Hook device and ground anchor equipment
By designing automated hooking devices and ground anchoring equipment, the automatic hooking and unhooking of garbage trucks has been achieved, solving the problems of low efficiency and high safety risks caused by manual operation, and improving the efficiency and safety of garbage dumping.
Patent Information
- Application Number
- CN202511955622.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-23
- Publication Date
- 2026-02-24
AI Technical Summary
In existing technologies, garbage trucks require manual hooking and unhooking when dumping garbage, which prolongs the dumping time, affects work efficiency, and increases safety risks.
Design a hooking device, including a hook body and a hanger, which can automatically hook and unhook by tightening a flexible cable or reversing a vehicle. Combined with the hoist and robotic arm in the ground anchor equipment for automated operation, it reduces manual intervention.
It improved the efficiency of waste disposal, reduced safety risks, and enhanced automation and operational safety.
Smart Images
Figure CN121553543A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle ground anchor technology, and in particular to a hook device and ground anchor equipment. Background Technology
[0002] Urban waste is usually transported to waste treatment stations by garbage trucks. The waste treatment stations have waste bins where the garbage trucks need to dump the waste.
[0003] Typically, to ensure the safety of garbage trucks when dumping garbage, ground anchors are installed on the ground inside the garbage disposal station. After the garbage truck is in place at the dumping point of the garbage bin, a person uses a rope with a hook to attach the garbage truck to the ground anchor to prevent the garbage truck from accidentally falling into the garbage bin while dumping garbage.
[0004] However, this method usually relies on manual labor, requiring garbage truck drivers to hook and unhook the garbage, which increases the time required for garbage dumping and is not conducive to improving the efficiency of garbage dumping. Summary of the Invention
[0005] In view of this, this application aims to provide a hook device to improve the efficiency of garbage dumping.
[0006] To achieve the above objectives, the technical solution of this application is implemented as follows: A hook device for detachably connecting a flexible cable to a vehicle, comprising a hook body and a hanger; The hook body includes a mounting base connected to the vehicle, and a hook body and a carrier body connected to the mounting base; The mounting base is provided with a protruding first limiting part; one end of the hook extends in the direction away from the mounting base and then bends downward, forming a limiting surface on its inner side that gradually approaches the mounting base from top to bottom; the carrier is located inside the hook, and the end of the carrier away from the mounting base is located directly above the limiting surface; One end of the pendant is connected to the flexible rope, and the other end is provided with a first hook and a second hook. With the first hook resting on the carrier and the hanging part hanging down, the second hook can hook the first limiting part; after the hanging part swings up to a predetermined angle, the second hook disengages from the first limiting part, and the flexible rope can pull the hanging part so that the first hook abuts the limiting surface; when the traction of the flexible rope is released, the hanging part can be unhooked under the action of gravity.
[0007] Furthermore, a second limiting part is provided on the upper part of the end of the carrier that is away from the mounting base, and the second limiting part is arranged to gradually move away from the mounting base from bottom to top.
[0008] Furthermore, the second hook is located on the side of the first hook away from the flexible rope, and has a protrusion on each of its two sides; The first limiting part protrudes downward from the mounting base, and the first limiting part can block the protrusion so that the second hook part can be hooked on the first limiting part.
[0009] Compared with related technologies, this application has the following advantages: (1) The hook device described in this application can first hang the hook on the carrier when the hook is attached to the hook body. Then, by tightening the flexible rope or reversing the vehicle slightly, the hook can be attached to the hook body. The inclined arrangement of the limiting surface makes the traction force of the flexible rope stronger and the hook less likely to detach. When the vehicle needs to leave, the hook can be automatically detached by loosening the flexible rope or moving the vehicle slightly forward. No manual detachment is required, which is conducive to improving the work efficiency of garbage dumping. At the same time, automatic detachment means that personnel do not need to approach the dangerous area to remove the hook, which is conducive to reducing the safety risks of personnel garbage dumping operations.
[0010] (2) The second limiting part gradually moves away from the mounting seat from bottom to top, forming an upward inclined surface. The inclined surface can prevent the first hook part from detaching from the carrier when it is not pulled by the flexible cable, so that the hanger is not easily affected by factors such as vehicle vibration and wind force and will not slip off the carrier. This makes the initial connection of the hanger more stable and the hanger is less likely to slip off accidentally, which is conducive to improving the reliability of the connection. In addition, the second limiting part can also play a guiding role during the process of the first hook part being placed on the carrier.
[0011] (3) Both sides of the second hook part are provided with protrusions, which can make the second hook part hook the first limit part by engaging the protrusion on either side of the hanging part with the first limit part, making the operation more convenient.
[0012] Another object of this application is to provide a ground anchor device that includes the hook device described above.
