CN113800405A - A anticollision hoisting machine constructs for in rubbish storage pit - Google Patents
A anticollision hoisting machine constructs for in rubbish storage pit Download PDFInfo
- Publication number
- CN113800405A CN113800405A CN202111186052.9A CN202111186052A CN113800405A CN 113800405 A CN113800405 A CN 113800405A CN 202111186052 A CN202111186052 A CN 202111186052A CN 113800405 A CN113800405 A CN 113800405A
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- Prior art keywords
- grab bucket
- vertical
- range finder
- laser range
- central controller
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- 238000013519 translation Methods 0.000 claims abstract description 18
- 230000001681 protective effect Effects 0.000 claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 abstract description 6
- 238000009530 blood pressure measurement Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Images
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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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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
- B66C11/00—Trolleys or crabs, e.g. operating above runways
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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
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of 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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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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
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an anti-collision hoisting mechanism for a garbage storage pit, which comprises a portal frame, a translation mechanism running on the portal frame and a grab bucket arranged below the translation mechanism, wherein a vertical track is arranged below the translation mechanism, and the grab bucket is assembled on the vertical track in a sliding manner; the grab bucket is provided with a horizontal laser range finder and a vertical laser range finder, the outer wall surface of the grab bucket is provided with an ejection air bag mechanism pointing to at least four directions, and the horizontal laser range finder, the vertical laser range finder and the ejection air bag mechanism are respectively connected with a central controller. The invention has the advantages that: anticollision hoisting machine constructs and possesses the level to and the ascending range finding function of vertical side, can prevent the ascending rigidity collision of horizontal direction to can prevent the ascending rigidity collision of vertical side through combining pressure measurement device.
Description
Technical Field
The invention relates to the technical field of hoisting, in particular to an anti-collision hoisting mechanism for a garbage storage pit.
Background
The urban domestic garbage is collected by an urban environmental sanitation system outside the factory and is transported into the factory by a closed garbage compression transport vehicle. The garbage truck is automatically weighed by the truck scale, and enters the comprehensive main workshop unloading platform through the overhead approach bridge after being recorded and stored by the computer, and the garbage is unloaded into the garbage pit for storage through the garbage unloading door.
Garbage in the garbage storage pit is piled, stacked and taken by a hoisting mechanism and is conveyed into a garbage hopper of the incinerator. Because the height of the garbage at each position in the garbage storage pit is different, collision accidents are easy to happen in the horizontal moving process of a grab bucket of the hoisting mechanism, hard objects are often stored in the garbage, and the damage to the hoisting mechanism is high, so that a person skilled in the art needs the hoisting mechanism capable of achieving anti-collision.
Disclosure of Invention
The invention aims to provide an anti-collision hoisting mechanism used in a garbage storage pit, which prevents collision accidents in the horizontal direction by arranging a horizontal laser range finder and an ejection air bag mechanism on a grab bucket, and prevents rigid collision damage to the grab bucket when collision occurs in the vertical direction by arranging a vertical laser range finder, a pressure detection device and a motor on the grab bucket.
The purpose of the invention is realized by the following technical scheme:
an anti-collision hoisting mechanism for a garbage storage pit is characterized by comprising a portal frame, a translation mechanism running on the portal frame and a grab bucket arranged below the translation mechanism, wherein a vertical track is arranged below the translation mechanism, and the grab bucket is assembled on the vertical track in a sliding manner; the grab bucket is provided with a horizontal laser range finder and a vertical laser range finder, the outer wall surface of the grab bucket is provided with an ejection air bag mechanism pointing to at least four directions, and the horizontal laser range finder, the vertical laser range finder and the ejection air bag mechanism are respectively connected with a central controller.
Launch gasbag mechanism include the steel drum and compressed gas jar, solenoid valve, rubber gasbag, the safety cover that sets gradually from inside to outside in the steel drum, the solenoid valve is connected compressed gas jar with rubber gasbag and control the switching of compressed gas jar, the solenoid valve by central controller connection control, the safety cover sets up the tip of steel drum.
