Crane carrying system

Abstract

The utility model provides a crane carrying system, which belongs to the technical field of crane control and comprises a crane moving system, a crane carrying system and a crane carrying system, the suction cup mechanism is mounted on the side, facing the reinforcement cage to be put into the mold, of the crane movement system; the sucker mechanism is connected with a crane movement system; the industrial camera is mounted on the crane movement system, and the industrial camera and the suction cup mechanism are arranged on the same side so as to collect the center point coordinates and the rotation angle of the reinforcement cage to be put into the mold; and the crane movement system, the suction cup mechanism and the industrial camera are electrically connected with the control unit so as to drive the suction cup mechanism to hoist the reinforcement cage to be subjected to mold entering in the corresponding area of the mold entering station according to the center point coordinates and the rotation angle and move the reinforcement cage into the mold. According to the utility model, the accurate hoisting of the reinforcement cage by the crane is realized, and the carrying efficiency of the crane is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of crane control, in particular to a crane handling system. Background Art

[0002] Segment precast concrete segments are commonly used structural components in tunnels and underground projects, especially in subways, high-speed rails or light rails in rail transit, and are widely used in aspects such as drainage systems, irrigation channels, sewage treatment, reservoirs, hydropower stations, and wind power generation in urban construction.

[0003] In related technologies, a common method for placing a steel reinforcement cage into a mold is that workers on the assembly line fix it to the steel reinforcement cage with a steel chain. The hook crane operator lifts the steel reinforcement cage through the steel chain and places it into the mold. Finally, according to the command of the workers on the assembly line, the position of the steel reinforcement cage is finely adjusted and the steel chain is removed. During this process, the swaying of the steel reinforcement cage in the air will reduce the handling efficiency of the steel reinforcement cage, and the entire process requires multiple people to cooperate to complete the precise operation of placing the steel reinforcement cage into the mold, with low automation and potential safety hazards. Summary of the Utility Model

[0004] The utility model provides a crane handling system to solve the defects of low automation, low handling efficiency, and potential safety hazards in the operation of placing a steel reinforcement cage into a mold in the prior art, improve the handling efficiency and safety of the crane handling system, and reduce costs.

[0005] The utility model provides a crane handling system, including:

[0006] A crane movement system, which can move in three different directions in the crane space coordinate system;

[0007] A suction cup mechanism, which is installed on one side of the crane movement system facing the steel reinforcement cage to be placed into the mold; the suction cup mechanism is connected to the crane movement system;

[0008] An industrial camera, which is installed on the crane movement system and on the same side as the suction cup mechanism to collect the center point coordinates and rotation angle of the steel reinforcement cage to be placed into the mold;

[0009] A control unit, to which the crane movement system, the suction cup mechanism, and the industrial camera are electrically connected respectively, to drive the suction cup mechanism to lift the steel reinforcement cage in the corresponding area of the placement station according to the center point coordinates and rotation angle and move it into the mold.

[0010] According to a crane handling system provided by the utility model, the crane movement system

[0011] The crane movement system includes a crane's trolley mechanism that moves along the Y-axis direction of the crane's spatial coordinate system;

[0012] A crane's crab mechanism that moves along the X-axis direction of the crane's spatial coordinate system;

[0013] A crane's hoisting mechanism that moves along the Z-axis direction of the crane's spatial coordinate system;

[0014] Among them, the crane's crab mechanism and the crane's hoisting mechanism are installed on the side of the crane's trolley mechanism facing away from the steel reinforcement cage to be inserted into the mold; the origin of the crane's spatial coordinate system is determined based on the intersection point between the straight line where the crane's trolley mechanism is located, the straight line where the crane's crab mechanism is located, and the straight line where the crane's hoisting mechanism is located;

[0015] In a crane handling system provided by the present utility model, barcode tapes and rotary encoders are installed on the rotating structures of the crane's hoisting mechanism, the crane's crab mechanism, the crane's hoisting mechanism, and the suction cup mechanism.

[0016] In a crane handling system provided by the present utility model, the crane's hoisting mechanism is connected to the suction cup mechanism through a rigid guide post.