[0013] Furthermore, the ground anchor equipment includes a ground anchor device, a movable ground anchor vehicle, and a winch and a robotic arm mounted on the ground anchor vehicle; The winch can retract and extend the flexible cable, the robotic arm can grab the hanging piece and attach it to the hook body on the vehicle, and the ground anchor vehicle can move to the ground anchor device and detachably connect to the ground anchor device.
[0014] Furthermore, the ground anchor vehicle is equipped with a limiting frame and a first control module, and the limiting frame is equipped with a first sensor; The flexible cable passes through the limiting frame and is provided with a limiting block. When the winch winds up the flexible cable and the limiting block triggers the first sensor, the hanging piece is embedded in the limiting frame. The first control module receives the signal from the first sensor and can control the winch to stop winding.
[0015] Furthermore, the ground anchor device includes an image acquisition module and a second control module that is communicatively connected to both the image acquisition module and the robotic arm; The image acquisition module is located on the free end of the robotic arm that holds the hook, and is used to acquire images of the vehicle at the hook body; based on the images, the second control module can control the robotic arm to attach the hook to the hook body.
[0016] Furthermore, the ground anchor equipment includes a third control module mounted on the ground anchor vehicle, and a flexible cable detection device communicatively connected to the third control module; The flexible cable detection device can collect the tension status information of the flexible cable, and the third control module is communicatively connected to the winch; When the hanger is attached to the hook body and the ground anchor vehicle moves away from the vehicle, the third control module receives the tension status information and can control the winch to release a preset amount of the flexible cable and maintain the hanger's attachment state.
[0017] Furthermore, the flexible cable detection device includes a swing mechanism hinged to the ground anchor vehicle, a first rotating roller disposed on the free end of the swing mechanism, an elastic element connected between the ground anchor vehicle and the free end of the swing mechanism, and a second sensor and a third sensor disposed on the ground anchor vehicle. During the tensioning process of the flexible cable, the first rotating roller can be pulled upward, causing the swing mechanism to swing to a first preset position and trigger the second sensor. The elastic element stores energy, and the third control module receives the signal from the second sensor and can control the winch to release a preset amount of the flexible cable. During the relaxation process of the flexible cable, the elastic element releases energy and drives the swing mechanism to swing to the second preset position and triggers the third sensor. The third control module receives the signal from the third sensor and can control the winch to stop releasing the flexible cable.
[0018] Furthermore, the ground anchor device includes a base fixed to the ground and an anchor rod pivotally connected to the base; the ground anchor vehicle is equipped with an anchor hook and a liftable magnetic suction device, which can attract the anchor rod and lift it up so that the anchor hook can hook the anchor rod.
[0019] Furthermore, the ground anchor vehicle is equipped with a fourth control module, as well as a 3D LiDAR and two anti-collision radars that are communicatively connected to the fourth control module. The 3D LiDAR is located on the top of the ground anchor vehicle, and the two anti-collision radars are located at the front and rear ends of the ground anchor vehicle respectively. Received from the signals of the 3D LiDAR and the two anti-collision radars, the fourth control module can control the ground anchor vehicle to avoid obstacles on its movement path.
[0020] Compared with related technologies, this application has the following advantages: (1) The ground anchor device described in this application, by using the hook device mentioned above, when the hook is attached to the hook body, the hook can be first attached to the carrier, and then the hook can be attached to the hook body by tightening the flexible cable or reversing the vehicle slightly. The inclined arrangement of the limiting surface makes the traction force of the flexible cable stronger and the hook less likely to detach. When the vehicle needs to leave, the hook can be automatically detached by loosening the flexible cable or moving the vehicle slightly forward, without the need for manual detachment, which is conducive to improving the work efficiency of garbage dumping. At the same time, the automatic detachment means that personnel do not need to approach the dangerous area to remove the hook, which is conducive to reducing the safety risk of personnel garbage dumping operations.
[0021] (2) The robotic arm grabs the hanging parts and attaches them to the vehicle hook body. The winch retracts and releases the flexible cable, and the ground anchor vehicle moves to the ground anchor device for connection and fixation. This can greatly reduce manual intervention, eliminate the need for the driver to get off the vehicle to hook the parts, and improve work efficiency. The ground anchor vehicle can be moved to different ground anchor devices for connection, which is suitable for the layout requirements of multiple dumping points in the waste treatment station. The retraction and release of the flexible cable by the winch can match the movement of the ground anchor vehicle, avoiding the looseness of the flexible cable leading to disengagement, and improving the accuracy and safety of the operation.