When the grab bucket is in horizontal transverse movement, when the horizontal laser range finder monitors that the stack from the garbage reaches a set threshold and does not receive a stop instruction or a deceleration instruction, the central controller controls the electromagnetic valve in the ejection air bag mechanism to be opened according to monitoring data of the horizontal laser range finder, so that compressed gas in the compressed gas tank is filled in the rubber air bag and breaks through the protective cover to be ejected outwards, and the grab bucket is prevented from horizontally colliding with the stack of the garbage; the flicked protective cover and the central controller are in linkage control, and after the flicked protective cover is flicked, the protective cover transmits a stop operation instruction to the central controller, so that the central controller controls the translation mechanism to stop moving.
The grab bucket is slidably operated on the vertical rail through a roller driven by a motor, a pressure detection device is arranged at the lowest end of a claw of the grab bucket, and the pressure detection device and the motor are respectively connected with the central controller.
When the vertical laser range finder detects that the stacking height from garbage is 0 and the pressure of the pressure detection device reaches a set threshold value, the central controller controls the motor to stop driving and rotating so that the roller slides on the vertical track to release vertical impact force caused by collision.
The invention has the advantages that: anticollision hoisting machine constructs and possesses the level to and the ascending range finding function of vertical side, can prevent the ascending rigidity collision of horizontal direction to can prevent the ascending rigidity collision of vertical side through combining pressure measurement device.
Drawings
Fig. 1 is a working schematic diagram of the anti-collision hoisting mechanism in the garbage storage pit;
fig. 2 is a partially enlarged schematic view of the anti-collision hoisting mechanism of the present invention;
fig. 3 is a partially enlarged schematic view of the bouncing of the rubber airbag in the anti-collision hoisting mechanism.
Detailed Description
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings to facilitate understanding by those skilled in the art:
referring to fig. 1-3, the symbols in the figures are: the device comprises a portal frame 1, a translation mechanism 2, a vertical rail 3, a vertical moving mechanism 4, a roller 5, a motor 6, a mechanical arm 7, a claw piece 8, a garbage storage pit 9, a garbage stack 10, a grab bucket 11, a compressed gas tank 12, a steel cylinder 13, a rubber air bag 14, a protective cover 15, an electromagnetic valve 16, a horizontal laser range finder 17, a vertical laser range finder 18 and a pressure detection device 19.
Example (b): as shown in fig. 1-3, the embodiment specifically relates to an anti-collision hoisting mechanism for a garbage storage pit, the anti-collision hoisting mechanism includes a gantry 1, a translation mechanism 2 operating on the gantry 1, and a grab bucket 11 disposed below the translation mechanism 2, the gantry 1 is erected on two sides above the garbage storage pit 9 and can move along the longitudinal movement of the garbage storage pit 9, the translation mechanism 2 is a sliding trolley for realizing horizontal transverse movement on a transverse track of the gantry 1, and plane movement and moving on the garbage storage pit 9 can be realized by using the translation mechanism 2 and the gantry 1 in combination. On the basis, a vertical rail 3 with a certain length is fixedly arranged below the translation mechanism 2, and the multi-degree-of-freedom mechanical arm 7 of the grab bucket 11 is assembled on the vertical rail 3 in a sliding manner through the vertical moving mechanism 4, so that the grab bucket 11 can move freely in the vertical direction.
As shown in fig. 1-3, a plurality of horizontal laser distance measuring instruments 17 and an ejection air bag mechanism pointing to at least four directions are arranged on the outer wall surface of the grab bucket 11, and if conditions allow, the plurality of horizontal laser distance measuring instruments 17 can be changed into a laser distance measuring device for 360-degree annular detection; the main body of the air bag ejection mechanism is a steel cylinder 13, the steel cylinder 13 is fixedly welded on the outer wall surface of the mechanical arm 7 (namely the connecting position of the grab bucket 11 and the mechanical arm 17), a compressed air tank 12, an electromagnetic valve 16, a rubber air bag 14 and a protective cover 15 are sequentially arranged in the inner cavity of the steel cylinder 13 from inside to outside, the electromagnetic valve 16 is used for connecting the compressed air tank 12 with the rubber air bag 14, the electromagnetic valve 16 is connected and controlled by a central controller, the protective cover 15 is connected and arranged on the port of the steel cylinder 13 with limited strength, and the steel cylinder 13 can be quickly detached from the end part of the steel cylinder 13 under the action of external force. The central controller receives the ranging data transmitted by the horizontal laser range finder 17 in real time, when the grab bucket 11 moves horizontally and the horizontal distance between the grab bucket and the garbage stack 10 reaches a set threshold value and does not receive a stop instruction or a deceleration instruction, the central controller sends an opening instruction to the electromagnetic valve 16, thereby opening the electromagnetic valve 16 to allow the compressed gas in the compressed gas tank 12 to rapidly enter the rubber air bag 14 and fill the rubber air bag, the expanded rubber air bag 14 presses and pops the protective cover 15 outwards and further expands outwards, so that the rubber air bag 14 is used as a buffer body between the grab bucket 11 and the garbage stack 10, so as to avoid rigid collision between the grab bucket 11 and the garbage stack 10, it should be noted that the protective cover 15 and the central controller have a linkage control relationship, and when the protective cover 15 is flicked, the translation mechanism 2 automatically executes a stop command to lock.
