting groove, and a locking wheel is rotatably connected inside the moving part. The flexible slide bar is driven between the rotating wheel and the locking wheel. When the locking wheel moves towards the rotating wheel, it locks the corresponding area of ​​the flexible slide bar. A support plate is rotatably connected to one side of the through mounting groove via a rotating shaft, and the support plate is fixedly connected to the moving part.

[0015] To detect the braking distance of the moving structure of the trolley by detecting the position of the sliding rod, the ranging component further includes a detection chamber and a sliding rod. The detection chamber is fixedly connected to the arc-shaped conveying cylinder. A ranging sensor is provided on the side of the detection chamber perpendicular to the flexible slide bar. The sliding rod is slidably connected to the arc-shaped conveying cylinder. The distance between the sliding rod and the ranging sensor changes during the sliding process. A push wheel is rotatably connected to the bottom of the sliding rod. The arc-shaped conveying cylinder has an arc-shaped inner wall. The flexible slide bar is driven between the push wheel and the arc-shaped inner wall.

[0016] To further move the position of the locking wheel, an installation slot is provided between the two arc-shaped conveying cylinders. The installation slot is fixedly connected to the installation frame. Both sides of the installation frame are rotatably equipped with drive electric cylinders. The output ends of the drive electric cylinders are respectively facing the corresponding support plates. The output ends of the drive electric cylinders are rotatably connected to the support plates through rotating shafts.

[0017] The automatic positioning and walking method for overhead cranes used in automated pole changing utilizes the aforementioned automatic positioning and walking device for overhead cranes used in automated pole changing, and includes the following steps:

[0018] Step 1: Determine the position: When determining the position of the trolley moving structure, first, based on the installation orientation of one of the corresponding calibration points, when judging the position with a vertical calibration point, ensure the laser position sensor is also facing upwards. The laser position sensor corresponds to the calibration point to determine the specific position of the trolley moving structure. When judging the position with an inclined calibration point, rotate the mounting drum and the laser position sensor to one side, making the tilt angle of the laser position sensor consistent with the tilt angle of the calibration point on the nearby side. Then, move the trolley moving structure so that the detection laser emitted by the laser position sensor gradually senses each other with the corresponding calibration point, judging the position of the trolley moving structure and correcting the movement data recorded in the encoder.

[0019] Step 2: Calculate the braking distance: Determine the locking timing of the flexible slide bar. When the workshop pole-changing system is about to adjust the brake of the trolley moving structure, lock the corresponding area of ​​the flexible slide bar by rotating the locking component. Then, the trolley moving structure begins to brake. The braking force of the trolley moving structure will drive the meshing seat to continue moving, pulling the flexible slide bar in the arc-shaped conveyor cylinder to change the original conveying path, causing the sliding rod and push wheel to move towards the detection chamber. Then, the moving distance of the sliding rod is detected by the distance measuring sensor, thereby calculating the braking distance of the trolley moving structure, judging the specific position of the trolley moving structure on the moving slide rail, and correcting the movement data recorded in the encoder.

[0020] Compared with the prior art, the present invention provides an automatic positioning and walking device and method for overhead cranes for automated pole changing, which has the following beneficial effects:

[0021] 1. In this invention, when replacing two short-distance residual poles, in order to locate the actual position of the trolley moving structure, the circumferential position of the laser position sensor can be adjusted so that the laser position sensor and the position of one of the calibration points inside the receiving cylinder can sense each other. Because the position of each calibration point is carefully detected during the installation process on the wall, after the laser position sensor and the corresponding calibration point sense each other, the positioning structure will also record the position of the trolley moving structure at all times. The position of the trolley moving structure displayed after the laser position sensor senses the corresponding calibration point is compared with the position data of the trolley moving structure in the positioning structure, thereby correcting the erroneous data in the positioning structure and realizing the positioning operation of the trolley moving structure.

