Unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning

Abstract

The utility model provides an unmanned bridge crane simulation test bench capable of realizing automatic track planning, which comprises a bridge assembly, a first walking assembly, a second walking assembly and a grabbing assembly, and the upper end of the bridge assembly is movably provided with the first walking assembly used for moving back and forth. Compared with the prior art, the device has the advantages that the first walking assembly and the second walking gear are arranged, the first rack is installed on the rail on the left side of the bridge assembly, the second rack is installed on the front side of the second guide rail, and the first walking gear on the first walking box and the second walking gear on the walking assembly are matched; through the transmission mode that gears and racks are additionally arranged on the side faces of the rails and the second guide rails, the stability and working reliability of the transmission ratio of the whole device are improved, the walking precision of the first walking assembly and the walking assembly is more precise, and the intelligent level of the device is greatly improved through arrangement of the grabbing assembly; and the safety guarantee of operators can be improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of cranes, and particularly relates to an unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning. Background Technique

[0002] At present, through understanding the enterprises in some dangerous chemical industrial areas, it is found that in many areas, large objects are still transported by manually operating cranes. Moreover, cranes are usually huge in volume, with irregularly shaped and heavy lifted objects, complex operations and requiring precise operations, involving multi-directional movements. They have numerous components and are directly contacted by operators, so there are many potential safety hazards. Careless operation may lead to personnel accidents and economic losses. Most of the existing bridge cranes use motors to directly drive the traveling wheels for movement, and there are certain deficiencies in their movement accuracy and movement stability, which increases the control difficulty for automated operation. Therefore, we hope to design a crane simulation test bench with a novel structure, and through experiments, design a crane with a novel structure to solve this problem. Content of the Utility Model

[0003] Aiming at the deficiencies existing in the prior art, the purpose of the utility model is to provide an unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning, and solve the problems put forward in the above background technique.

[0004] The utility model is realized through the following technical solutions: an unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning, including: a bridge frame assembly, a first traveling assembly, a second traveling assembly, and a grasping assembly. A first traveling assembly for moving back and forth is movably installed at the upper end of the bridge frame assembly. A second traveling assembly for moving left and right is movably installed on the upper side of the first traveling assembly. The upper end of the grasping assembly for grasping items is fixedly connected to the inside of the second traveling assembly;

[0005] A rail is respectively fixed on the left side and the right side of the upper end of the bridge frame assembly. The first traveling assembly includes a first traveling box, a first guide rail, a second guide rail, and a second traveling box. The second guide rail and the first guide rail are respectively installed on the front side and the rear side between the first traveling box and the second traveling box;

[0006] The second traveling assembly includes an outer shell two and second traveling wheels. A set of second traveling wheels are respectively rotatably installed on the left side and the right side of the bottom of the outer shell two;

[0007] The grasping assembly includes an electric push rod and a mechanical gripper. The mechanical gripper for grasping items is fixedly installed at the lower end of the electric push rod.

[0008] As a preferred embodiment, a first rack is installed on the outer wall of the rail on the left side of the bridge frame. The upper surfaces of the two rails are both recessed downward to form a strip-shaped limiting groove one.

[0009] As a preferred embodiment, the first walking box includes a first outer shell, a first driving gear, a first planetary reducer, and a first servo motor. A first walking wheel is rotatably installed on the front side and the rear side of the bottom of the first outer shell, and a first servo motor is installed on the left side of the top of the first outer shell.

[0010] The lower end of the first servo motor is in transmission connection with the first driving gear rotatably installed on the left side of the bottom of the first outer shell through the first planetary reducer, and the first driving gear is meshed and connected with a first rack on the left track of the bridge assembly.

[0011] As a preferred embodiment, a second rack is fixed on the front surface of the second guide rail. Limit baffles are provided at both the left and right ends of the first guide rail and the second guide rail, and a second limit groove is formed by the downward depression of the upper surfaces of the first guide rail and the second guide rail.

[0012] As a preferred embodiment, the second walking assembly further includes a second walking gear, a second planetary reducer, and a second servo motor. A second servo motor is installed on the front side inside the second outer shell.