[0022] (3) When the winch winds up the flexible rope, the limit block moves with the flexible rope. After triggering the first sensor, the first control module immediately controls the winch to stop winding, avoiding the flexible rope from being stretched and fatigued or broken due to overwinding. The hanger is precisely embedded in the limit frame, keeping the hanger in a horizontal and stable state, which is convenient for the robot to grasp accurately, reducing the positioning difficulty of the robot and improving the success rate of hanging.
[0023] (4) The image acquisition module is located at the free end of the robot arm, which can acquire images of the vehicle hook body in real time and locate the position of the hook body. The image acquisition module is located on the free end of the robot arm that holds the hanging part, which can make the reference of the image acquisition module and the free end the same, with small error, which is conducive to improving the accuracy of the robot arm to hang the hanging part on the hook body.
[0024] (5) The flexible cable detection device collects the tension information of the flexible cable. When the local anchor car moves away from the vehicle, the third control module controls the winch to release a preset amount of flexible cable according to the tension status, so that the flexible cable will not be too loose and unhooked during the vehicle movement, thus improving the reliability of use.
[0025] (6) When the flexible rope is taut, the first roller is pulled up, which drives the swing mechanism to swing and triggers the second sensor. The third control module can control the winch to release the rope. When the flexible rope is slack, the elastic element releases energy to reset the swing mechanism and trigger the third sensor. The third control module can control the winch to stop releasing the rope. This ensures that when the ground anchor vehicle moves, the flexible rope will not be too loose and cause the hook to come off, nor will the ground anchor vehicle pull the vehicle excessively, making the ground anchor equipment more reliable.
[0026] (7) The magnetic suction device can attract and lift the anchor rod, so that the anchor hook can quickly hook the anchor rod without manual operation and improve the working efficiency of the ground anchor vehicle; the 3D laser radar can build a three-dimensional model of the surrounding environment, the two anti-collision radars monitor obstacles in front and behind, and the fourth control module controls the ground anchor vehicle to avoid obstacles according to the sensor signals, improving the reliability of the ground anchor vehicle during movement. Attached Figure Description
[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the hook device described in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the hook body described in the embodiment of this application; Figure 3 This is a schematic diagram of the structure of the pendant described in the embodiment of this application; Figure 4 This is a top view of the ground anchor device described in the embodiments of this application; Figure 5 This is a schematic diagram of the concealed outer shell and limiting frame of the ground anchor device described in the embodiments of this application; Figure 6 for Figure 5 Enlarged view of part A in the middle; Figure 7 for Figure 5 Enlarged view of part B in the middle; Figure 8 This is a schematic diagram of the gripper and image acquisition module described in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the ground anchor device described in the embodiments of this application; Figure 10 This is a schematic diagram of the ground anchor device and charging pile described in the embodiments of this application; Explanation of reference numerals in the attached figures: 1. Hook body; 101. Mounting base; 1011. First limiting part; 102. Hook body; 1021. Limiting surface; 1022. Identification groove; 103. Carrier body; 1031. Second limiting part; 2. Pendant; 201. First hook part; 202. Second hook part; 2021. Protrusion; 3. Flexible rope; 301. Limiting block; 4. Ground anchor device; 401. Base; 402. Anchor bolt; 5. Ground anchor vehicle; 501. Limiting frame; 502. First sensor; 503. Anchor hook; 504. Magnetic suction device; 505. Lifting device; 506. Second rotating roller; 6. Winch; 7. Robotic hand; 701. Robotic arm; 702. Gripper; 8. Image acquisition module; 9. Flexible cable detection device; 901. Swinging mechanism; 902. First rotating roller; 903. Elastic element; 904. Second sensor; 905. Third sensor; 10. 3D LiDAR; 11. Collision avoidance radar; 12. Charging piles. Detailed Implementation
[0028] To make the technical solution and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0030] Furthermore, it should be noted that in the description of this application, if terms such as "upper," "lower," "inner," or "outer" appear, indicating orientation or positional relationship, these are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, if terms such as "first" or "second" appear, they are also used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0031] Furthermore, in the description of this application, unless otherwise expressly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application in light of the specific circumstances.
[0032] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0033] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.
[0034] An embodiment of the first aspect of this application provides a hook device for detachably connecting a flexible rope to a vehicle to improve the efficiency of garbage dumping.
[0035] Urban waste is usually transported to waste treatment stations by garbage trucks. The waste treatment stations have waste bins where the garbage trucks need to dump the waste.
[0036] Typically, to ensure the safety of garbage trucks when dumping garbage, ground anchors are installed on the ground inside the garbage disposal station. After the garbage truck is in place at the dumping point of the garbage bin, a person uses a rope with a hook to attach the garbage truck to the ground anchor to prevent the garbage truck from accidentally falling into the garbage bin while dumping garbage.
[0037] However, this method usually relies on manual labor, requiring garbage truck drivers to hook and unhook the garbage, which increases the time required for garbage dumping and is not conducive to improving the efficiency of garbage dumping.