[0017] In a crane handling system provided by the present utility model, the suction cup mechanism includes:

[0018] An electromagnetic suction cup whose rotation angle is adjustable to align with the steel reinforcement cage to be inserted into the mold;

[0019] A rotating structure, one side of which is respectively movably connected to the crane's hoisting mechanism, the crane's crab mechanism, and the crane's hoisting mechanism through a suction cup support; the other side of the rotating structure is connected to the electromagnetic suction cup.

[0020] In a crane handling system provided by the present utility model, the electromagnetic suction cup has the same arc as the steel reinforcement cage to be inserted into the mold.

[0021] In a crane handling system provided by the present utility model, the electromagnetic suction cup has four degrees of freedom.

[0022] In a crane handling system provided by the present utility model, the system further includes:

[0023] A steel reinforcement cage conveying mechanism provided with a conveyor belt to convey a plurality of steel reinforcement cages to be inserted into the mold to the corresponding area of the mold insertion station.

[0024] In a crane handling system provided by the present utility model, the system further includes:

[0025] The steel cage detection device, the control unit and the steel cage conveying mechanism are respectively connected to the steel cage detection device to detect the switch state of the steel cage conveying mechanism and whether there is a steel cage to be put into the mold in the corresponding area of the mold loading station.

[0026] According to a crane handling system provided by the present invention, the industrial camera is a TOF camera.

[0027] The crane handling system provided by the present invention realizes the movement of the suction cup mechanism in three different directions in the crane space coordinate system through the crane movement system. The controller controls the suction cup mechanism to complete the automatic handling of the steel cage into the mold according to the data collected by the industrial camera, improving the handling efficiency and realizing the accurate lifting of the steel cage by the crane, thus realizing accurate mold loading. Brief Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 is one of the structural schematic diagrams of the crane handling system provided by the present invention.

[0030] Figure 2 is the schematic diagram of the TOF camera field of view provided by the present invention.

[0031] Figure 3 is the structural schematic diagram of the suction cup mechanism provided by the present invention.

[0032] Figure 4 is the second structural schematic diagram of the crane handling system provided by the present invention.

[0033] Reference Numerals:

[0034] 110: industrial camera; 120: control unit; 130: suction cup mechanism;

[0035] 131: electromagnetic suction cup; 132: rotating structure; 140: crane movement system;

[0036] 141: crane trolley mechanism; 142: crane car body mechanism;

[0037] 143: crane hoisting mechanism; 150: steel cage conveying mechanism;

[0038] 160: Steel cage detection device. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below with reference to the accompanying drawings in the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0040] In the description of the embodiments of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the embodiments of the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0041] In the description of the embodiments of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, a wired communication connection, or a wireless communication connection; it may be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0042] In the embodiments of the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0043] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0044] The following combines Figures 1-4 to describe the crane handling system of the present utility model.

[0045] Figure 1 is a schematic structural diagram of the crane handling system provided by the present utility model, as Figure 1 shown, the crane handling system includes: an industrial camera 110, a control unit 120, a suction cup mechanism 130, and a crane motion system 140.

[0046] The crane motion system 140 can move in three different directions in the crane space coordinate system.

[0047] In this embodiment, the crane motion system 140 can move along three different dimensional directions of the X-axis, Y-axis, and Z-axis in the crane space coordinate system.

[0048] In a specific example, the crane motion system 140 includes a crane trolley mechanism 141 that moves along the Y-axis direction of the crane space coordinate system; a crane trolley mechanism 142 that moves along the X-axis direction of the crane space coordinate system; a crane hoisting mechanism 143 that moves along the Z-axis direction of the crane space coordinate system; wherein, the crane trolley mechanism 142 and the crane hoisting mechanism 143 are installed on the side of the crane trolley mechanism 141 facing away from the steel cage to be inserted into the mold; the origin of the crane space coordinate system is determined based on the intersection point between the straight line where the crane trolley mechanism 141 is located, the straight line where the crane trolley mechanism 142 is located, and the straight line where the crane hoisting mechanism 143 is located.

[0049] The suction cup mechanism 130 is installed on the side of the crane motion system 140 facing the steel cage to be inserted into the mold; the suction cup mechanism 130 is connected to the crane motion system 140.