[0022] 2. In this invention, when the trolley moving structure brakes each time, in order to detect the braking distance of the trolley moving structure, when the trolley moving structure moves to one side to brake, the rotation locking component on the side opposite to the moving direction locks the corresponding area of ​​the flexible slide bar, while the slide bar positioning component generates a force in the same direction on the flexible slide bar under the braking force, causing the movement path of the flexible slide bar in the arc-shaped conveying cylinder to change, and driving the sliding rod to move between the arc-shaped conveying cylinder and the detection chamber. By judging the movement distance of the sliding rod, the braking distance of the trolley moving structure is detected.

[0023] 3. Therefore, during use, this invention can not only detect the specific position of the trolley moving structure when replacing the residual electrodes in two closely spaced aluminum electrolysis cells, but also accurately detect the braking distance of the trolley moving structure. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of this application;

[0025] Figure 2 This is a partial cross-sectional structural diagram showing the coordination of the trolley moving structure, mounting frame, calibration structure, and laser positioning components in this application.

[0026] Figure 3 This is a partial cross-sectional structural diagram showing the cooperation of the mounting frame, drive wheel rotation device, flexible slide bar and positioning structure in this application;

[0027] Figure 4 For this application Figure 2 A magnified schematic diagram of the partial structure at point A in the middle;

[0028] Figure 5 This is a partial cross-sectional schematic diagram of the structure that accommodates the cylinder base, calibration point, and lens assembly in this application;

[0029] Figure 6This is a partial cross-sectional structural diagram showing the cooperation between the flexible slider and the curved conveying structure in this application;

[0030] Figure 7 This is a partial cross-sectional structural diagram showing the fit between the arc-shaped conveying cylinder, the meshing seat, the through mounting groove, and the detection chamber in this application;

[0031] Figure 8 This is a partial cross-sectional structural diagram showing the cooperation of the sliding member, rotating wheel, and bending clamp in this application.

[0032] In the diagram: 1. Mounting frame; 2. Trolley moving structure; 3. Drive wheel rotation device; 4. Flexible slide bar; 5. Mounting rod; 6. Receiving cylinder seat; 7. Calibration point; 8. Lens; 9. Rotating seat; 10. Mounting drum; 11. Laser position sensor; 12. Arc-shaped conveyor cylinder; 13. Engaging seat; 14. Extrusion wheel; 15. Through mounting groove; 16. Sliding component; 17. Rotating wheel; 18. Bending clamp; 19. Moving component; 20. Locking wheel; 21. Support plate; 22. Rotating shaft; 23. Detection chamber; 24. Distance sensor; 25. Sliding rod; 26. Push wheel; 27. Arc-shaped inner wall; 28. Mounting slot frame; 29. ​​Drive electric cylinder; 30. Positioning wheel; 31. Encoder; 32. Drive motor; 33. Gearbox. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example 1, please refer to Figures 1 to 8 An automatic positioning and walking device for an overhead crane used for automated pole changing includes a mounting frame 1. The mounting frame 1 is installed between the two sides of the trolley moving structure 2 and the moving slide rail. The mounting frame 1 is equipped with a drive wheel rotating device 3 that is in transmission cooperation with the moving slide rail. The drive wheel rotating device 3 is a prior art device used to drive the trolley moving structure 2 to move laterally on the moving slide rail. The working principle of the drive wheel rotating device 3 is to drive the drive wheel to move on the moving slide rail by a motor drive device, thereby driving the trolley moving structure 2. It is a technical device known to those skilled in the art.

[0035] Please see Figures 1 to 3The mounting frame 1 is equipped with a positioning structure, which includes a positioning wheel 30. The positioning wheel 30 contacts the moving slide rail and is mounted on the mounting frame 1 through a shock-absorbing structure. An encoder 31 is installed on the positioning wheel 30 to detect the movement distance of the positioning wheel 30. During the lateral movement of the trolley moving structure 2, the positioning wheel 30 moves along the moving slide rail. The encoder 31 detects the movement distance of the positioning wheel 30 to determine the specific position of the trolley moving structure 2 on the moving slide rail. The encoder 31 transmits electrical signals to the workshop pole changing system. When the calibration structure and the laser position sensor 11 determine the specific position of the trolley moving structure 2, the encoder 31 automatically modifies the movement position data of the positioning wheel 30.