[0013] The lower end of the second servo motor is in transmission connection with the second walking gear rotatably installed on the front side of the bottom of the outer shell through the second planetary reducer, and the second walking gear is meshed and connected with the second rack on the front side of the second guide rail.

[0014] As a preferred embodiment, a three-position five-way solenoid valve is installed on the left side of the lower end of the electric push rod. A lidar sensor for three-dimensional scanning is installed on the front side of the mechanical gripper. The lidar sensor is electrically connected to an external PLC controller. The three-dimensional space information is detected by the lidar sensor. The extension and retraction of the electric push rod are controlled by the external PLC controller, and the opening degree of the pneumatic valve is controlled by the three-position five-way solenoid valve to control the extension and retraction of the pneumatic mechanical gripper.

[0015] After adopting the above technical solutions, the beneficial effects of the present utility model are as follows: The setting of the first walking assembly and the second walking gear, by installing a first rack on the left track of the bridge assembly and a second rack on the front side of the second guide rail, cooperating with the first walking gear on the first walking box and the second walking gear on the second walking assembly, and by adding a new gear and rack transmission method on the side of the track and the second guide rail, thereby improving the stability of the transmission ratio and the working reliability of the whole device, making the walking accuracy of the whole first walking assembly and the second walking assembly more precise. At the same time, the grasping assembly uses an electric push rod to ensure stability and self-locking ability, and is convenient to use and operate.

[0016] The setting of the grasping component. The entire device scans the positions of obstacles inside the workshop and the surrounding environment information through a lidar sensor, constructs an environmental map using the grid method, transmits the environmental map into the path planning system, and uses the ant colony algorithm to solve the optimal path, greatly improving the intelligence level of the device and helping to enhance the safety guarantee of the operators. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of the unmanned bridge crane simulation test bench capable of automatically planning the trajectory of the present invention.

[0019] Figure 2 It is a schematic diagram of the front view structure of the unmanned bridge crane simulation test bench capable of automatically planning the trajectory of the present invention.

[0020] Figure 3 It is a schematic diagram of the connection between the second walking component and the first walking component of the unmanned bridge crane simulation test bench capable of automatically planning the trajectory of the present invention.

[0021] Figure 4 It is a schematic diagram of the internal structures of the second walking component and the first walking component of the unmanned bridge crane simulation test bench capable of automatically planning the trajectory of the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the grasping component of the unmanned bridge crane simulation test bench capable of automatically planning the trajectory of the present invention.

[0023] In the figure, 100 - bridge component, 110 - track, 120 - first rack;

[0024] 200 - first walking component, 210 - first walking box, 211 - first housing, 212 - first driving gear, 213 - first walking wheel, 214 - first servo motor, 220 - first guide rail, 230 - second guide rail, 240 - second rack, 250 - second walking box;

[0025] 300 - second walking component, 310 - second housing, 320 - second walking gear, 330 - second servo motor, 340 - second walking wheel;

[0026] 400 - grasping component, 410 - electric push rod, 420 - mechanical gripper. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figures 1 to 5 The utility model provides a technical solution: an unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning, comprising: a bridge assembly 100, a walking assembly 1 200, a walking assembly 2 300 and a grabbing assembly 400, a walking assembly 1 200 for forward and backward movement is movably installed on the upper end of the bridge assembly 100, a walking assembly 1 200 for left and right movement is movably installed on the upper side of the walking assembly 1 200, and the interior of the walking assembly 2 300 is fixedly connected to the upper end of the grabbing assembly 400 for grabbing objects;

[0029] A track 110 is fixed to the left and right sides of the upper end of the bridge assembly 100, respectively. The traveling assembly 1 200 includes a traveling box 1 210, a track 1 220, a track 2 230 and a traveling box 2 250. The track 2 230 and the track 1 220 are respectively installed on the front and rear sides between the traveling box 1 210 and the traveling box 2 250;

[0030] The second walking assembly 300 includes a second housing 310 and second walking wheels 340. A set of second walking wheels 340 are rotatably mounted on the left and right sides of the bottom of the second housing 310.

