Material grabbing device of crane

Abstract

The utility model relates to the technical field of cranes, and provides a material grabbing device of a crane, which comprises a fixed support, a transverse support is fixedly connected to the top end of the fixed support, a sliding mechanism is arranged in the middle of the transverse support, the sliding mechanism comprises a plurality of connecting sliding rails, and the connecting sliding rails are fixedly connected to the outer side wall of the transverse support; two connecting rollers are slidably connected to the outer side wall of the connecting sliding rail, and a fixed sliding rod is fixedly connected between the two connecting rollers; through the arrangement of the sliding mechanism, the position of the clamping mechanism connected with the outer side of the sliding rail can be conveniently adjusted, the clamping mechanism can be adjusted to a proper clamping position by continuously adjusting the position, and an object needing to be clamped is clamped; through the arrangement of the clamping mechanism, an object needing to be clamped can be conveniently and rapidly clamped, and through meshing between a connecting gear ring and a second rotating disc and between the connecting gear ring and a first rotating disc, the second rotating disc and the first rotating disc can be conveniently driven by a second motor to rotate and clamp at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of cranes, in particular to a material grabbing device of a crane. Background Art

[0002] A crane is a multi-action lifting machine capable of vertically lifting and horizontally transporting heavy objects within a certain range. It is also known as an overhead crane, overhead crane, or crane. Cranes are characterized by intermittent motion, meaning that the corresponding mechanisms for retrieving, transporting, and unloading operations alternate within a single cycle. Cranes are increasingly being developed and used in the market. Their robust capabilities, coupled with their lack of outriggers and long booms, have led to a continuous expansion of their service scope.

[0003] There are many types of cranes, including light and small lifting equipment, bridge cranes, gantry cranes, jib cranes, cable cranes, and elevators. These different types of cranes differ in structure and operating principles, but all share the ability to lift and move heavy objects. Traditional crane operations often rely on manual control, which is not only inefficient but also poses safety risks.

[0004] Therefore, those skilled in the art have proposed a material grabbing device for a crane to solve the problems raised in the background art. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a material grabbing device for a crane, which aims to improve the automation level of the crane, reduce labor costs, and ensure the accuracy and safety of material handling.

[0006] A material grabbing device for a crane comprises a fixed bracket, the top of the fixed bracket is fixedly connected to a transverse bracket, a sliding mechanism is provided in the middle of the transverse bracket, the sliding mechanism comprises a connecting slide rail, the connecting slide rail is in a plurality of fixed connections to the outer wall of the transverse bracket; the outer wall of the connecting slide rail is slidably connected to a connecting roller, the connecting roller is in two, and a fixed slide rod is fixedly connected between the two connecting rollers; the outer wall of the fixed slide rod is fixedly connected to a connecting rack, the outer wall of the connecting rack is further equipped with a plurality of limit blocks, the outer wall of the fixed slide rod is further equipped with a Y-axis drive motor, and the output end of the Y-axis drive motor is fixedly connected to a connecting gear;

[0007] The clamping mechanism is arranged at the bottom end of the fixed sliding rod.

[0008] Preferably, a connecting slide groove is provided at the top end of the connecting slide rail, and the outer side wall of the connecting roller is rotatably connected in the connecting slide groove on the outer side of the connecting slide rail.

[0009] Preferably, the connecting gear and the connecting rack are meshed and connected together, and the connecting roller is also fixedly connected to the Y-axis drive motor.

[0010] Preferably, the clamping mechanism includes a fixed base, the fixed base is fixedly connected to the bottom end of the fixed slide rod, a first motor is installed on the outer side wall of the fixed base, and a second motor is installed on the bottom end of the fixed base.

[0011] Preferably, a first turntable is installed at the output end of the second motor, and a second turntable is also installed on the outer wall of the fixed base. The second turntable and the first turntable are installed symmetrically, and a connecting gear ring is provided between the second turntable and the first turntable. The second turntable and the first turntable are meshed together through the connecting gear ring.

[0012] Preferably, the outer side walls of the first turntable and the second turntable are fixedly connected with a hinge rod, and a clamping rod is further installed between the fixed base and the hinge rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. Through the setting of the sliding mechanism, the position of the clamping mechanism connected to the outside of the slide rail can be easily adjusted. By continuously adjusting the position, it can be adjusted to a suitable clamping position to clamp the items that need to be clamped.

[0015] 2. Through the setting of the clamping mechanism, the items to be clamped can be clamped quickly. By connecting the gear ring with the engagement between the second turntable and the first turntable, the second turntable and the first turntable can be driven by the second motor to rotate and clamp at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a front view structural diagram of the utility model;

[0017] Figure 2 For this utility model Figure 1 Schematic diagram of the specific structure of the sliding and clamping mechanism;

[0018] Figure 3 For this utility model Figure 2 Schematic diagram of the structure of the clamping mechanism.