[0050] In this embodiment, the steel cage to be inserted into the mold includes a shield segment steel cage.

[0051] In this embodiment, the suction cup angle on the suction cup mechanism 130 can be adjusted according to the new rotation angle, which is beneficial to making the suction cup angle fit the angle of the steel reinforcement cage to be inserted into the mold, and improving the suction effect of the suction cup.

[0052] In this embodiment, when it is detected that the steel reinforcement cage to be inserted into the mold is lifted and there is a mold below, the control unit 120 generates a corresponding insertion control instruction according to the preset coordinate points of the mold. After the suction cup mechanism 130 receives the insertion instruction, it moves the lifted steel reinforcement cage to above the mold according to the mold coordinates indicated by the insertion control instruction and performs the insertion operation.

[0053] In a specific example, after the motion system of the crane (such as the crane trolley mechanism 141 and the crab) runs to the center position of the steel reinforcement cage ( , ), the angle of the steel reinforcement cage scanned by the TOF camera , and the crane rotates the electromagnetic suction cup 131 by the same angle to align with the steel reinforcement cage. Finally, the hoisting mechanism 143 of the crane runs above the steel reinforcement cage according to the coordinates after the vertical direction conversion and sucks the steel reinforcement cage, completing the precise hoisting of the steel reinforcement cage by the crane.

[0054] The industrial camera 110 is installed on the crane motion system 140 and on the same side as the suction cup mechanism 130 to collect the center point coordinates and rotation angle of the steel reinforcement cage to be inserted into the mold.

[0055] In this embodiment, the industrial camera 110 is a TOF camera.

[0056] In this embodiment, the industrial camera 110 is installed on the motion system of the crane. For example, the industrial camera 110 can be fixedly installed on the crane trolley mechanism to scan the position and angle of the steel reinforcement cage to be inserted into the mold.

[0057] In this embodiment, the size parameters of the steel reinforcement cage to be inserted into the mold include the length and width of the steel reinforcement cage.

[0058] Figure 2 is the schematic diagram of the TOF camera field of view provided by the present invention. In the Figure 2 shown embodiment, after the TOF camera is turned on, it scans the steel reinforcement cage below and detects the size (width W and length L of the steel reinforcement cage), position horizontal rotation angle θ relative to the TOF camera field of view. In the crane space coordinate system, the center point coordinates (Xc, Yc, Zc) of the steel reinforcement cage can be determined according to the size of the steel reinforcement cage.

[0059] The crane motion system 140, the suction cup mechanism 130, and the industrial camera 110 are electrically connected to the control unit 120 respectively, so as to drive the suction cup mechanism 130 to lift and move the steel cage to be inserted into the corresponding area of the mold insertion station to the inside of the mold according to the center point coordinates and the rotation angle.

[0060] In this embodiment, the control unit 120 can be a control chip or a terminal, and the terminal can be a computer, a tablet, a cloud platform, etc.

[0061] In this embodiment, the control unit 120 can provide functions such as data analysis, calculation, instruction generation, and transmission.

[0062] In this embodiment, the control unit 120 can control the working state of the industrial camera 110. For example, it can control the on / off time and shooting frequency of the TOF camera; if the industrial camera 110 is a multi-view camera, the control unit 120 can also control the posture (shooting angle or height) of the working camera to adjust the shooting field of view of the industrial camera 110.

[0063] In this embodiment, the control unit 120 can be connected to the industrial camera 110 in a wired or wireless manner; for example, the control unit 120 establishes a communication connection with the industrial camera 110 through Bluetooth or WiFi.

[0064] In this embodiment, the control unit 120 calculates the center point coordinates of the steel cage in the camera coordinate system according to the length and width of the steel cage; since there are differences between the camera coordinate system and the crane aerial coordinate system in actual operation, that is, the actuator of the crane motion system 140 needs to perform the operations of lifting and inserting the steel cage to be inserted into the mold according to the correct coordinates after coordinate transformation, so as to ensure the handling accuracy of the handling system.

[0065] In this embodiment, the center point coordinates and rotation angle of the steel cage to be inserted into the mold measured in the camera coordinate system can be converted according to the crane space coordinate system to obtain new center point coordinates and a new rotation angle.