[0036] Please see Figures 1 to 5 It also includes calibration structures, with multiple calibration structures equidistantly arranged on the workshop wall. Each calibration structure includes a mounting rod 5 and calibration points 7. The mounting rod 5 is set on the workshop wall, and a receiving cylinder 6 is fixedly connected to the mounting rod 5. Multiple calibration points 7 are equidistantly installed on the bottom of the receiving cylinder 6. Lenses 8 are set on the side wall of the receiving cylinder 6 corresponding to the calibration points 7. When the trolley moving structure 2 moves to a position directly below one of the mounting rods 5 and the receiving cylinder 6, the laser position sensor 11 is also facing upwards. The laser position sensor 11 generates a detection laser that passes through the bottommost lens 8 and corresponds to the calibration point 7, thereby determining the specific position of the trolley moving structure 2 and correcting the stroke error of the encoder 31.

[0037] The top of the mounting frame 1 is equipped with a laser positioning component corresponding to the position of the calibration structure. The laser positioning component performs multi-angle positioning with the calibration structure to modify the movement position data of the trolley moving structure 2 within the positioning structure. The laser positioning component includes a rotating base 9 and a laser position sensor 11. The rotating base 9 is fixedly connected to the top of the mounting frame 1. A mounting cylinder 10 is rotatably connected inside the rotating base 9. The mounting cylinder 10 is equipped with the laser position sensor 11. The laser position sensor 11 cooperates with calibration points 7 at different positions within the receiving cylinder 6. When the trolley moving structure 2 is tilted relative to the nearest receiving cylinder 6, the calibration points 7 located on both sides within the receiving cylinder 6 are also tilted. The top of the mounting frame 1 is equipped with a drive motor 32, and the mounting cylinder 10 and drive motor 32 are also present. A gearbox 33 is provided between the output ends. By starting the drive motor 32, the rotating drum 10 and the laser position sensor 11 are rotated to one side under the transmission connection of the gearbox 33, so that the tilt angle of the laser position sensor 11 is consistent with the tilt angle of the calibration point 7 on the same side. Then, the trolley moving structure 2 is slowly moved, so that the detection laser emitted by the laser position sensor 11 gradually senses each other with the corresponding calibration point 7, so as to achieve precise positioning of the position of the trolley moving structure 2. In addition, the laser position sensor 11 also transmits electrical signals with the workshop pole changing system. After determining the position of the trolley moving structure 2, the laser position sensor 11 sends an electrical signal to the workshop pole changing system, and the workshop pole changing system adjusts the detection data of the encoder 31.

[0038] Please see Figures 1 to 3 and Figures 6 to 8Two flexible slide bars 4 are installed inside the moving slide rail, and the flexible slide bars 4 remain in a relaxed state within the moving slide rail. Two curved conveying structures are installed between the mounting frame 1 and the two flexible slide bars 4. The curved conveying structures move with the trolley moving structure 2. When the trolley moving structure 2 brakes, the flexible slide bars 4 change their path within the curved conveying structures to determine the actual distance of the trolley moving structure 2. The two curved conveying structures located on the upper and lower sides are set in opposite directions. The curved conveying structure includes a slide bar positioning component, an arc-shaped conveying cylinder 12, and a rotation locking component. The slide bar positioning component determines the conveying position of the flexible slide bar 4 within the arc-shaped conveying cylinder 12. The slide bar positioning component includes a meshing seat 13 for meshing. The seat 13 is fixedly connected to the mounting frame 1. The flexible slide 4 is in contact with the inner wall of the seat 13. The seat 13 is provided with a pressing wheel 14, which is in contact with the flexible slide 4. The flexible slide 4 is in close contact with the inner wall of the seat 13, and the pressing wheel 14 restricts the movement path of the flexible slide 4, so that the flexible slide 4 remains parallel in the seat 13 during the conveying process. After the rotating locking component locks one side of the flexible slide 4, the seat 13 exerts a force on the flexible slide 4 in the same direction as the moving brake of the trolley moving structure 2, so that the seat 13 exerts a pulling force on the flexible slide 4 in a short time, changing the movement path of the flexible slide 4 in the arc-shaped conveying cylinder 12.

