Vibration self-power-generation grab bucket attitude measuring device based on lora communication

Abstract

The vibration self-power-generation grab bucket attitude measuring device based on lora communication comprises a vertical rod, the lower end of the vertical rod is connected with a power block in a sliding mode, the vertical rod is sleeved with a sliding frame in a sliding mode, and the sliding frame is connected with the power block through a connecting rod; a coil is arranged in the vertical rod, a vibration frame is further arranged in the vertical rod, the sliding frame drives the vibration frame to vibrate through a trigger assembly, a movable rod penetrating through the coil is fixed to the vibration frame, and a permanent magnet penetrating through the coil back and forth is fixed to the movable rod. When the grab bucket runs, the grab bucket and the vertical rod generate corresponding mechanical vibration, so that the vibration frame vibrates and swings on the vertical rod along the guide post, the vibration frame drives the permanent magnet to slide back and forth through the movable rod, the permanent magnet moves back and forth relative to the coil, and then magnetic induction current can be generated on the coil; vibration energy is converted into electric energy, and the purpose of power generation is achieved.

Description

Technical Field

[0001] The utility model relates to a vibration self - generating grab attitude measuring device based on LoRa communication, belonging to the technical field of vehicle control. Background Technique

[0002] In the prior art, as a material handling device widely used in ports, docks, mines and other places, the grab will inevitably generate mechanical vibrations during its operation. These vibrations mainly come from the dynamic impacts during the opening and closing of the grab, the grasping and releasing of materials, and the reaction forces generated by the vertical rod when bearing these forces. For a long time, these mechanical vibrations have been regarded as a useless side effect. However, how to effectively capture and utilize these vibration energies and convert them into reusable electrical energy or other forms of energy has become an urgent technical problem to be solved. Therefore, a vibration self - generating grab attitude measuring device based on LoRa communication is proposed. Content of the Utility Model

[0003] The purpose of the utility model is to provide a vibration self - generating grab attitude measuring device based on LoRa communication to solve the problems raised in the above - mentioned background technique.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: A vibration self - generating grab attitude measuring device based on LoRa communication, comprising:

[0005] A vertical rod, with two grabs symmetrically arranged below the vertical rod. Both sides of the vertical rod are hinged with support rods, and the lower ends of the two support rods are hinged to the side walls of the grabs on the same side. The vertical rod is also provided with:

[0006] A power block, which is slidably connected to the lower end of the vertical rod and is used to drive the two grabs to open and close;

[0007] A sliding frame, which is slidably sleeved on the vertical rod. A plurality of connecting rods are fixed on the sliding frame, and the ends of the connecting rods far away from the sliding frame are fixed on the power block;

[0008] Wherein, a coil is arranged inside the vertical rod, and a vibration frame is also arranged inside the vertical rod. The sliding frame drives the vibration frame to vibrate through a trigger component. A moving rod passing through the coil is fixed on the vibration frame, and a permanent magnet for moving back and forth inside the coil is fixed on the moving rod.

[0009] Preferably, a plurality of guiding columns are fixed on the vertical rod, and the plurality of guiding columns are arranged along the central axis of the coil. The vibration frame is slidably sleeved on the plurality of guiding columns, and vibration springs are sleeved on each guiding column on both sides of the vibration frame.

[0010] Preferably, the trigger component includes:

[0011] Multiple elastic plates, which are evenly distributed on both sides of the vibrating frame;

[0012] Two toggling blocks, which are respectively fixed on both sides of the sliding frame, and the toggling blocks are movably connected to the elastic plates on the same side.

[0013] Preferably, the power block is provided with:

[0014] Two rotating shafts, which are horizontally arranged in parallel, the middle parts of the two rotating shafts are fixed on the power block, and both ends of each rotating shaft are hinged on the side wall of the grab on the same side;

[0015] When the power block moves downward with the rotating shafts, the two grabs respectively rotate away from each other around the rotating shafts on the same side to open;

[0016] When the power block moves upward with the rotating shafts, the two grabs respectively rotate relative to each other around the rotating shafts on the same side to close.

[0017] Preferably, an oil cylinder is fixedly installed on the side wall of the vertical rod, and the end of the telescopic shaft of the oil cylinder is fixed on the side wall of the power block.

[0018] Preferably, a camera is fixedly installed on the lower surface of the power block.

[0019] Preferably, an ear plate is fixed on the side wall of the vertical rod, and the connecting rod is slidably sleeved on the ear plate.

[0020] Preferably, a mounting flange is fixedly arranged at the upper end of the vertical rod.