[0031] The grabbing assembly 400 includes an electric push rod 410 and a mechanical gripper. The mechanical gripper for grabbing objects is fixed at the lower end of the electric push rod 410.

[0032] See also Figures 1 to 4 A rack 120 is installed on the outer wall of the track 110 on the left side of the bridge, and the upper surfaces of the two tracks 110 are recessed downward to form a limiting groove 1 with a strip structure.

[0033] The travel box 210 includes a housing 211, a driving gear 212, a planetary reducer and a servo motor 214. A travel wheel 213 is rotatably installed on the front and rear sides of the bottom of the housing 211, and a servo motor 214 is installed on the left side of the top of the housing 211.

[0034] The lower end of the servo motor 214 is connected to the driving gear 212 rotatably mounted on the left side of the bottom of the housing 211 through a planetary reducer, and the driving gear 212 is meshed with the rack 120 on the left side track 110 of the bridge assembly 100.

[0035] A second rack 240 is fixed to the front surface of the second guide rail 230. Limit baffles are provided at both the left and right ends of the first guide rail 220 and the second guide rail 230. A second limit groove is formed by the downward depression of the upper surfaces of the first guide rail 220 and the second guide rail 230.

[0036] The second traveling assembly 300 further includes a second traveling gear 320, a second planetary reducer, and a second servo motor 330. The second servo motor 330 is installed on the front side inside the second housing 310.

[0037] The lower end of the second servo motor 330 is drivingly connected to the second traveling gear 320 rotatably installed on the front side of the bottom of the housing through the second planetary reducer. The second traveling gear 320 is meshingly connected to the second rack 240 on the front side of the second rail 230.

[0038] As the first embodiment of the present invention, the setting of the first traveling assembly 200 and the second traveling gear 320 is as follows: by installing a first rack 120 on the rail 110 on the left side of the bridge assembly 100 and a second rack 240 on the front side of the second guide rail 230, and cooperating with the first traveling gear on the first traveling box 210 and the second traveling gear 320 on the traveling assembly. In actual use, if it is necessary to drive the grasping assembly 400 to move back and forth, the first servo motor 214 is started to drive the first traveling gear through the first planetary reducer to cooperate with the first rack 120 to drive the entire first traveling assembly 200 to move, and then the purpose of adjusting the front and back movement of the grasping assembly 400 is achieved through the first traveling assembly 200. Similarly, the second servo motor 330 can be used to cooperate with the second planetary reducer to drive the second traveling gear 320 to cooperate with the second rack 240 to drive the entire second traveling assembly 300 to move. By adding a new transmission method of gears and racks on the side of the rail 110 and the second guide rail 230, the stability of the transmission ratio and the working reliability of the entire device are improved, making the traveling accuracy of the entire first traveling assembly 200 and the traveling assembly more precise. At the same time, the electric push rod 410 is used for the grasping assembly 400 to ensure stability and self-locking ability, and the operation is convenient.

[0039] Please refer to Figure 1 、 Figure 2 and Figure 5 , a three-position five-way solenoid valve is installed on the left side of the lower end of the electric push rod 410. A lidar sensor for three-dimensional scanning is installed on the front side of the mechanical gripper. The lidar sensor is electrically connected to an external PLC controller. The three-dimensional space information is detected by the lidar sensor. The extension and retraction of the electric push rod 410 are controlled by the external PLC controller, and the opening degree of the pneumatic valve is controlled by the three-position five-way solenoid valve to control the extension and retraction of the pneumatic mechanical gripper.