[0039] The flexible slide bar 4 is curved and conveyed within the arc-shaped conveying cylinder 12. A rotation locking assembly is used to lock the flexible slide bar 4. The rotation locking assembly includes a through mounting groove 15, a moving part 19, and a support plate 21. The through mounting groove 15 is fixedly connected to the mounting frame 1. A sliding part 16 is provided on one side of the through mounting groove 15. A rotating wheel 17 is longitudinally slidably arranged inside the sliding part 16 and rotates within the sliding part 16. Sliding grooves are provided on both sides of the sliding part 16, and sliders are slidably connected within the sliding grooves. The rotating wheel 17 is rotatably connected between the two sliders. Bending clamps 18 are provided on both sides of the sliding part 16. The rotating wheel 17 stops rotating after contacting the bending clamps 18. A moving part 19 is provided on the other side of the through mounting groove 15, and a locking wheel 20 is rotatably connected within the moving part 19. 4. The transmission is set between the rotating wheel 17 and the locking wheel 20. When the locking wheel 20 moves towards the rotating wheel 17, it locks the corresponding area of ​​the flexible slide bar 4. One side of the through mounting groove 15 is rotatably connected to the support plate 21 through the rotating shaft 22. The support plate 21 is fixedly connected to the moving part 19. When it is necessary to lock one side of the flexible slide bar 4, it is necessary to first determine the locking time of the flexible slide bar 4. When the workshop pole changing system is about to adjust the brake of the large trolley moving structure 2, the moving part 19 and the locking wheel 20 are moved towards the rotating wheel 17, pushing the rotating wheel 17 to move on the sliding part 16. The rotating wheel 17 has a positioning groove on its circumference. After the bending clamp 18 enters the corresponding positioning groove, the rotating wheel 17 stops rotating. The friction between the rotating wheel 17 and the flexible slide bar 4 stops the flexible slide bar 4 from moving.

[0040] An installation slot 28 is provided between the two arc-shaped conveying cylinders 12. The installation slot 28 is fixedly connected to the installation frame 1. Both sides of the installation frame 1 are rotatably equipped with drive electric cylinders 29. The output ends of the drive electric cylinders 29 each face the corresponding support plate 21. The output ends of the drive electric cylinders 29 and the support plate 21 are rotatably connected through a rotating shaft 22. When it is necessary to lock the flexible slide bar 4, the drive electric cylinder 29 in the corresponding direction is activated according to the moving braking direction of the trolley moving structure 2 to push the support plate 21 to rotate along the center point of the rotating shaft, so that the support plate 21 pushes the moving part 19 and the locking wheel 20 to move in the direction of the rotating wheel 17.

[0041] Please see Figure 3 and Figures 6 to 8When the trolley moving structure 2 brakes, the flexible slide bar 4 located inside the arc-shaped conveying cylinder 12 changes its moving path. A ranging component is provided between the arc-shaped conveying cylinder 12 and the flexible slide bar 4. The ranging component includes a detection chamber 23 and a sliding rod 25. The detection chamber 23 is fixedly connected to the arc-shaped conveying cylinder 12. A ranging sensor 24 is provided on the side of the detection chamber 23 perpendicular to the flexible slide bar 4. The sliding rod 25 is slidably connected to the arc-shaped conveying cylinder 12. The distance between the sliding rod 25 and the ranging sensor 24 changes during the sliding process. A push wheel 26 is rotatably connected to the bottom of the sliding rod 25. The arc-shaped conveying cylinder 12 is provided with an arc-shaped inner wall 27. The flexible slide bar 4 is driven by the push wheel 26 and the arc-shaped inner wall. Between points 27, after the rotating wheel 17 and the locking wheel 20 lock the flexible slide bar 4, the trolley moving structure 2 brakes. The braking force of the trolley moving structure 2 will drive the meshing seat 13 to continue moving. Because the moving force during the braking process is relatively rapid, the meshing seat 13 will pull the flexible slide bar 4 in the arc-shaped conveying cylinder 12 to change the original conveying path due to the tight fit between it and the flexible slide bar 4. This will cause the sliding rod 25 and the push wheel 26 to move towards the detection chamber 23. Then, the moving distance of the sliding rod 25 is detected by the distance measuring sensor 24, thereby calculating the braking distance of the trolley moving structure 2 and determining the specific position of the trolley moving structure 2 on the moving slide rail.