[0038] In view of this, in order to overcome the shortcomings of the related technology, the hook device in this embodiment combines... Figures 1 to 3 As shown, the overall design includes a hook body 1 and a hanging piece 2.
[0039] The hook body 1 includes a mounting base 101 connected to the vehicle, and a hook 102 and a carrier 103 connected to the mounting base 101.
[0040] The mounting base 101 has a protruding first limiting part 1011. One end of the hook body 102 extends downward in a direction away from the mounting base 101 and forms a limiting surface 1021 on its inner side that gradually approaches the mounting base 101 from top to bottom. The carrier body 103 is located inside the hook body 102, and the end of the carrier body 103 away from the mounting base 101 is located directly above the limiting surface 1021.
[0041] One end of the pendant 2 is connected to the flexible rope 3, and the other end is provided with a first hook part 201 and a second hook part 202.
[0042] With the first hook 201 resting on the support 103 and the hanging piece 2 hanging down, the second hook 202 can hook onto the first limiting part 1011. After the hanging piece 2 swings up to a predetermined angle, the second hook 202 disengages from the first limiting part 1011, and the flexible rope 3 pulls the hanging piece 2 so that the first hook 201 abuts against the limiting surface 1021. When the traction of the flexible rope 3 is released, the hanging piece 2 can be unhooked under the action of gravity.
[0043] Therefore, when attaching the hook 2 to the hook body 1, the hook 2 can be first attached to the support body 103. Then, by tightening the flexible cable 3 or slightly reversing the vehicle, the first hook part 201 can be detached from the support body 103 and moved to the limiting surface 1021 of the hook body 102, allowing the hook 2 to be attached to the hook 102. The inclined arrangement of the limiting surface 1021 makes the traction force of the flexible cable 3 stronger, and the less likely the hook 2 is to detach. When the vehicle needs to leave, the flexible cable 3 can be loosened or the vehicle can be moved forward slightly, causing the flexible cable 3 to release. Under the action of gravity, the hook 2 slides down the limiting surface 1021 and automatically detaches, eliminating the need for manual detachment and improving the efficiency of garbage dumping. At the same time, automatic detachment means that personnel do not need to approach dangerous areas to remove the hook, which helps reduce the safety risks of personnel garbage dumping operations.
[0044] Based on the above overview, specifically, when a garbage truck dumps garbage, it typically dumps the garbage from its own garbage bin to the rear. That is, when dumping garbage, the rear of the garbage truck faces the garbage bin, and the front faces away from the garbage bin. The hook body 1 is located on the front of the garbage truck, specifically, for example, on the front bumper. The flexible cable 3 can be made of, for example, fiber rope, steel wire rope, or chain.
[0045] The hook body 102 and the carrier body 103 form a hook-hanging channel in the shape of "7". The bottom of the hook-hanging channel is the inlet and outlet, and the first hook part 201 enters and exits through the inlet and outlet.
[0046] Continue to combine Figures 1 to 3As shown, in some of the exemplary embodiments, the upper part of the carrier 103 away from the mounting base 101 is provided with a second limiting part 1031, which is arranged from bottom to top away from the mounting base 101.
[0047] In this way, the second limiting part 1031 gradually moves away from the mounting base 101 from bottom to top, forming an upward inclined surface. The inclined surface can prevent the first hook part 201 from detaching from the carrier 103 when it is not pulled by the flexible cable 3, so that the hanger 2 is not easily affected by factors such as vehicle vibration and wind force and will not slip off the carrier 103. This makes the initial connection of the hanger 2 more stable and the hanger 2 less likely to slip off accidentally, which is conducive to improving the connection reliability. In addition, the second limiting part 1031 can also play a guiding role during the process of the first hook part 201 being placed on the carrier 103.
[0048] Still combined Figures 1 to 3 As shown, in some exemplary embodiments, the second hook portion 202 is located on the side of the first hook portion 201 away from the flexible rope 3, and has a protrusion 2021 on each of its two sides. The first limiting portion 1011 protrudes downward from the mounting base 101 and can block the protrusions 2021 so that the second hook portion 202 hooks onto the first limiting portion 1011.
[0049] With this configuration, both sides of the second hook part 202 are provided with protrusions 2021, which allows the protrusion 2021 on either side of the hanger 2 to engage with the first limiting part 1011, thus enabling the second hook part 202 to hook the first limiting part 1011, making the operation more convenient.
[0050] Specifically, the main body of the hanging ring can be U-shaped, and the first hook 201 can be a round rod that passes through the main body of the hanging ring, with the round rod and the main body of the hanging ring forming a ring. There can be two second hooks 202, located on both sides of the first hook 201, and two corresponding first limiting parts 1011 are also provided on the mounting base 101.