As shown in fig. 1-3, a downward-pointing vertical laser distance meter 18 is further disposed on the lower end surface of the grab bucket 11, and the lower ends of the claw pieces 8 of the grab bucket 11 are respectively provided with a pressure detection device 19, that is, the pressure sensors are used for detecting whether the grab bucket 11 touches the garbage stack 10 in the descending process and how large the numerical value of the descending pressure is, it should be noted that the vertical laser distance meter and the pressure detection device 19 are both connected with a central controller; the vertical moving mechanism 4 is in sliding fit with the vertical rail 3 through a plurality of rollers 5, each roller 5 is driven by a motor 6 through gear transmission to move up and down in the vertical direction, and the motor 6 is specifically controlled by a central controller in a connecting way. In the downward movement process of the grab bucket 11, the vertical laser range finder 18 monitors the vertical distance between the vertical laser range finder 18 and the garbage stack 10 in real time, when the vertical laser range finder 18 detects that the height from the garbage stack 10 is 0 and the pressure of the pressure detection device 19 reaches a set threshold value, the central controller immediately controls the motor 6 to stop driving and rotating to form a neutral position, so that the roller 5 slides on the vertical track 3 to release vertical impact force caused by collision, and the heat generation or even burning-out accident caused by overlarge current in the motor 6 is avoided.
The beneficial effect of this embodiment lies in: the buffer body is arranged in the horizontal direction to prevent collision, and whether the motor continues to operate is controlled according to a pressure measurement value in the vertical direction, so that the all-dimensional anti-collision safety of the grab bucket in the garbage storage pit is realized.
Claims (5)
1. An anti-collision hoisting mechanism for a garbage storage pit is characterized by comprising a portal frame, a translation mechanism running on the portal frame and a grab bucket arranged below the translation mechanism, wherein a vertical track is arranged below the translation mechanism, and the grab bucket is assembled on the vertical track in a sliding manner; the grab bucket is provided with a horizontal laser range finder and a vertical laser range finder, the outer wall surface of the grab bucket is provided with an ejection air bag mechanism pointing to at least four directions, and the horizontal laser range finder, the vertical laser range finder and the ejection air bag mechanism are respectively connected with a central controller.
2. The anti-collision hoisting mechanism for the garbage storage pit according to claim 1, wherein the ejection air bag mechanism comprises a steel cylinder, and a compressed air tank, an electromagnetic valve, a rubber air bag and a protective cover which are sequentially arranged in the steel cylinder from inside to outside, the electromagnetic valve is connected with the compressed air tank and the rubber air bag and controls the compressed air tank to be opened and closed, the electromagnetic valve is connected and controlled by the central controller, and the protective cover is arranged at the end part of the steel cylinder.
3. The anti-collision hoisting mechanism for the garbage storage pit according to claim 2, wherein in the horizontal traversing of the grab bucket, when the horizontal laser range finder monitors that the distance from the garbage stack reaches a set threshold and no stop command or deceleration command is received, the central controller controls the electromagnetic valve in the ejection airbag mechanism to open according to the monitoring data of the horizontal laser range finder, so that the compressed gas in the compressed gas tank fills the rubber airbag and breaks the protective cover to eject outwards, thereby avoiding the horizontal collision between the grab bucket and the garbage stack; the flicked protective cover and the central controller are in linkage control, and after the flicked protective cover is flicked, the protective cover transmits a stop operation instruction to the central controller, so that the central controller controls the translation mechanism to stop moving.