[0021] Compared with the prior art:

[0022] 1. When the grab of the present invention operates, the grab and the vertical rod will generate corresponding mechanical vibrations. Therefore, the vibrating frame will vibrate and swing along the guiding column on the vertical rod, causing the vibrating frame to drive the permanent magnet to reciprocate through the moving rod. The permanent magnet moves back and forth relative to the coil, and then a magnetic induction current can be generated on the coil, realizing the conversion of vibration energy into electrical energy and achieving the purpose of power generation.

[0023] 2. In the present invention, the sliding frame slides on the vertical rod, and the sliding frame drives the toggling block to slide. During the sliding process of the toggling block, the toggling block contacts the elastic plate, and the elastic plate is pressed and deformed. When the deformation amount of the elastic plate becomes larger, it will separate from the toggling block. At the moment when the elastic plate separates from the toggling block, the combined action of the elastic plate and the vibration spring causes the vibrating frame to reciprocally vibrate and slide on the vertical rod. At this time, the vibrating frame drives the permanent magnet to reciprocate through the moving rod, further increasing the frequency of the back-and-forth movement of the permanent magnet relative to the coil, and enhancing the effect of converting vibration energy into electrical energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the utility model;

[0025] Figure 2 It is a structural schematic diagram of the vertical pole, power block, sliding frame and connecting rod of the utility model;

[0026] Figure 3 It is a cross-sectional view of the vertical pole, sliding frame, vibration frame, elastic plate and toggle block of the utility model;

[0027] Figure 4 It is a cross-sectional view of the vibration frame, moving rod, permanent magnet and trigger assembly of the utility model.

[0028] In the figure:

[0029] 1. Vertical pole, 2. Grab bucket, 3. Support rod, 4. Power block, 5. Rotating shaft;

[0030] 6. sliding frame, 7. connecting rod, 8. coil, 9. vibration frame, 10. moving rod, 11. permanent magnet;

[0031] 12. trigger assembly, 1201. elastic plate, 1202. toggle block;

[0032] 13. Guide column, 14. Vibration spring;

[0033] 15. Oil cylinder;

[0034] 16. Camera;

[0035] 17. Install flange;

[0036] 18. Ear plate. DETAILED DESCRIPTION

[0037] The present invention is described below with specific embodiments, but is not intended to be a limitation of the present invention.

[0038] Embodiment 1

[0039] like Figures 1-4 As shown, in this embodiment, a vibration self-generating grab bucket posture measuring device based on lora communication is provided, including a vertical pole 1, a mounting flange 17 is fixedly provided on the upper end of the vertical pole 1, two grab buckets 2 are symmetrically arranged below the vertical pole 1, support rods 3 are hinged on both sides of the vertical pole 1, and the lower ends of the two support rods 3 are hinged on the side walls of the grab buckets 2 on the same side, and a power block 4 is also arranged on the vertical pole 1, and the power block 4 is slidably connected to the lower end of the vertical pole 1 for driving the two grab buckets 2 to open and close; a sliding frame 6 is slidably sleeved on the vertical pole 1, and a plurality of connecting rods 7 are fixed on the upper part of the sliding frame 6, and the end of the connecting rod 7 away from the sliding frame 6 is fixed on the power block 4, and an ear plate 18 is fixed on the side wall of the vertical pole 1, and the connecting rod 7 is slidably sleeved on the ear plate 18, as shown in FIG. Figure 2As shown, the ear plate 18 provides a stable support point for the connecting rod 7. The connecting rod 7 is slidably sleeved on the ear plate 18, allowing the connecting rod 7 to freely slide within a certain range, while being effectively restricted to the side wall of the vertical rod 1 by the ear plate 18 to prevent it from detaching or deviating excessively;

[0040] Among them, a coil 8 is arranged inside the vertical rod 1, and a vibration frame 9 is also arranged inside the vertical rod 1. The sliding frame 6 drives the vibration frame 9 to vibrate through the triggering assembly 12. A moving rod 10 is fixed on the vibration frame 9 and passes through the coil 8, and a permanent magnet 11 for moving back and forth inside the coil 8 is fixed on the moving rod 10. The permanent magnet 11 moves back and forth relative to the coil, and then can generate a magnetic induction current on the coil, realizing the conversion of vibration energy into electrical energy to achieve the purpose of power generation.

[0041] As Figure 1 shown, in order to control the opening and closing of the two grab buckets 2, two rotating shafts 5 are arranged on the power block 4. The two rotating shafts 5 are arranged horizontally in parallel. The middle parts of the two rotating shafts 5 are fixed on the power block 4, and both ends of each rotating shaft 5 are hinged to the side wall of the grab bucket 2 on the same side;

[0042] When the power block 4 moves downward with the rotating shaft 5, the two grab buckets 2 rotate away from each other around the rotating shafts 5 on the same side to open;

[0043] When the power block 4 moves upward with the rotating shaft 5, the two grab buckets 2 rotate towards each other around the rotating shafts 5 on the same side to close.