[0051] The hook device in this embodiment adopts the above design. When attaching the hook 2 to the hook body 1, the hook 2 can be first attached to the support body 103. Then, by tightening the flexible cable 3 or slightly reversing the vehicle, the first hook part 201 can be detached from the support body 103 and moved to the limiting surface 1021 of the hook body 102, so that the hook 2 is attached to the hook body 102. The inclined arrangement of the limiting surface 1021 makes the traction force of the flexible cable 3 stronger, and the less likely the hook 2 is to detach. When the vehicle needs to leave, the flexible cable 3 can be loosened or the vehicle can be moved forward slightly. The flexible cable 3 will loosen, and the hook 2 will slide down along the limiting surface 1021 under the action of gravity and automatically detach, without the need for manual detachment, which helps to improve the efficiency of garbage dumping. At the same time, automatic detachment means that personnel do not need to approach the danger zone to remove the hook, which helps to reduce the safety risks of personnel garbage dumping operations.
[0052] An embodiment of the second aspect of this application provides a ground anchoring device, referring to... Figures 1 to 10 As shown, the ground anchor device includes a hook device according to an embodiment of the first aspect of this application.
[0053] In some exemplary embodiments, the ground anchoring device includes a ground anchoring device 4, a movable ground anchoring vehicle 5, and a winch 6 and a robotic arm 7 mounted on the ground anchoring vehicle 5. The winch 6 can wind up and unwind the flexible cable 3, the robotic arm 7 can grab the hanging piece 2 and attach it to the hook body 1 on the vehicle, and the ground anchoring vehicle 5 can move to the ground anchoring device 4 and be detachably connected to the ground anchoring device 4.
[0054] In this way, the robotic arm 7 grabs the hook 2 and attaches it to the vehicle hook body 1, the winch 6 winds up and unwinds the flexible cable 3, and the ground anchor vehicle 5 moves to the ground anchor device 4 for connection and fixation. This can greatly reduce manual intervention, eliminate the need for the driver to get out of the vehicle to hook the hook, and improve work efficiency. In addition, the ground anchor vehicle 5 can be moved to different ground anchor devices 4 for connection, which can adapt to the layout requirements of multiple dumping points in the waste treatment station. The winch 6 winds up and unwinds the flexible cable 3 in accordance with the movement of the ground anchor vehicle 5 to avoid the flexible cable 3 being too loose and causing it to come off the hook, thereby improving the accuracy and safety of the operation.
[0055] Based on this, refer to Figure 5 and Figure 6 In some exemplary embodiments, the ground anchor 5 is equipped with a limiting frame 501 and a first control module, and the limiting frame 501 is equipped with a first sensor 502. The flexible cable 3 passes through the limiting frame 501 and is provided with a limiting block 301. When the winch 6 winds up the flexible cable 3, causing the limiting block 301 to trigger the first sensor 502, the hanger 2 is embedded in the limiting frame 501. The first control module receives the signal from the first sensor 502 and can control the winch 6 to stop winding.
[0056] In this way, when the winch 6 winds up the flexible cable 3, the limit block 301 moves with the flexible cable 3. After triggering the first sensor 502, the first control module immediately controls the winch 6 to stop winding, avoiding the flexible cable 3 from being stretched and fatigued or broken due to overwinding. In addition, the hanging part 2 is precisely embedded in the limit frame 501, keeping the hanging part 2 in a horizontal and stable state, which makes it easy for the robot arm 7 to grasp accurately, reducing the positioning difficulty of the robot arm 7 and improving the success rate of hanging.
[0057] For example, the first sensor 502 can be set as a through-beam photoelectric sensor. When the pendant 2 is embedded in the limiting frame 501, the limiting block 301 abuts against the limiting frame 501 and triggers the first sensor 502 to act. At this time, the position of the pendant 2 is fixed. That is to say, this position can be set as the preset position for the robot arm 7 to grasp the pendant 2, so that the pendant 2 can be grasped more efficiently and accurately.
[0058] For robotic arm 7, refer to Figure 5 and Figure 8 For example, a combination of a seven-degree-of-freedom robotic arm 701 and a gripper 702 can be used. Grooves can be provided on both sides of the gripper 702 to increase the gripping firmness of the gripper 702.
[0059] Based on the ground anchor device 4, which includes an anchor vehicle 5 and a robotic arm 7, in some exemplary embodiments, the ground anchor device includes an image acquisition module 8 and a second control module communicatively connected to both the image acquisition module 8 and the robotic arm 7. The image acquisition module 8 is located on the free end of the robotic arm 7 that holds the hook 2, and is used to acquire images of the vehicle at the hook body 1. Based on the images, the second control module can control the robotic arm 7 to attach the hook to the hook body 1.