[0019] In the figure: 1. Fixed bracket; 2. Horizontal bracket; 3. Connecting slide rail; 31. Connecting roller; 32. Fixed slide bar; 33. Connecting rack; 34. Limit block; 35. Y-axis drive motor; 36. Connecting gear; 4. Fixed base; 41. First motor; 42. Second motor; 43. First turntable; 44. Second turntable; 45. Connecting gear ring; 46. Clamping rod; 47. Articulated rod. DETAILED DESCRIPTION

[0020] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0021] As attached Figure 1 To the attached Figure 2 As shown:

[0022] Embodiment 1: The utility model provides a material grabbing device for a crane, comprising a fixed bracket 1, the top of the fixed bracket 1 is fixedly connected to a transverse bracket 2, the middle of the transverse bracket 2 is provided with a sliding mechanism, the sliding mechanism comprises a connecting rail 3, the connecting rail 3 is in the form of a plurality of fixedly connected to the outer wall of the transverse bracket 2; the outer wall of the connecting rail 3 is slidably connected to a connecting roller 31, the connecting roller 31 is in the form of two, and a fixed slide rod 32 is fixedly connected between the two connecting rollers 31; the outer wall of the fixed slide rod 32 is fixedly connected to the outer wall of the fixed slide rod There is a connecting rack 33, and a plurality of limit blocks 34 are installed on the outer wall of the connecting rack 33. The outer wall of the fixed slide rod 32 is also installed with a Y-axis drive motor 35. The output end of the Y-axis drive motor 35 is fixedly connected to a connecting gear 36. The top of the connecting slide rail 3 is provided with a connecting groove. The outer wall of the connecting roller 31 is rotatably connected to the connecting groove on the outside of the connecting slide rail 3. The connecting gear 36 is meshed and connected with the connecting rack 33. The connecting roller 31 is also fixedly connected to the Y-axis drive motor 35.

[0023] Specifically, by connecting the connecting rack 33 and the connecting gear 36, the rotation of the connecting gear 36 can cause the fixed slide bar 32 to rise or fall through the connecting rack 33, thereby adjusting the up and down sliding position of the clamping mechanism.

[0024] The clamping mechanism is arranged at the bottom end of the fixed slide rod 32, and the clamping mechanism includes a fixed base 4, which is fixedly connected to the bottom end of the fixed slide rod 32, and a first motor 41 is installed on the outer wall of the fixed base 4, and a second motor 42 is installed on the bottom end of the fixed base 4, and a first turntable 43 is installed on the output end of the second motor 42. The outer wall of the fixed base 4 is also installed with a second turntable 44, and the second turntable 44 and the first turntable 43 are symmetrically installed together, and a connecting gear ring 45 is provided between the second turntable 44 and the first turntable 43, and the second turntable 44 and the first turntable 43 are meshed together through the connecting gear ring 45, and the outer walls of the first turntable 43 and the second turntable 44 are fixedly connected with a hinge rod 47, and a clamping rod 46 is also installed between the fixed base 4 and the hinge rod 47.

[0025] Specifically, the system consists of a visual recognition module: Raspberry Pi is used as the visual processing core, running the YOLOv5 target detection algorithm. The YOLOv5 algorithm analyzes the images captured by the camera in real time, identifies and locates materials, and sends the identified material coordinates (X, Y) to the main control unit through serial communication.

[0026] Main control unit: Arduino is used as the main control unit, which is responsible for receiving the coordinate data sent by the visual recognition module. Based on the received coordinate data, it calculates the distance and direction that the grasping device needs to move. The AccelStepper library is used to control the stepper motors of the X and Y axes to achieve precise positioning of the grasping device.

[0027] Motor control module: A stepper motor is used to drive the movement of the X-axis and Y-axis. The Accel Stepper library is used to optimize the acceleration and deceleration process of the stepper motor to ensure smooth operation.

[0028] PI (proportional-integral) control algorithm is used to adjust motor control parameters in real time to improve positioning accuracy.

[0029] Communication module: Data transmission between Raspberry Pi and Arduino is realized through serial communication. Raspberry Pi sends the identified material coordinates to Arduino, and Arduino can send status information to Raspberry Pi for monitoring and debugging;

[0030] Specific application of YOLOv5 in material grasping device: visual recognition module;

[0031] Core components: Raspberry Pi is used as the visual processing core.

[0032] Run the YOLOv5 target detection algorithm to analyze the images captured by the camera in real time to identify and locate materials.

[0033] Advantages: The real-time performance and accuracy of YOLOv5 ensure that materials can be identified quickly and accurately, providing precise target coordinates for subsequent grasping operations.

[0034] Main control unit and motor control: Main control unit: Use Arduino as the main control unit.