[0066] In a specific example, the position of each photo taken by the TOF camera is set to a fixed position, and the coordinates relative to the crane motion system 140 are ( 、 、 ), and the center position of the steel cage scanned by the TOF camera is ( 、 、 ), then the position of the steel cage relative to the crane coordinate system ( = + 、 = + 、 = - ).

[0067] A crane handling system provided by an embodiment of the present utility model realizes the movement of the suction cup mechanism 130 along three different directions in the crane space coordinate system through the crane movement system 140. The controller controls the suction cup mechanism 130 to complete the automatic handling of the steel reinforcement cage into the mold according to the data collected by the industrial camera 110, improving the handling efficiency and realizing the accurate lifting of the steel reinforcement cage by the crane, thereby realizing accurate mold insertion.

[0068] In some embodiments, barcode tapes and rotary encoders are installed on the crane hoisting mechanism 143, the crane trolley mechanism 142, the crane hoisting mechanism 143, and the rotating structure 132 in the suction cup mechanism 130.

[0069] In this embodiment, the crane gantry mechanism 141 and the crane trolley mechanism 142 adopt barcode positioning, and the rotating mechanisms in the crane hoisting mechanism 143 and the suction cup mechanism 130 adopt encoder positioning, combining to form a function of accurately positioning the lifted object in four degrees of freedom in three-dimensional space.

[0070] In some embodiments, the crane hoisting mechanism 143 is connected to the suction cup mechanism 130 through a rigid guide post.

[0071] In this embodiment, the crane has a rigid anti-sway guide post, which can ensure that when the crane is moving, the suction cup mechanism 130 does not generate errors caused by swaying when sucking and releasing the steel reinforcement cage, improving the handling accuracy and safety of the crane.

[0072] In some embodiments, the suction cup mechanism 130 includes: an electromagnetic suction cup 131, the rotation angle of the electromagnetic suction cup 131 is adjustable to align with the steel reinforcement cage to be inserted into the mold; a rotating structure 132, one side of the rotating structure 132 is respectively movably connected to the crane hoisting mechanism 143, the crane trolley mechanism 142, and the crane hoisting mechanism 143 through a suction cup bracket; the other side of the rotating structure 132 is connected to the electromagnetic suction cup 131.

[0073] In this embodiment, the suction cup in the suction cup mechanism 130 is an electromagnetic suction cup 131. The electromagnetic suction cup 131 generates magnetic force through the energization of the internal coil. After passing through the magnetic conduction panel, it tightly sucks the steel reinforcement cage to be inserted into the mold on the surface of the panel. By cutting off the power supply of the coil, the magnetic force disappears to achieve demagnetization, realizing the efficient grasping and dropping of the steel reinforcement cage to be inserted into the mold.

[0074] In this embodiment, the electromagnetic suction cup 131 can be movably connected to the rotating structure 132, and the rotating mechanism is used to adjust the rotation angle of the electromagnetic suction cup 131, improving the degree of fit between the adsorption surface of the electromagnetic suction cup 131 and the surface of the steel reinforcement cage to be inserted into the mold, thereby improving the adsorption effect.

[0075] In some embodiments, the electromagnetic chuck 131 has the same curvature as the steel cage to be inserted into the mold.

[0076] Figure 3 is a schematic structural diagram of the chuck mechanism provided by the present invention. In Figure 3 the illustrated embodiment, a rotating mechanism 132 is provided above the electromagnetic chuck 131. The rotating mechanism 132 is fixed to the moving system of the crane (for example, the trolley mechanism of the crane) through a bracket. A camera (for example, industrial camera 110) is also fixedly installed on the trolley mechanism of the crane; the surface of the electromagnetic chuck 131 has a certain curvature, which can enable the electromagnetic chuck 131 to closely fit the segment steel cage, further improving the adsorption effect of the electromagnetic chuck 131 and enhancing the safety during the handling process.

[0077] In some embodiments, the electromagnetic chuck 131 has four degrees of freedom.