[0060] As configured above, the image acquisition module 8 is located at the free end of the robotic arm 7, enabling it to acquire images of the vehicle hook body 1 in real time and locate its position. The image acquisition module 8 is positioned on the free end of the robotic arm 7 that grips the hanging part 2, ensuring that the reference points of the image acquisition module 8 and the free end are identical, resulting in smaller errors and improving the accuracy of the robotic arm 7 in attaching the hanging part 2 to the hook body 1. Preferably, the acquisition direction of the image acquisition module 8 can be opposite to the direction of the gripper 702 and the hanging part 2.
[0061] Specifically, the image acquisition module 8 may include a 3D camera, which is capable of acquiring three-dimensional images and transmitting image data to the second control module. To facilitate the identification of the hook body 1, two rectangular identification grooves 1022 can be provided on both sides of the end of the hook body 102 facing away from the mounting base 101 to improve the image's recognizability.
[0062] Reference Figure 5 and Figure 7The ground anchoring equipment includes a third control module mounted on the ground anchor vehicle 5, and a flexible cable detection device 9 communicatively connected to the third control module. The flexible cable detection device 9 can collect the tension status information of the flexible cable 3, and the third control module is communicatively connected to the winch 6. When the hanger 2 is attached to the hook body 1 and the ground anchor vehicle 5 moves away from the vehicle, the third control module receives the tension status information and can control the winch 6 to release a preset amount of flexible cable 3, while maintaining the attachment status of the hanger 2.
[0063] With this setup, the flexible cable detection device 9 collects the tension information of the flexible cable 3. When the local anchor vehicle 5 moves away from the vehicle, the third control module controls the winch 6 to release a preset amount of flexible cable 3 according to the tension status, so that the flexible cable 3 will not become excessively loose and unhooked during the vehicle's movement, thus improving the reliability of use.
[0064] Furthermore, the flexible cable detection device 9 includes a swing mechanism 901 hinged to the ground anchor vehicle 5, a first rotating roller 902 disposed on the free end of the swing mechanism 901, an elastic member 903 connected between the ground anchor vehicle 5 and the free end of the swing mechanism 901, and a second sensor 904 and a third sensor 905 disposed on the ground anchor vehicle 5.
[0065] During the tensioning process of the flexible cable 3, the first roller 902 is pulled upwards, causing the swing mechanism 901 to swing to the first preset position and triggering the second sensor 904. The elastic element 903 stores energy, and the third control module, receiving the signal from the second sensor 904, controls the winch 6 to release a preset amount of the flexible cable 3. During the relaxation process of the flexible cable 3, the elastic element 903 releases energy and drives the swing mechanism 901 to swing to the second preset position, triggering the third sensor 905. The third control module, receiving the signal from the third sensor 905, controls the winch 6 to stop releasing the flexible cable 3.
[0066] With the above settings, when the flexible cable 3 is tensioned, it pulls the first roller 902 upward, driving the swing mechanism 901 to swing and triggering the second sensor 904. The third control module can control the winch 6 to release the rope. When the flexible cable 3 is slack, the elastic element 903 releases energy, causing the swing mechanism 901 to reset and triggering the third sensor 905. The third control module can then control the winch 6 to stop releasing the rope. This ensures that when the ground anchor vehicle 5 moves, the flexible cable 3 will not be too loose, causing the hook 2 to disengage, nor will the ground anchor vehicle 5 excessively pull the vehicle, thus making the ground anchor equipment more reliable.
[0067] Both the second sensor 904 and the third sensor 905 can be through-beam photoelectric sensors, triggered by the blocking effect of the swing mechanism 901. The second sensor 904 and the third sensor 905 can be mounted on brackets installed on the ground anchor vehicle 5. The swing mechanism 901 can be, for example, a planar four-bar linkage, ensuring stable movement at one end connected to the first roller 902. The elastic element 903 can be a tension spring, with one end connected to the ground anchor vehicle 5 and the other end connected to the top of the swing mechanism 901. To improve the angular adaptability of the flexible cable 3 passing through the first roller 902, a second roller 506 can be installed on the ground anchor vehicle 5 in front of the swing mechanism 901. The second roller 506 has a gradually increasing diameter from its middle to both ends, providing better guidance for the flexible cable 3.
[0068] The ground anchor device 4 includes a base 401 fixed to the ground and an anchor rod 402 pivotally connected to the base 401. The ground anchor vehicle 5 is equipped with an anchor hook 503 and a liftable magnetic suction device 504. The magnetic suction device 504 can attract and lift the anchor rod 402, allowing the anchor hook 503 to hook onto the anchor rod 402. The magnetic suction device 504's ability to attract and lift the anchor rod 402 enables the anchor hook 503 to quickly hook onto the anchor rod 402 without manual operation, thus improving the working efficiency of the ground anchor vehicle 5.
