CN112320557B - Container lifting appliance capable of automatically finding containers in induction mode and using method thereof - Google Patents
Container lifting appliance capable of automatically finding containers in induction mode and using method thereof Download PDFInfo
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- CN112320557B CN112320557B CN202011282563.6A CN202011282563A CN112320557B CN 112320557 B CN112320557 B CN 112320557B CN 202011282563 A CN202011282563 A CN 202011282563A CN 112320557 B CN112320557 B CN 112320557B
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- container
- spreader
- finding
- induction type
- type automatic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an induction type container lifting appliance capable of automatically finding containers and a using method thereof, and relates to the technical field of container lifting. The container lifting appliance capable of automatically finding containers in an induction type comprises a lifting appliance, a laser scanning device, a lock dropping device, a motor, a middle shaft, a transmission shaft and a container; the using method of the induction type container spreader capable of automatically finding the containers comprises the steps of lifting the spreader, approaching the containers, clamping the containers and the like. According to the induction type container spreader capable of automatically finding containers and the using method thereof, the bar codes and the two-dimensional codes are arranged on the top of the containers and matched with the laser scanning device to read the information of the bar codes and the two-dimensional codes, so that the adoption of high-precision sensors can be greatly reduced to accurately position the spreader relative to the containers.
Description
Technical Field
The invention relates to the technical field of container hoisting, in particular to an induction type container lifting appliance capable of automatically finding containers and a using method thereof.
Background
The existing intelligent traveling crane mostly acquires the position coordinates of the container, and the container is grabbed by a lifting appliance according to the coordinates. However, the cost of the position coordinate acquisition of the container is rapidly increased along with the increase of the precision requirement, the accuracy rate is also reduced, and the cost difference between the 10mm grade and the 10cm grade of the precision requirement can reach multiple times. Therefore, if the lifting of the container can be completed under the requirement of coarse precision, the equipment cost can be greatly reduced.
Therefore, the applicant inherits the experience of abundant design development and actual manufacturing of the related industry for many years, researches and improves the existing structure and deficiency, and provides the container lifting appliance capable of automatically finding the container and the using method thereof so as to achieve the aim of achieving more practical value.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an induction type container spreader capable of automatically finding containers and a using method thereof, and solves the problem that the existing container finding mode of a high-precision intelligent traveling crane is high in cost.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an induction type container lifting appliance capable of automatically finding containers comprises a lifting appliance, a laser scanning device, a lock-falling device, a motor, a middle shaft, a transmission shaft and a container, the lifting appliance is rectangular, four corners of the lifting appliance are provided with lock-falling devices, the lifting appliance is provided with a motor, the motor is in transmission connection with the middle shaft, both ends of the middle shaft are in transmission connection with the middle part of the transmission shaft, both ends of the transmission shaft are in transmission connection with a lock dropping device, a laser scanning device is arranged on one corner of the lock dropping device far away from the center of the lifting appliance, the container comprises a container body, connecting columns, a bar code and a two-dimensional code, the connecting columns are arranged at four corners of the top surface of the container body, the container is characterized in that a two-dimensional code is arranged on one corner, away from the center of the top surface of the container body, of the connecting column, the position of the two-dimensional code corresponds to the position of the laser scanning device, and a bar code is vertically arranged on the top surface of the container body.
Preferably, four hanging wheels are arranged on the hanger.
Preferably, the number of the bar codes is plural.
Preferably, the intervals between the bar codes are the same.
Preferably, the intervals between the bar codes are different.
Preferably, the bar codes are parallel to each other.
Preferably, the barcode includes position information.