[0042] The ranging sensor 24 and the laser position sensor 11 used in this invention are technical devices known to those skilled in the art. They are sensor devices that apply the principle of laser refraction in the prior art, and both transmit electrical signals with the workshop pole changing system to change the movement path information recorded in the encoder 31.

[0043] The working principle or usage process of the overhead crane automatic positioning and walking device used for automated pole changing is as follows:

[0044] When it is necessary to detect the actual position of the trolley moving structure 2 on the moving slide rail, when the trolley moving structure 2 moves to directly below one of the mounting rods 5 and the receiving cylinder seat 6, the laser position sensor 11 is also facing directly upwards. The laser position sensor 11 emits a detection laser that passes through the lowest lens 8 and corresponds to the calibration point 7, thereby determining the specific position of the trolley moving structure 2 and correcting the stroke error of the encoder 31. When the trolley moving structure 2 tilts and corresponds with the nearby receiving cylinder seat 6, it drives the mounting drum 10 and the laser position sensor 11 to tilt to one side. The laser position sensor 11 is rotated so that its tilt angle is consistent with the tilt angle of the calibration point 7 on the same side. Then, the trolley moving structure 2 is slowly moved so that the detection laser emitted by the laser position sensor 11 gradually senses each other with the corresponding calibration point 7, thereby achieving precise positioning of the trolley moving structure 2. The laser position sensor 11 also transmits electrical signals to the workshop pole-changing system. After determining the position of the trolley moving structure 2, the laser position sensor 11 sends an electrical signal to the workshop pole-changing system, and the workshop pole-changing system adjusts the detection data of the encoder 31.

[0045] When it is necessary to test the braking distance of the moving structure 2 of the trolley, first determine the locking timing of the flexible slide bar 4. When the workshop pole-changing system is about to adjust the brake of the moving structure 2 of the trolley, start the drive electric cylinder 29 to push the support plate 21, so that the moving part 19 and the locking wheel 20 move towards the rotating wheel 17, pushing the rotating wheel 17 to move on the sliding part 16. The rotating wheel 17 has a positioning groove on its circumference. After the bending clamp 18 enters the corresponding positioning groove, the rotating wheel 17 stops rotating. Through the friction between the rotating wheel 17 and the flexible slide bar 4, the flexible slide bar 4 stops moving. Then the trolley When the moving structure 2 starts braking, the force exerted by the braking of the trolley moving structure 2 will drive the meshing seat 13 to continue moving. Because the moving force during the braking process is relatively rapid, the meshing seat 13, due to its close contact with the flexible slide bar 4, will pull the flexible slide bar 4 in the arc-shaped conveying cylinder 12 to change the original conveying path, causing the sliding rod 25 and the push wheel 26 to move towards the detection chamber 23. Then, the moving distance of the sliding rod 25 is detected by the distance measuring sensor 24, thereby calculating the braking distance of the trolley moving structure 2 and determining the specific position of the trolley moving structure 2 on the moving slide rail.

[0046] Example 2: Based on the automatic positioning and walking device for overhead cranes used for automated pole changing, Example 2 also proposes an automatic positioning and walking method for overhead cranes used for automated pole changing, including the following steps:

[0047] Step 1: Determine the position: When it is necessary to determine the position of the trolley moving structure 2, firstly, based on the installation orientation of one of the corresponding calibration points 7, when judging the position with the vertical calibration point 7, make the laser position sensor 11 also face directly upwards. The laser position sensor 11 corresponds to the calibration point 7 to determine the specific position of the trolley moving structure 2. When judging the position with the inclined calibration point 7, drive the mounting drum 10 and the laser position sensor 11 to rotate to one side, so that the tilt angle of the laser position sensor 11 is consistent with the tilt angle of the calibration point 7 on the same side. Then move the trolley moving structure 2 so that the detection laser emitted by the laser position sensor 11 gradually senses each other with the corresponding calibration point 7, judges the position of the trolley moving structure 2, and corrects the movement data recorded in the encoder 31.