[0069] For example, the anchor rod 402 can be U-shaped, with both ends pivotally connected to the base 401. The base 401 has grooves adapted to the shape of the anchor rod 402, allowing the anchor rod 402 to be embedded in the grooves when not in use. The ground anchor vehicle 5 is equipped with a lifting device 505. The lifting device 505 uses a servo motor to drive a set of synchronous pulleys to drive a synchronous belt. The magnetic suction device 504 is connected to the synchronous belt, thus enabling the lifting and lowering of the magnetic suction device 504. In this embodiment, two sets of lifting devices 505 and magnetic suction devices 504 are provided in combination.
[0070] To enhance the anti-collision performance of the ground anchor vehicle 5, a fourth control module is installed on the ground anchor vehicle 5, along with a 3D LiDAR 10 and two anti-collision radars 11 that are connected to the fourth control module. The 3D LiDAR 10 is located on the top of the ground anchor vehicle 5, and the two anti-collision radars 11 are located at the front and rear ends of the ground anchor vehicle 5, respectively. Received from the signals of the 3D LiDAR 10 and the two anti-collision radars 11, the fourth control module can control the ground anchor vehicle 5 to avoid obstacles in its movement path.
[0071] As arranged as above, the 3D LiDAR can construct a three-dimensional model of the surrounding environment, the two anti-collision radars 11 monitor obstacles in front and behind, and the fourth control module controls the ground anchor vehicle 5 to avoid obstacles based on sensor signals, thereby improving the reliability of the ground anchor vehicle 5 during its movement.
[0072] Specifically, the 3D lidar 10 can be mounted on the top of the ground anchor vehicle 5, giving it a detection range of approximately 360°. Two anti-collision radars 11 can be mounted on the front left and rear right sides of the ground anchor vehicle 5, respectively, with each anti-collision radar 11 having a detection range of approximately 270°.
[0073] The first, second, third, and fourth control modules of this application can be integrated into a single controller. The ground anchor vehicle 5 uses two sets of tracks for movement and turning. The two sets of tracks are symmetrically arranged on the left and right sides of the ground anchor vehicle 5, each driven by an independent servo motor. The servo motors are communicatively connected to the controller, which controls the ground anchor vehicle 5 to complete movement and turning actions.
[0074] Of course, the ground anchor vehicle 5 is also equipped with a battery that can power the electrical devices in the ground anchor equipment. A charging pile 12 can be set up so that the ground anchor vehicle 5 can plan its route according to the location of the charging pile 12, move around, and connect to the plug of the charging pile 12 to charge itself.
[0075] The ground anchor device in this embodiment utilizes the hook device from the first aspect of this embodiment. When attaching the hook 2 to the hook body 1, the hook 2 can be first attached to the carrier 103. Then, by tightening the flexible cable 3 or slightly reversing the vehicle, the hook 2 can be attached to the hook body 1. The inclined arrangement of the limiting surface 1021 makes the traction force of the flexible cable 3 stronger, and the less likely the hook 2 is to detach. When the vehicle needs to leave, the hook 2 can be automatically detached by loosening the flexible cable 3 or by slightly advancing the vehicle, without the need for manual detachment, which helps improve the efficiency of garbage dumping. At the same time, automatic detachment means that personnel do not need to approach dangerous areas to remove the hook, which helps reduce the safety risks of personnel garbage dumping operations.
[0076] The above descriptions are merely some embodiments of this application and are not intended to limit this application. The technical features or structures in the foregoing different embodiments can be arbitrarily combined to form other specific technical solutions as needed. For those skilled in the art, this application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of the claims of this application.
Claims
1. A hook device for detachably connecting a flexible rope (3) to a vehicle, characterized in that: Includes the hook body (1) and the hanging piece (2); The hook body (1) includes a mounting base (101) connected to the vehicle, and a hook (102) and a carrier (103) connected to the mounting base (101). The mounting base (101) is provided with a protruding first limiting part (1011); one end of the hook (102) extends in the direction away from the mounting base (101) and then bends downward, forming a limiting surface (1021) on its inner side that gradually approaches the mounting base (101) from top to bottom; the carrier (103) is located inside the hook (102), and the end of the carrier (103) away from the mounting base (101) is located directly above the limiting surface (1021); The pendant (2) is connected to the flexible rope (3) at one end and has a first hook (201) and a second hook (202) at the other end. With the first hook (201) resting on the carrier (103) and the hanging part (2) hanging down, the second hook (202) can hook the first limiting part (1011); after the hanging part (2) swings up to a predetermined angle, the second hook (202) disengages from the first limiting part (1011), and the flexible rope (3) can pull the hanging part (2) so that the first hook (201) abuts against the limiting surface (1021); when the traction of the flexible rope (3) is released, the hanging part (2) can be unhooked under the action of gravity.