[0044] As Figure 1 、 Figure 2 shown, in order to drive the power block 4 to slide below the vertical rod 1, an oil cylinder 15 is fixedly installed on the side wall of the vertical rod 1. The end of the telescopic shaft of the oil cylinder 15 is fixed on the side wall of the power block 4. When the oil cylinder 15 operates, the telescopic shaft of the oil cylinder 15 moves up and down, so as to be able to drive the power block 4 to slide below the vertical rod 1. And the number of oil cylinders 15 can be two, and the two oil cylinders 15 are symmetrically arranged on both sides of the vertical rod 1 to improve the sliding stability of the power block 4.

[0045] This device is also equipped with an attitude measurement sensor and a LoRa wireless communication module. The LoRa wireless communication module is signal-connected to the upper computer or the remote server through the LoRa network. The electrical energy generated by the reciprocating movement of the permanent magnet 11 relative to the coil provides power support for the attitude measurement sensor and the LoRa wireless communication module. The design of the wireless system reduces the complexity of wiring and the maintenance workload;

[0046] The attitude measurement sensor is used to collect the attitude information of the grab bucket in real time (such as inclination angle, rotation angle, etc.). For example, a single-axis inclination sensor is installed on the grab bucket 2 to measure the inclination angle of the grab bucket 2, which helps to accurately control the attitude of the grab bucket 2 and the dumping of materials;

[0047] LoRa wireless communication module: responsible for transmitting the data collected by the attitude measurement sensor to the host computer or remote server through the LoRa network;

[0048] Features of LoRa wireless communication technology: LoRa technology is a low-power wide area network (LPWAN) technology with the advantages of long communication distance, low power consumption, and strong anti-interference ability. It uses spread spectrum modulation technology and can maintain a stable communication connection in a complex electromagnetic environment;

[0049] Host computer or remote server: used to receive, process and analyze the transmitted data, and display the posture information of the grab through a graphical interface.

[0050] Embodiment 2

[0051] like Figures 3-4 As shown, on the basis of the first embodiment, in order to further enable the vibration frame 9 to vibrate on the vertical pole 1, a plurality of guide posts 13 are fixed on the vertical pole 1, and the plurality of guide posts 13 are arranged along the central axis of the coil 8. The vibration frame 9 is slidably sleeved on the plurality of guide posts 13. A vibration spring 14 is sleeved on each guide post 13 and on both sides of the vibration frame 9. The plurality of guide posts 13 are parallel to each other, and the length direction of the plurality of guide posts 13 is arranged along the direction in which the permanent magnet 11 passes back and forth through the coil 8. The spring pressure direction of the vibration spring 14 is limited by the guide post 13 to the direction in which the permanent magnet 11 passes back and forth through the coil 8. When the grab 2 is running, the grab 2 and the vertical pole 1 will generate corresponding mechanical vibrations. Therefore, the vibration frame 9 will vibrate and swing along the guide post 13 on the vertical pole 1, causing the vibration frame 9 to slide back and forth with the permanent magnet 11 through the moving rod 10. The permanent magnet 11 moves back and forth relative to the coil, and then a magnetic induction current can be generated on the coil, thereby converting vibration energy into electrical energy and achieving the purpose of power generation.

[0052] The trigger assembly 12 includes a plurality of elastic plates 1201 and two toggle blocks 1202. The plurality of elastic plates 1201 are evenly distributed on both sides of the vibration frame 9. The two toggle blocks 1202 are respectively fixed on both sides of the sliding frame 6. The toggle blocks 1202 are movably connected to the elastic plates 1201 on the same side.

[0053] like Figure 4As shown, when the sliding frame 6 slides downward on the vertical rod 1, the sliding frame 6 slides downward with the toggle block 1202. During the downward movement of the toggle block 1202, the toggle block 1202 contacts the elastic plate 1201. When the sliding frame 6 continues to move downward, the toggle block 1202 presses the elastic plate 1201 downward. At this time, the elastic plate 1201 slides with the vibration frame 9 to compress the corresponding vibration spring 14. As the vibration spring 14 is gradually compressed, the toggle block 1202 generates a greater force to press the elastic plate 1 201, the elastic plate 1201 is pressed and deformed. When the deformation of the elastic plate 1201 becomes larger, it will fall off from the toggle block 1202. At the moment when the elastic plate 1201 and the toggle block 1202 are separated, the elastic plate 1201 and the vibration spring 14 work together to cause the vibration frame 9 to vibrate and slide back and forth on the vertical pole 1. At this time, the vibration frame 9 slides back and forth with the permanent magnet 11 through the moving rod 10, further increasing the frequency of the permanent magnet's back and forth movement relative to the coil, and enhancing the effect of converting vibration energy into electrical energy.