[0035] Receives material coordinate data sent by the visual recognition module, calculates the distance and direction the gripper needs to move, and controls the stepper motors of the X and Y axes through the Accel Stepper library to achieve precise positioning of the gripper.

[0036] PI control algorithm: used to adjust motor control parameters in real time to further improve positioning accuracy.

[0037] Communication module: Function: Realize data transmission between Raspberry Pi and Arduino through serial communication.

[0038] Function: The Raspberry Pi sends the identified material coordinates to the Arduino, which can then send status information to the Raspberry Pi for monitoring and debugging.

[0039] Advantages of YOLOv5 application:

[0040] Improved automation: Through YOLOv5's real-time target detection, cranes can automatically identify and locate materials without manual intervention, greatly improving the level of automation and enhancing efficiency and safety: Automated operations reduce labor costs while avoiding potential safety hazards caused by manual operations, improving production efficiency and operational safety. Strong adaptability: The YOLOv5 algorithm is highly robust to factors such as lighting and occlusion, and can adapt to target detection needs in different environments and material conditions.

[0041] Working principle: When this device needs to be used, first drive the X-axis motor to rotate the connecting roller 31, let the connecting roller 31 slide on the top of the connecting slide rail 3, adjust the position of the fixed slide bar 32, and then drive the connecting gear 36 through the Y-axis drive motor 35, let the connecting gear 36 slide up and down with the fixed slide bar 32 through the connecting rack 33, and then drive the first turntable 43 to rotate through the second motor 42, let the first turntable 43 rotate simultaneously with the connecting rack 33 through the connecting gear ring 45, let the second turntable 44 and the first turntable 43 rotate by driving the hinged rod 47, let the hinged rod 47 be driven by the hinge of the clamping rod 46, and let the hinged rod 47 clamp the object.

[0042] All standard parts used in this utility model can be purchased commercially, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as bolts, rivets, welding, etc. that are mature in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology. In addition, the circuit connections adopt conventional connection methods in the existing technology and will not be described in detail here. Any matters not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field.

[0043] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of such features. "Multiple" means two or more, unless otherwise specifically defined.

[0044] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0045] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. 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 may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples and the features of different embodiments or examples described in this specification without contradiction.

[0047] In the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material grabbing device for a crane, characterized in that: The invention comprises a fixed bracket (1), the top end of the fixed bracket (1) is fixedly connected to a transverse bracket (2), a sliding mechanism is provided in the middle of the transverse bracket (2), the sliding mechanism comprises a connecting slide rail (3), the connecting slide rail (3) is in the form of a plurality of fixedly connected to the outer side wall of the transverse bracket (2); the outer side wall of the connecting slide rail (3) is slidably connected to a connecting roller (31), the connecting roller (31) is in the form of two, and a fixed slide bar (32) is fixedly connected between the two connecting rollers (31); the outer side wall of the fixed slide bar (32) is fixedly connected to a connecting rack (33), the outer side wall of the connecting rack (33) is also installed with a plurality of limit blocks (34), the outer side wall of the fixed slide bar (32) is also installed with a Y-axis driving motor (35), and the output end of the Y-axis driving motor (35) is fixedly connected to a connecting gear (36); A clamping mechanism is provided at the bottom end of the fixed slide bar (32).

2. A material grabbing device for a crane according to claim 1, characterized in that: A connecting slide groove is provided at the top end of the connecting slide rail (3), and the outer side wall of the connecting roller (31) is rotatably connected in the connecting slide groove outside the connecting slide rail (3).

3. The material grabbing device of a crane according to claim 1, characterized in that: The connecting gear (36) and the connecting rack (33) are meshed and connected together, and the connecting roller (31) is also fixedly connected to the Y-axis driving motor (35).

4. The material grabbing device for a crane according to claim 1, characterized in that: The clamping mechanism comprises a fixed base (4), the fixed base (4) is fixedly connected to the bottom end of the fixed slide rod (32), a first motor (41) is installed on the outer side wall of the fixed base (4), and a second motor (42) is installed on the bottom end of the fixed base (4).

5. The material grabbing device for a crane according to claim 4, characterized in that: The output end of the second motor (42) is equipped with a first turntable (43), and the outer wall of the fixed base (4) is also equipped with a second turntable (44). The second turntable (44) and the first turntable (43) are symmetrically installed together. A connecting gear ring (45) is provided between the second turntable (44) and the first turntable (43), and the second turntable (44) and the first turntable (43) are meshed together through the connecting gear ring (45).

6. The material grabbing device for a crane according to claim 5, characterized in that: The outer side walls of the first rotating disk (43) and the second rotating disk (44) are fixedly connected with a hinge rod (47), and a clamping rod (46) is also installed between the fixed base (4) and the hinge rod (47).

Images