[0078] In this embodiment, it can be set that the electric measurement chuck has four degrees of freedom, and the rotation angle adjustment of the chuck in at least four directions in the three-dimensional space can be realized, reducing the swing of the suspended object in the air, thereby improving the safety, flexibility and insertion efficiency of the steel cage into the mold.

[0079] In some embodiments, the crane handling system further includes: a steel cage conveying mechanism 150. The steel cage conveying mechanism 150 is provided with a conveyor belt to convey a plurality of steel cages to be inserted into the mold to the corresponding area of the insertion station.

[0080] In this embodiment, the steel cage conveying mechanism 150 includes a conveyor belt and a motor. The conveyor belt sequentially conveys a plurality of steel cages to be inserted into the mold to the insertion station through the motor, so as to be close to the industrial camera 110, so that the industrial camera 110 can collect high-quality size parameters and rotation angles of the steel cages to be inserted into the mold.

[0081] In some embodiments, the crane handling system further includes: a steel cage detection device 160. The control unit 120 and the steel cage conveying mechanism 150 are respectively connected to the steel cage detection device 160 to detect the switch state of the steel cage conveying mechanism 150 and whether there is a steel cage to be inserted into the mold in the corresponding area of the insertion station.

[0082] In this embodiment, the steel cage detection device 160 can control the opening and closing of the steel cage conveyor according to the switch control instruction sent by the control unit 120, and can also control parameters such as the speed of the conveyor belt through other control instructions sent by the control unit 120 to realize the automatic control of the conveying, position and rotation angle monitoring of the steel cage to be inserted into the mold.

[0083] Specifically, the process of inserting the shield segment steel cage into the mold and handling includes:

[0084] (1) After receiving the mold - entering instruction sent by the controller, the steel cage conveying mechanism starts and stops when a steel cage to be put into the mold is detected at the position to be taken.

[0085] (2) The crane motion system controls the TOF camera to scan the center - point coordinates of the steel cage ( , , ), the length and width (L, W) of the steel cage, and the angle ( ).

[0086] (3) The crane control system converts the position and angle of the steel cage into the corresponding positions of the crane motion system ( , , ).

[0087] (4) The crane's trolley and crab mechanisms run to the center position of the steel cage ( , ).

[0088] (5) The electromagnetic chuck adjusts the corresponding angle ( ).

[0089] (6) The hoisting mechanism descends to the corresponding height ( ).

[0090] (7) The electromagnetic chuck is magnetized to pick up the steel cage.

[0091] (8) After the steel cage is lifted, the hoisting mechanism rises to the upper limit position.

[0092] (9) The electromagnetic chuck rotates the angle to the same angle as the mold on the production line (this angle is a preset angle).

[0093] (10) The trolley and crab mechanisms run to the fixed position of the mold on the production line (this position is a preset position).

[0094] (11) The hoisting mechanism descends to the fixed height of the mold on the production line (this height is a preset height).

[0095] (12) The chuck demagnetizes and places the steel cage into the mold.

[0096] (13) The hoisting mechanism rises to the upper limit position and waits for the next mold - entering operation.