[0054] The above description is a process in which the toggle block 1202 toggles one elastic plate 1201 to trigger the vibration of the vibration frame 9. As the sliding frame 6 continues to slide downward, the toggle block 1202 will cooperate with the remaining elastic plates 1201 one by one to trigger the vibration frame 9 to continue to vibrate, thereby achieving the purpose of continuous power generation.

[0055] In addition, when the sliding frame 6 slides upward on the vertical pole 1, the toggle block 1202 will also toggle each elastic plate 1201 to trigger the vibration frame 9 to vibrate. The process principle of the toggle block 1202 toggling the elastic plate 1201 in this process is the same as the process principle of the toggle block 1202 toggling the elastic plate 1201 when the sliding frame 6 slides downward on the vertical pole 1, so it will not be repeated.

[0056] Embodiment 3

[0057] like Figure 3 As shown, on the basis of the above embodiment, in order to monitor the scene when the grab 2 grabs the goods, a camera 16 is fixedly installed on the lower surface of the power block 4 in this embodiment. The camera 16 can monitor the scene when the grab 2 grabs the goods, which not only enhances the visualization of the operation process, but also makes it convenient for remote monitoring personnel to understand the state of the grab and the goods in real time, and to discover and deal with abnormal situations in time.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A vibration self - power - generating grab attitude measurement device based on LoRa communication, comprising a vertical rod (1), two grabs (2) are symmetrically arranged below the vertical rod (1), support rods (3) are hinged on both sides of the vertical rod (1), and the lower ends of the two support rods (3) are hinged on the side walls of the grab (2) on the same side. It is characterized in that, The vertical pole (1) is also provided with: A power block (4), the power block (4) is slidably connected to the lower end of the vertical pole (1) and is used to drive the two grab buckets (2) to open and close; A sliding frame (6), the sliding frame (6) is slidably sleeved on the vertical pole (1), a plurality of connecting rods (7) are fixed on the sliding frame (6), and one end of the connecting rod (7) away from the sliding frame (6) is fixed on the power block (4); A coil (8) is arranged inside the vertical rod (1), and a vibration frame (9) is also arranged inside the vertical rod (1); the sliding frame (6) drives the vibration frame (9) to vibrate through a trigger component (12); a moving rod (10) inserted into the coil (8) is fixed on the vibration frame (9), and a permanent magnet (11) used to move back and forth in the coil (8) is fixed on the moving rod (10).

2. The attitude measurement device of a vibration self-powered grab based on LoRa communication according to claim 1, characterized in that A plurality of guide posts (13) are fixed on the vertical rod (1), and the plurality of guide posts (13) are arranged along the central axis of the coil (8). The vibration frame (9) is slidably sleeved on the plurality of guide posts (13), and a vibration spring (14) is sleeved on each guide post (13) and on both sides of the vibration frame (9).

3. The attitude measurement device of a vibration self-powered grab based on LoRa communication according to claim 2, characterized in that, The trigger component (12) comprises: A plurality of elastic plates (1201), wherein the plurality of elastic plates (1201) are evenly distributed on both sides of the vibration frame (9); Two toggle blocks (1202), the two toggle blocks (1202) are respectively fixed on two sides of the sliding frame (6), and the toggle blocks (1202) are movably connected to the elastic plate (1201) on the same side.

4. The vibration self-powered grab attitude measurement device based on LoRa communication according to claim 1, characterized in that The power block (4) is provided with: Two rotating shafts (5), the two rotating shafts (5) are arranged in parallel transversely, the middle parts of the two rotating shafts (5) are fixed on the power block (4), and the two ends of each rotating shaft (5) are hinged on the side wall of the grab bucket (2) on the same side; When the power block (4) moves downward with the rotating shaft (5), the two grab buckets (2) rotate in opposite directions around the rotating shaft (5) on the same side and open; When the power block (4) moves upward with the rotating shaft (5), the two grab buckets (2) rotate relatively and close around the rotating shaft (5) on the same side.

5. The attitude measurement device of a vibration self-powered grab based on LoRa communication according to claim 4, characterized in that, An oil cylinder (15) is fixedly mounted on the side wall of the vertical pole (1), and the end of the telescopic shaft of the oil cylinder (15) is fixed on the side wall of the power block (4).

6. The attitude measurement device of a vibration self-powered grab based on LoRa communication according to claim 1, characterized in that, A camera (16) is fixedly mounted on the lower surface of the power block (4).

7. The attitude measurement device for a vibration self-powered grab based on LoRa communication according to claim 1, characterized in that, A lug plate (18) is fixed on the side wall of the vertical pole (1), and the connecting rod (7) is slidably sleeved on the lug plate (18).

8. The attitude measurement device for a vibration self-powered grab based on LoRa communication according to claim 1, characterized in that A mounting flange (17) is fixedly provided on the upper end of the vertical pole (1).

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