The use method of the induction type automatic container finding container spreader comprises the following steps:
the method comprises the following steps: raising the height of the container spreader for automatically finding the containers in an induction mode to be above the containers;
step two: when a laser scanning device arranged on the horizontal movement induction type automatic container finding container spreader is above a bar code on the top surface of a container, reading position information in the bar code to determine the position of the induction type automatic container finding container spreader relative to the container, and further judging the next movement direction of the induction type automatic container finding container spreader;
step three: the position of the induction type automatic container finding container spreader is known in real time by continuously reading the bar code on the top surface of the container, and the induction type automatic container finding container spreader is moved to be right above the container;
Step four: slowing down the horizontal moving speed of the container lifting appliance for induction type automatic container finding and slowly aligning the laser scanning device with the two-dimensional code of the connecting column on the top surface of the container;
step five: after aligning, slowly vertically and downwards moving an induction type container lifting appliance for automatically finding containers until a connecting column on the top surface of the container is matched with a lock falling device;
step six: starting the motor, and clamping the locking device with the connecting column.
Preferably, when the intervals of the bar codes are the same, the laser scanning device reads the information in the bar codes to judge the position of the container spreader for inductive automatic container finding relative to the container.
Preferably, when the intervals of the bar codes are different, the laser scanning device judges the position of the container spreader for inductive automatic container finding relative to the container through the change of the intervals of the bar codes.
(III) advantageous effects
The invention provides an induction type container spreader capable of automatically finding containers and a using method thereof. The method has the following beneficial effects:
according to the induction type container spreader capable of automatically finding containers and the using method thereof, the bar codes and the two-dimensional codes are arranged on the top of the containers and matched with the laser scanning device to read the information of the bar codes and the two-dimensional codes, so that the adoption of high-precision sensors can be greatly reduced to accurately position the spreader relative to the containers.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a side view of the structure of the present invention;
FIG. 3 is a top view of the structure of the present invention;
FIG. 4 is a front view of the container structure;
FIG. 5 is a top view of the container structure (with the same bar code spacing);
FIG. 6 is a partial enlarged view A;
FIG. 7 is a top view of a container structure (bar code spacing is not the same);
fig. 8 is a schematic view of the method of the invention (spreader adjusted position over container);
fig. 9 is a schematic view of the method of the invention (spreader directly above container);
FIG. 10 is a schematic view of the method of the present invention (the locking device is clamped to the connecting column).
In the figure: 1. a spreader; 2. a laser scanning device; 3. a lock falling device; 4. a motor; 5. a middle shaft; 6. a hoisting wheel; 7. a drive shaft; 8. a container; 81. a container body; 82. connecting columns; 83. a bar code; 84. and (5) two-dimensional codes.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
referring to fig. 1-10, the present invention provides a technical solution: an induction type container lifting appliance capable of automatically finding containers comprises a lifting appliance 1, a laser scanning device 2, a falling lock device 3, a motor 4, a middle shaft 5, a transmission shaft 7 and a container 8, wherein the lifting appliance 1 is rectangular, the falling lock devices 3 are arranged at four corners of the lifting appliance 1, the motor 4 is arranged on the lifting appliance 1, the motor 4 is in transmission connection with the middle shaft 5, two ends of the middle shaft 5 are in transmission connection with the middle part of the transmission shaft 7, two ends of the transmission shaft 7 are in transmission connection with the falling lock devices 3, the laser scanning device 2 is arranged at one corner of the falling lock device 3 far away from the center of the lifting appliance 1, the container 8 comprises a container body 81, a connecting column 82, a bar code 83 and a two-dimensional code 84, the connecting column 82 is arranged at the four corners of the top surface of the container body 81, the two-dimensional code 84 is arranged at one corner of the connecting column 82 far away from the center of the top surface of the container body 81, and the position of the two-dimensional code 84 corresponds to the position of the laser scanning device 2, the vertical bar code 83 that is provided with on the container body 81 top surface, be provided with four hanging wheels 6 on the hoist 1, the quantity of bar code 83 is many, is parallel to each other between the bar code 83, contains positional information in the bar code 83, and the interval between the bar code 83 can be the same also can not be the same.