[0097] Figure 4 is the second structural schematic diagram of the crane provided by the present invention. In Figure 4In the illustrated embodiment, in the crane space coordinate system, the straight line where the crane trolley mechanism 141 is located is taken as the Y-axis, the straight line where the crane crab mechanism 142 is located is taken as the X-axis, the straight line where the crane hoisting mechanism 143 is located is taken as the X-axis, and the intersection point of the three straight lines is taken as the coordinate origin of the coordinate system; among them, the crane trolley mechanism 141, the crane crab mechanism 142 and the crane hoisting mechanism 143 are respectively connected to the electromagnetic chuck, and the electromagnetic chuck 131 is enabled to move along the X-axis, Y-axis and Z-axis directions respectively in the crane space coordinate system through these three mechanisms; the steel cage conveying mechanism 150 includes a conveyor belt. In the cross-over steel cage conveying area, the fabricated steel cage is placed on the conveyor belt, and the conveyor belt drives a plurality of steel cages to be inserted into the mold to be conveyed in the direction close to the electromagnetic chuck 131; at the same time, a steel cage detection device 160 (including a steel cage detection device support) is provided on one side of the steel cage conveying mechanism close to the electromagnetic chuck 131. When the steel cage to be inserted into the mold contacts the support, the control unit controls the industrial camera 110 provided on the crane trolley mechanism to obtain the size and rotation angle of the current steel cage to be inserted into the mold, and the control unit calculates the center point coordinates of the steel cage to be inserted into the mold, and controls the electromagnetic chuck 131 to adjust its own chuck angle according to the rotation angle, and moves the electromagnetic chuck 131 to the position of the current steel cage to be inserted into the mold (located on the conveyor belt) by controlling the movement of the crane trolley mechanism 141, the crane crab mechanism 142 and the crane hoisting mechanism 143 to lift it; then the controller generates a mold insertion control instruction according to the coordinate points of the mold to be placed in the crane space coordinate system. After receiving this instruction, the electromagnetic chuck 131 moves the lifted steel cage to be inserted into the mold to the mold to be placed for mold insertion operation. Thus, one mold insertion operation of the crane is completed; in addition, the shield segments after being inserted into the mold are stored in the segment steam curing area for storage.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crane handling system, characterized in that, Including: A crane motion system that can move in three different directions in the crane space coordinate system; A suction cup mechanism installed on one side of the crane motion system facing the steel reinforcement cage to be inserted into the mold; the suction cup mechanism is connected to the crane motion system; An industrial camera installed on the crane motion system and on the same side as the suction cup mechanism to collect the center point coordinates and rotation angle of the steel reinforcement cage to be inserted into the mold; A control unit, where the crane motion system, the suction cup mechanism, and the industrial camera are respectively electrically connected to the control unit to drive the suction cup mechanism to lift and move the steel reinforcement cage to be inserted into the corresponding area of the mold insertion station into the mold according to the center point coordinates and rotation angle.

2. The crane handling system according to claim 1, wherein, The crane motion system The crane trolley mechanism of the crane motion system, which moves along the Y-axis direction of the crane space coordinate system; The crane car body mechanism, which moves along the X-axis direction of the crane space coordinate system; The crane hoisting mechanism, which moves along the Z-axis direction of the crane space coordinate system; Among them, the crane car body mechanism and the crane hoisting mechanism are installed on the side of the crane trolley mechanism facing away from the steel reinforcement cage to be inserted into the mold; the origin of the crane space coordinate system is determined based on the intersection point between the straight line where the crane trolley mechanism is located, the straight line where the crane car body mechanism is located, and the straight line where the crane hoisting mechanism is located.

3. The crane handling system according to claim 2, wherein Barcode tapes and rotary encoders are installed on the rotary structures of the crane hoisting mechanism, the crane car body mechanism, the crane hoisting mechanism, and the suction cup mechanism.

4. The crane handling system according to any one of claims 2 and 3, characterized in that, The crane hoisting mechanism is connected to the suction cup mechanism through a rigid guide post.

5. The crane handling system according to claim 1, characterized in that, The suction cup mechanism includes: An electromagnetic suction cup whose rotation angle is adjustable to align with the steel reinforcement cage to be inserted into the mold; A rotary structure, one side of which is respectively movably connected to the crane car body mechanism and the crane hoisting mechanism through a suction cup support; the other side of the rotary structure is connected to the electromagnetic suction cup.

6. The crane handling system according to claim 5, wherein The electromagnetic suction cup has the same arc as the steel reinforcement cage to be inserted into the mold.

7. The crane handling system according to claim 5, characterized in that The electromagnetic suction cup has four degrees of freedom.

8. The crane handling system according to claim 1, wherein, The system further includes: A steel reinforcement cage conveying mechanism provided with a conveyor belt to convey multiple steel reinforcement cages to be inserted into the mold to the corresponding area of the mold insertion station.

9. The crane handling system according to claim 8, characterized in that, The system further includes: A steel reinforcement cage detection device, where the control unit and the steel reinforcement cage conveying mechanism are respectively connected to the steel reinforcement cage detection device to detect the switch state of the steel reinforcement cage conveying mechanism and whether there is a steel reinforcement cage to be inserted into the mold in the corresponding area of the mold insertion station.

10. The crane handling system according to claim 1, characterized in that, The industrial camera is a TOF camera.

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