2. The hook device according to claim 1, characterized in that: The upper part of the carrier (103) away from the mounting base (101) is provided with a second limiting part (1031), and the second limiting part (1031) is arranged from bottom to top away from the mounting base (101).
3. The hook device according to claim 1 or 2, characterized in that: The second hook part (202) is located on the side of the first hook part (201) away from the flexible rope (3), and has a protrusion (2021) on each side of itself. The first limiting part (1011) protrudes downward from the mounting base (101), and the first limiting part (1011) can block the protrusion (2021) so that the second hook part (202) hooks onto the first limiting part (1011).
4. A ground anchoring device, characterized in that: Includes the hook device according to any one of claims 1 to 3.
5. The ground anchoring device according to claim 1, characterized in that: It includes a ground anchor device (4), a movable ground anchor vehicle (5), and a winch (6) and a robot (7) mounted on the ground anchor vehicle (5). The winch (6) can retract and extend the flexible cable (3), the robotic arm (7) can grab the hanging piece (2) and attach it to the hook body (1) on the vehicle, and the ground anchor vehicle (5) can move to the ground anchor device (4) and detachably connect to the ground anchor device (4).
6. The ground anchoring device according to claim 5, characterized in that: The ground anchor vehicle (5) is equipped with a limit frame (501) and a first control module, and the limit frame (501) is equipped with a first sensor (502). The flexible cable (3) passes through the limiting frame (501) and is provided with a limiting block (301). When the winch (6) winds up the flexible cable (3) and the limiting block (301) triggers the first sensor (502), the hanging piece (2) is embedded in the limiting frame (501). The first control module receives the signal from the first sensor (502) and can control the winch (6) to stop winding.
7. The ground anchoring device according to claim 5, characterized in that: It includes an image acquisition module (8) and a second control module that is communicatively connected to both the image acquisition module (8) and the robotic arm (7); The image acquisition module (8) is located on the free end of the manipulator (7) holding the hook (2) and is used to acquire images of the vehicle at the hook body (1). Based on the images, the second control module can control the manipulator (7) to hang the hook on the hook body (1).
8. The ground anchoring device according to claim 5, characterized in that: It includes a third control module installed on the ground anchor vehicle (5) and a flexible cable detection device (9) that is communicatively connected to the third control module. The flexible cable detection device (9) can collect the tension status information of the flexible cable (3), and the third control module is communicatively connected to the winch (6). When the hook body (1) is attached to the hanging piece (2) and the ground anchor vehicle (5) moves away from the vehicle, the third control module receives the tension status information and can control the winch (6) to release a preset amount of the flexible cable (3) and maintain the hanging state of the hanging piece (2).
9. The ground anchoring device according to claim 8, characterized in that: The flexible cable detection device (9) includes a swing mechanism (901) hinged to the ground anchor vehicle (5), a first rotating roller (902) disposed on the free end of the swing mechanism (901), an elastic element (903) connected between the ground anchor vehicle (5) and the free end of the swing mechanism (901), and a second sensor (904) and a third sensor (905) disposed on the ground anchor vehicle (5). During the tensioning process of the flexible cable (3), the first roller (902) can be pulled upward, causing the swing mechanism (901) to swing to the first preset position and trigger the second sensor (904). The elastic element (903) stores energy, and the third control module receives the signal from the second sensor (904) and can control the winch (6) to release a preset amount of the flexible cable (3). During the relaxation process of the flexible cable (3), the elastic element (903) releases energy and drives the swing mechanism (901) to swing to the second preset position and trigger the third sensor (905). The third control module receives the signal from the third sensor (905) and can control the winch (6) to stop releasing the flexible cable (3).
10. The ground anchoring device according to claim 5, characterized in that: The ground anchor device (4) includes a base (401) fixed to the ground and an anchor rod (402) pivotally connected to the base (401); the ground anchor vehicle (5) is equipped with an anchor hook (503) and a liftable magnetic suction device (504), which can attract the anchor rod (402) and raise it, so that the anchor hook (503) can hook the anchor rod (402); and / or, The ground anchor vehicle (5) is equipped with a fourth control module, as well as a 3D laser radar (10) and two anti-collision radars (11) that are connected to the fourth control module. The 3D laser radar (10) is located on the top of the ground anchor vehicle (5), and the two anti-collision radars (11) are located at the front and rear ends of the ground anchor vehicle (5). By receiving the signals from the 3D laser radar (10) and the two anti-collision radars (11), the fourth control module can control the ground anchor vehicle (5) to avoid obstacles on its movement path.