The use method of the induction type automatic container finding container spreader comprises a controller, the induction type automatic container finding container spreader and the following steps:
the method comprises the following steps: the height of the container spreader for induction type automatic container finding is raised above the container 8;
step two: when the laser scanning device 2 arranged on the horizontal movement induction type automatic container finding container spreader is above the bar code 83 on the top surface of the container 8, the position information in the bar code 83 is read to determine the position of the induction type automatic container finding container spreader relative to the container 8, so that the next movement direction of the induction type automatic container finding container spreader is continuously judged;
step three: the position of the induction type automatic container finding container spreader is known in real time by continuously reading the bar code 83 on the top surface of the container 8, and the induction type automatic container finding container spreader is moved to be right above the container 8;
step four: slowing down the horizontal moving speed of the induction type automatic container finding container spreader and slowly aligning the laser scanning device 2 with the two-dimensional code 84 of the connecting column 82 on the top surface of the container 8;
step five: after alignment, the container spreader of the induction type automatic container finding is slowly vertically moved downwards until the connecting column 82 on the top surface of the container 8 is matched with the lock dropping device 3;
Step six: the motor 4 is started, and the locking device 3 is clamped with the connecting column 82.
When the intervals of the bar codes 83 are the same, the laser scanning device 2 reads the information in the bar codes 83 to judge the position of the container spreader for induction type automatic container finding relative to the container 8;
when the intervals of the bar codes 83 are different, the laser scanner 2 determines the position of the container spreader for inductive automatic container finding relative to the container 8 by the change in the intervals of the bar codes 83.
In summary, the induction type container spreader capable of automatically finding containers and the use method thereof can greatly reduce the adoption of high-precision sensors to accurately position the spreader relative to the container by arranging the bar code and the two-dimensional code on the top of the container and matching with a laser scanning device to read the information of the bar code and the two-dimensional code.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an automatic container spreader who looks for case of induction type, includes hoist (1), laser scanning device (2), locking device (3), motor (4), axis (5), transmission shaft (7) and container (8) fall, hoist (1) is the rectangle form, the four corners of hoist (1) all is provided with locking device (3) that falls, be provided with motor (4) on hoist (1), motor (4) and axis (5) transmission are connected, the both ends of axis (5) all are connected with the middle part transmission of transmission shaft (7), the both ends of transmission shaft (7) all are connected its characterized in that with locking device (3) transmission that falls: the laser scanning device (2) is arranged on one corner, away from the center of the lifting appliance (1), of the locking device (3), the container (8) comprises a container body (81), a connecting column (82), a bar code (83) and two-dimensional codes (84), the four corners of the top surface of the container body (81) are provided with the connecting column (82), one corner, away from the center of the top surface of the container body (81), of the connecting column (82) is provided with the two-dimensional codes (84), the position of the two-dimensional codes (84) corresponds to the position of the laser scanning device (2), and the bar code (83) is vertically arranged on the top surface of the container body (81).
2. The container spreader of claim 1, wherein the container spreader comprises: four hanging wheels (6) are arranged on the hanger (1).
3. The container spreader of claim 1, wherein the container spreader comprises: the number of the bar codes (83) is multiple.
4. The container spreader of claim 3, wherein the container spreader comprises: the intervals between the bar codes (83) are the same.
5. The container spreader of claim 3, wherein the container spreader comprises: the intervals between the bar codes (83) are different.
6. The induction type automatic container finding container spreader according to claim 4 or 5, wherein: the bar codes (83) are parallel to each other.
7. The container spreader of claim 6, wherein the container spreader comprises: the bar code (83) contains position information.
8. The use method of the induction type container spreader capable of automatically finding the containers comprises a controller, and is characterized in that: the method comprises the following steps of automatically finding the container spreader of the container in an induction mode:
the method comprises the following steps: the height of the container spreader for induction type automatic container finding is raised above the container (8);
Step two: when a laser scanning device (2) arranged on the horizontal movement induction type automatic container finding container spreader is above a bar code (83) on the top surface of a container (8), reading position information in the bar code (83) to determine the position of the induction type automatic container finding container spreader relative to the container (8), and further continuously judging the next movement direction of the induction type automatic container finding container spreader;
step three: the position of the induction type automatic container finding container spreader is known in real time by continuously reading the bar code (83) on the top surface of the container (8), and the induction type automatic container finding container spreader is moved to be right above the container (8);
step four: slowing down the horizontal moving speed of the induction type automatic container finding container spreader and slowly aligning the laser scanning device (2) with the two-dimensional code (84) of the connecting column (82) on the top surface of the container (8);
step five: after alignment, the container spreader of the induction type automatic container finding is slowly vertically moved downwards to a connecting column (82) on the top surface of the container (8) to be matched with the lock dropping device (3);
step six: the motor (4) is started, and the locking device (3) is clamped with the connecting column (82).