[0048] Step 2: Calculate the braking distance: Determine the locking timing of the flexible slide bar 4. When the workshop pole changing system is about to adjust the braking of the trolley moving structure 2, lock the corresponding area of ​​the flexible slide bar 4 by rotating the locking component. Then, the trolley moving structure 2 starts to brake. The braking force of the trolley moving structure 2 will drive the meshing seat 13 to continue moving, pulling the flexible slide bar 4 in the arc-shaped conveying cylinder 12 to change the original conveying path, causing the sliding rod 25 and the push wheel 26 to move towards the detection chamber 23. Then, the moving distance of the sliding rod 25 is detected by the distance measuring sensor 24, thereby calculating the braking distance of the trolley moving structure 2, judging the specific position of the trolley moving structure 2 on the moving slide rail, and correcting the movement data recorded in the encoder 31.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic positioning and traveling device for an overhead crane used for automated pole changing, comprising a mounting frame (1), wherein the mounting frame (1) is provided between the two sides of the trolley moving structure (2) and the moving slide rail, the mounting frame (1) is provided with a drive wheel rotating device (3) that is in transmission cooperation with the moving slide rail, and the mounting frame (1) is provided with a positioning structure, characterized in that, Also includes: The calibration structure is equidistantly arranged on the workshop wall. The top of the mounting frame (1) is provided with a laser positioning component corresponding to the position of the calibration structure. The laser positioning component performs multi-angle positioning with the calibration structure to modify the movement position data of the large vehicle moving structure (2) within the positioning structure. Flexible slide bar (4), two flexible slide bars (4) are provided in the moving slide rail, and two curved conveying structures are provided between the mounting frame (1) and the two flexible slide bars (4). The curved conveying structure moves with the trolley moving structure (2). When the trolley moving structure (2) brakes, the flexible slide bar (4) changes its path in the curved conveying structure to determine the actual distance of the trolley moving structure (2). The calibration structure includes: Mounting rod (5), which is set on the workshop wall, and a receiving cylinder seat (6) is fixedly connected to the mounting rod (5); Calibration point (7): Multiple calibration points (7) are equidistantly installed on the bottom of the inner cavity of the receiving cylinder (6), and a lens (8) is provided on the side wall of the receiving cylinder (6) corresponding to the calibration point (7); The laser positioning component includes: Rotary seat (9), which is fixedly connected to the top of the mounting frame (1), and a mounting cylinder (10) is rotatably connected inside the rotating seat (9). A laser position sensor (11) is provided on the mounting drum (10), and the laser position sensor (11) is matched with the calibration point (7) at different positions in the receiving cylinder (6); The two curved conveying structures located on the upper and lower sides are arranged in opposite directions; The curved conveying structure includes a slide bar positioning component, an arc-shaped conveying cylinder (12), and a rotation locking component. The slide bar positioning component determines the conveying position of the flexible slide bar (4) within the arc-shaped conveying cylinder (12). The flexible slide bar (4) is conveyed in a curved shape within the arc-shaped conveying cylinder (12). The rotation locking component is used to lock the flexible slide bar (4). When the trolley moving structure (2) brakes, the flexible slide bar (4) located within the arc-shaped conveying cylinder (12) changes its moving path. A distance measuring component is provided between the arc-shaped conveying cylinder (12) and the flexible slide bar (4).

2. The automatic positioning and walking device for overhead cranes used for automated pole changing according to claim 1, characterized in that, The slider positioning component includes: Engaging seat (13), the engaging seat (13) is fixedly connected to the mounting frame (1), the flexible slide (4) is in contact with the inner wall of the engaging seat (13), and the engaging seat (13) is provided with a pressing wheel (14), the pressing wheel (14) is in contact with the flexible slide (4).