4. The anti-collision hoisting mechanism for the garbage storage pit according to claim 1, wherein the grab bucket slidably runs on the vertical rail through a roller driven by a motor, the lowermost end of the claw piece of the grab bucket is provided with a pressure detection device, and the pressure detection device and the motor are respectively connected with the central controller.
5. The anti-collision hoisting mechanism for the garbage storage pit according to claim 4, wherein the grab bucket is in vertical movement, when the vertical laser range finder detects that the stacking height from the garbage is 0 and the pressure of the pressure detection device reaches a set threshold value, the central controller controls the motor to stop driving to rotate so as to enable the roller wheel to slide on the vertical track to release vertical impact force caused by collision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111186052.9A CN113800405A (en) | 2021-10-12 | 2021-10-12 | A anticollision hoisting machine constructs for in rubbish storage pit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111186052.9A CN113800405A (en) | 2021-10-12 | 2021-10-12 | A anticollision hoisting machine constructs for in rubbish storage pit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113800405A true CN113800405A (en) | 2021-12-17 |
Family
ID=78939460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111186052.9A Pending CN113800405A (en) | 2021-10-12 | 2021-10-12 | A anticollision hoisting machine constructs for in rubbish storage pit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113800405A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002254384A (en) * | 2001-02-27 | 2002-09-10 | Kansai Tlo Kk | Bump avoidance device and robot |
| CN204778452U (en) * | 2015-07-13 | 2015-11-18 | 常州基腾电气有限公司 | A buffer stop for crane sling |
| CN106395598A (en) * | 2016-10-19 | 2017-02-15 | 四川沱江起重机有限公司 | Safe and durable hoisting hook of bridge crane |
| CN206154302U (en) * | 2016-11-14 | 2017-05-10 | 何琼 | A operate mechanical hand that is used for food to put and bagging -off |
| CN108180849A (en) * | 2017-12-25 | 2018-06-19 | 上海昂丰装备科技有限公司 | Stacking height detection device and detection method in a kind of garbage pool |
| US20190160676A1 (en) * | 2017-11-28 | 2019-05-30 | Fanuc Corporation | Robot and collision detection method therefor |
| CN110820641A (en) * | 2019-11-17 | 2020-02-21 | 徐州如轩电气配件有限公司 | Warning anti-collision lantern ring for telegraph pole and mounting method thereof |
| CN211226042U (en) * | 2019-11-01 | 2020-08-11 | 武汉旭枫英泰科技有限公司 | Protection device of garbage crane grab bucket |
-
2021
- 2021-10-12 CN CN202111186052.9A patent/CN113800405A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002254384A (en) * | 2001-02-27 | 2002-09-10 | Kansai Tlo Kk | Bump avoidance device and robot |
| CN204778452U (en) * | 2015-07-13 | 2015-11-18 | 常州基腾电气有限公司 | A buffer stop for crane sling |
| CN106395598A (en) * | 2016-10-19 | 2017-02-15 | 四川沱江起重机有限公司 | Safe and durable hoisting hook of bridge crane |
| CN206154302U (en) * | 2016-11-14 | 2017-05-10 | 何琼 | A operate mechanical hand that is used for food to put and bagging -off |
| US20190160676A1 (en) * | 2017-11-28 | 2019-05-30 | Fanuc Corporation | Robot and collision detection method therefor |
| CN108180849A (en) * | 2017-12-25 | 2018-06-19 | 上海昂丰装备科技有限公司 | Stacking height detection device and detection method in a kind of garbage pool |
| CN211226042U (en) * | 2019-11-01 | 2020-08-11 | 武汉旭枫英泰科技有限公司 | Protection device of garbage crane grab bucket |
| CN110820641A (en) * | 2019-11-17 | 2020-02-21 | 徐州如轩电气配件有限公司 | Warning anti-collision lantern ring for telegraph pole and mounting method thereof |
Non-Patent Citations (1)
| Title |
|---|
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