[0040] As the second embodiment of the present utility model, based on the above-mentioned first embodiment, with the setting of the grasping assembly 400, the entire device scans the positions of obstacles inside the factory building and the surrounding environment information through a lidar sensor, constructs an environmental map using the grid method, transmits the environmental map into the path planning system, and uses the ant colony algorithm to solve the optimal path (designs an optimal path for three-dimensional obstacle avoidance and path smoothing using an improved ant colony algorithm, and realizes intelligent unmanned operation through a PLC and a touch screen, effectively solving the problems that the lifting device may collide with obstacles and the path is not smooth). The PLC controller is used to control the trolley to run to the starting cargo position, then controls the electric push rod 410 to extend, controls the telescoping of the pneumatic mechanical gripper through a three-position five-way solenoid valve. When the pneumatic mechanical gripper is telescoped to the size of the cargo, the cargo is grasped and transported to the target position along the optimal path, greatly improving the intelligent level of the device and helping to improve the safety guarantee of the operator (the above-mentioned lidar sensor can select the corresponding model according to actual use requirements). The grasping assembly 400 cooperates with the walking assembly one 200 and the walking gear two 320, which is convenient for data accumulation of automatic trajectory planning of the unmanned bridge crane simulation test bench, and thus helps to realize the large-scale production of the unmanned bridge crane capable of automatic trajectory planning and subsequent improvements.

[0041] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning, comprising: A bridge assembly (100), a walking assembly 1 (200), a walking assembly 2 (300) and a grabbing assembly (400), characterized in that a walking assembly 1 (200) for forward and backward movement is movably mounted on the upper end of the bridge assembly (100), a walking assembly 1 (200) for left and right movement is movably mounted on the upper side of the walking assembly 1 (200), and the interior of the walking assembly 2 (300) is fixedly connected to the upper end of the grabbing assembly (400) for grabbing objects; A track (110) is fixed on the left and right sides of the upper end of the bridge assembly (100), respectively; the walking assembly (200) comprises a walking box (210), a guide rail (220), a guide rail (230) and a walking box (250); the guide rail (230) and the guide rail (220) are respectively installed on the front and rear sides between the walking box (210) and the walking box (250); The second walking assembly (300) comprises a second housing (310) and second walking wheels (340), and a set of second walking wheels (340) are rotatably mounted on the left and right sides of the bottom of the second housing (310); The grabbing assembly (400) comprises an electric push rod (410) and a mechanical gripper (420); the mechanical gripper (420) for grabbing an object is fixed at the lower end of the electric push rod (410).

2. The unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning according to claim 1, characterized in that: A rack (120) is installed on the outer wall of the track (110) on the left side of the bridge frame, and the upper surfaces of the two tracks (110) are both recessed downward to form a limiting groove (1) with a strip-shaped structure.

3. The unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning according to claim 1, characterized in that: The walking box (210) comprises a housing (211), a driving gear (212), a planetary reducer and a servo motor (214); a walking wheel (213) is rotatably mounted on the front and rear sides of the bottom of the housing (211), and a servo motor (214) is mounted on the left side of the top of the housing (211); The lower end of the servo motor 1 (214) is connected to a driving gear 1 (212) rotatably mounted on the left side of the bottom of the housing 1 (211) through a planetary reducer 1, and the driving gear 1 (212) is meshedly connected to a rack 1 (120) on the left side track (110) of the bridge assembly (100).

4. The unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning according to claim 1, characterized in that: A rack 2 (240) is fixed on the front surface of the guide rail 2 (230), and limit baffles are arranged at both left and right ends of the guide rail 1 (220) and the guide rail 2 (230), and the upper surfaces of the guide rail 1 (220) and the guide rail 2 (230) are recessed downward to form a limit groove 2.

5. The unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning according to claim 4, characterized in that: The second traveling assembly (300) further comprises a second traveling gear (320), a second planetary reducer and a second servo motor (330), and the second servo motor (330) is installed on the front side of the interior of the second housing (310); The lower end of the second servo motor (330) is connected to the second travel gear (320) rotatably mounted on the front side of the bottom of the housing through the second planetary reducer, and the second travel gear (320) is meshedly connected to the second rack (240) on the front side of the second guide rail (230).

6. The unmanned bridge crane simulation test bench capable of realizing automatic trajectory planning according to claim 1, characterized in that: A three-position five-way solenoid valve is installed on the left side of the lower end of the electric push rod (410). A lidar sensor for three-dimensional scanning is installed on the front side of the mechanical gripper (420). The lidar sensor is electrically connected to an external PLC controller.

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