3. The automatic positioning and walking device for overhead cranes used for automated pole changing according to claim 2, characterized in that, The rotation locking assembly includes: A through mounting slot (15) is fixedly connected to the mounting frame (1). A sliding member (16) is provided on one side of the inside of the through mounting slot (15). A rotating wheel (17) is longitudinally slidably arranged inside the sliding member (16). The rotating wheel (17) rotates inside the sliding member (16). Bending clamps (18) are provided on both sides of the sliding member (16). The rotating wheel (17) stops rotating after contacting the bending clamp (18). The movable part (19) is provided on the other side of the through mounting groove (15). A locking wheel (20) is rotatably connected inside the movable part (19). The flexible slide bar (4) is driven between the rotating wheel (17) and the locking wheel (20). When the locking wheel (20) moves towards the rotating wheel (17), it locks the corresponding area of ​​the flexible slide bar (4). Support plate (21), one side of the through mounting groove (15) is rotatably connected to the support plate (21) via a rotating shaft (22), and the support plate (21) is fixedly connected to the moving part (19).

4. The automatic positioning and traveling device for an overhead crane used for automated pole changing according to claim 3, characterized in that, The ranging component includes: The detection chamber (23) is fixedly connected to the arc-shaped conveying cylinder (12), and a distance sensor (24) is provided on the side of the detection chamber (23) perpendicular to the flexible slide bar (4). A sliding rod (25) is slidably connected to the arc-shaped conveying cylinder (12). The distance between the sliding rod (25) and the distance sensor (24) changes during the sliding process. A push wheel (26) is rotatably connected to the bottom of the sliding rod (25). An arc-shaped inner wall (27) is provided on the arc-shaped conveying cylinder (12). The flexible slide bar (4) is driven between the push wheel (26) and the arc-shaped inner wall (27).

5. The automatic positioning and walking device for overhead cranes used in automated pole changing according to claim 4, characterized in that, An installation slot (28) is provided between the two arc-shaped conveying cylinders (12). The installation slot (28) is fixedly connected to the installation frame (1). Both sides of the installation frame (1) are rotatably provided with drive electric cylinders (29). The output ends of the drive electric cylinders (29) are respectively facing the corresponding support plate (21). The output ends of the drive electric cylinders (29) are rotatably connected to the support plate (21) through a rotating shaft (22).

6. An automatic positioning and walking method for an overhead crane used in automated pole changing, comprising the automatic positioning and walking device for an overhead crane used in automated pole changing as described in claim 5, characterized in that, Includes the following steps: Step 1: Determine the position: When it is necessary to determine the position of the trolley moving structure (2), firstly, based on the installation orientation of one of the corresponding calibration points (7), when judging the position with the vertical calibration point (7), make the laser position sensor (11) also face directly upward. The laser position sensor (11) corresponds to the calibration point (7) to judge the specific position of the trolley moving structure (2). When judging the position with the inclined calibration point (7), drive the mounting drum (10) and the laser position sensor (11) to flip to one side, so that the tilt angle of the laser position sensor (11) is consistent with the tilt angle of the calibration point (7) on the same side. Then move the trolley moving structure (2) so that the detection laser emitted by the laser position sensor (11) gradually senses each other with the corresponding calibration point (7) to judge the position of the trolley moving structure (2) and correct the movement data recorded in the encoder (31). Step 2, Calculate the braking distance: Determine the locking time of the flexible slide bar (4). When the workshop pole changing system is about to adjust the braking of the trolley moving structure (2), lock the corresponding area of ​​the flexible slide bar (4) by rotating the locking component. Then the trolley moving structure (2) starts to brake. The force of the trolley moving structure (2) during braking will drive the meshing seat (13) to continue to move, pulling the flexible slide bar (4) in the arc-shaped conveying cylinder (12) to change the original conveying path, so that the sliding rod (25) and the push wheel (26) move towards the detection chamber (23). Then the distance of the sliding rod (25) is detected by the distance sensor (24), thereby calculating the braking distance of the trolley moving structure (2), judging the specific position of the trolley moving structure (2) on the moving slide rail, and correcting the movement data recorded in the encoder (31).

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