9. The use method of the induction type automatic container finding container spreader according to claim 8, wherein: when the intervals of the bar codes (83) are the same, the laser scanning device (2) reads the information in the bar codes (83) to judge the position of the container spreader for inductive automatic container finding relative to the container (8).
10. The use method of the induction type automatic container finding container spreader according to claim 8, wherein: when the intervals of the bar codes (83) are different, the laser scanning device (2) judges the position of the container spreader for induction type automatic container finding relative to the container (8) through the change of the intervals of the bar codes (83).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011282563.6A CN112320557B (en) | 2020-11-17 | 2020-11-17 | Container lifting appliance capable of automatically finding containers in induction mode and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011282563.6A CN112320557B (en) | 2020-11-17 | 2020-11-17 | Container lifting appliance capable of automatically finding containers in induction mode and using method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN112320557A CN112320557A (en) | 2021-02-05 |
| CN112320557B true CN112320557B (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011282563.6A Active CN112320557B (en) | 2020-11-17 | 2020-11-17 | Container lifting appliance capable of automatically finding containers in induction mode and using method thereof |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3958106A (en) * | 1974-12-24 | 1976-05-18 | Beckwith Elevator Co., Inc. | Article identifying system having scanner for vertical movement in synchronism with the article |
| US20040215367A1 (en) * | 2000-08-04 | 2004-10-28 | King Henry S. | Method and apparatus supporting container identification for multiple quay cranes |
| RU2209762C1 (en) * | 2002-12-26 | 2003-08-10 | Закрытое акционерное общество "Энергет и Ко" | Automated positioning system of load-lifting crane and containers on container site, including identification of containers and their accounting at displacements |
| CN203284078U (en) * | 2013-05-08 | 2013-11-13 | 北京国泰星云科技有限公司 | Container collision prevention automatic control system for RTG/RMG lifting appliance in container wharf |
| CN104495628B (en) * | 2014-12-17 | 2017-01-04 | 嘉兴瑞恩重工科技有限公司 | A kind of lifting loading system and control method thereof automatically |
| CN110002345B (en) * | 2019-04-10 | 2020-11-27 | 兰州理工大学 | Assembly type building automatic hoisting platform based on self-jacking steel platform |
| CN211496647U (en) * | 2019-07-10 | 2020-09-15 | 武汉港迪智能技术有限公司 | Crane cart positioning device based on two-dimensional code scanning |
| CN110482409B (en) * | 2019-07-31 | 2024-04-09 | 中国建筑股份有限公司 | Tower crane automatic control system and control method based on two-dimension code |
| CN111170154A (en) * | 2019-12-27 | 2020-05-19 | 上海新时达机器人有限公司 | Laser box finding method, hoisting system, controller and storage medium |
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- 2020-11-17 CN CN202011282563.6A patent/CN112320557B/en active Active
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Effective date of registration: 20220705 Address after: 243000 Fu Chang Industrial Park, 259 HSI Nan Road, Ma'anshan economic and Technological Development Zone, Anhui Applicant after: HUATIAN ENGINEERING & TECHNOLOGY CORPORATION, MCC Applicant after: HUATIAN NANJING ENGINEERING & TECHNOLOGY CORPORATION, MCC Address before: 243000 Fu Chang Industrial Park, 259 HSI Nan Road, Ma'anshan economic and Technological Development Zone, Anhui Applicant before: HUATIAN ENGINEERING & TECHNOLOGY CORPORATION, MCC |
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