CN114604759A

CN114604759A - Tower crane with guide structure and control method thereof

Info

Publication number: CN114604759A
Application number: CN202210077030.7A
Authority: CN
Inventors: 陈德木; 蒋云; 赵晓东; 陆建江; 陈曦
Original assignee: Hangzhou Dajie Intelligent Transmission Technology Co Ltd
Current assignee: Hangzhou Dajie Intelligent Transmission Technology Co Ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-06-10
Anticipated expiration: 2042-01-24
Also published as: CN114604759B

Abstract

The invention provides a tower crane with a guide structure, which comprises a mechanical arm, a shell connected to the mechanical arm, a lifting hook provided with an opening and capable of rotating relative to the shell, and a scanning assembly rotating around the shell and provided with an image acquisition module, wherein when the scanning assembly acquires material information through the image acquisition module, the position of the scanning assembly is locked; the driving component is arranged in the shell, and the rotating shaft is connected with the lifting hook; and the locking assembly is arranged on the shell and can lock the rotating shaft according to the position locking information of the scanning assembly. The scanning assembly rotates around the shell to scan the area in the horizontal direction; the driving component rotates the opening of the lifting hook towards the direction of the material according to the position of the material information acquired by the scanning component; the locking subassembly is according to drive assembly with the opening of lifting hook towards the positional information behind the material, with the axis of rotation locking, makes drive assembly with the open-ended adjustment back of lifting hook, locking subassembly locking drive assembly makes it be difficult to rotate to it is difficult to rotate behind the opening of guaranteeing the lifting hook towards the material.

Description

Tower crane with guide structure and control method thereof

[ technical field ] A method for producing a semiconductor device

The invention relates to the field of hoisting clamps, in particular to a tower crane with a guide structure and a control method thereof.

[ background of the invention ]

When the existing tower crane is hoisted indoors, the standard materials are firstly manually arranged on the same transportation route, then hoisting transportation in the horizontal or vertical direction is carried out through the tower crane, and further the standard materials in a position room are transported to a target position; the existing tower crane comprises a telescopic mechanical arm and a lifting hook arranged on the telescopic end of the mechanical arm, wherein the direction of the lifting hook is consistent with the transportation route, so that the lifting hook can quickly hook standard materials on the transportation route; the standard material is provided with a handle for hooking the lifting hook; when each standard material was located same transportation way, the arm stretched out the opening of the lifting hook that drives and faces the handle, caught on the handle through the lifting hook, realized that the arm drives to be hung the standard material of getting and stacks to the target location on to can be quick transport indoor standard material.

When the tower crane hooks the standard materials, each standard material needs to be manually integrated on the same transportation route in advance, then the tower crane hooks the standard materials and conveys the standard materials to a position needing to be placed, so that the manual labor required in the hoisting process is too much, and the hoisting efficiency is low; and the orientation of above-mentioned lifting hook can not adjust, leads to the tower crane to be difficult to get through current lifting hook orientation hook and does not put the standard material to the transport route.

[ summary of the invention ]

The invention aims to provide a tower crane with a guide structure, wherein the direction of an opening of the tower crane can be adjusted.

The technical scheme of the invention is as follows:

the utility model provides a tower crane with guide structure, includes the arm and connect in casing on the arm still includes:

the lifting hook is provided with an opening and is arranged at the lower end of the shell, the lifting hook can rotate relative to the shell, and the lifting hook is used for hooking materials;

the scanning assembly is arranged on the outer wall of the shell and rotates around the shell, and the scanning assembly comprises an image acquisition module for detecting the position of the material; when the scanning assembly acquires material information through the image acquisition module, the optical axis of the image acquisition module faces to the material and the scanning assembly stops rotating;

the driving assembly is arranged in the shell and comprises a rotating shaft fixedly connected with the lifting hook; the driving component adjusts the direction of the lifting hook to face the material according to the material position information acquired by the image acquisition module;

the locking assembly is arranged on the bottom of the shell; and when the scanning assembly stops rotating, the locking assembly locks the rotating shaft.

Further, the scanning assembly includes:

the scanning ring is sleeved on the outer wall of the shell and rotates on the shell; the image acquisition module is embedded on the scanning ring;

the driver is arranged on the outer wall of the shell and drives the scanning ring to rotate around the shell.

Furthermore, the scanning assembly further comprises a rotating toothed ring sleeved on the outer wall of the shell, and the rotating toothed ring is connected with the scanning ring; the driver is provided with a rotating shaft meshed with the rotating toothed ring, and the driver drives the scanning ring to rotate around the shell through the meshing of the rotating shaft and the rotating toothed ring.

Further, the image acquisition module includes:

the spherical shell is embedded on the outer wall of the scanning ring, and part of the spherical shell is exposed out of the scanning ring;

the camera is arranged in the spherical shell, and the optical axis of the camera faces to one side of the spherical shell, which is exposed out of the scanning ring;

the driver is arranged in the spherical shell and can drive the camera to rotate in the spherical shell, and the rotating area of the rotator is the radius area of the spherical shell exposed out of the scanning ring.

Further, the drive assembly further comprises:

the winding set is arranged by taking a rotating shaft as a center and is arranged in the shell;

the magnetic steel, the magnetic steel is equipped with a plurality ofly, and is a plurality of the magnetic steel is located on the inner wall of casing and around the winding group sets up.

Further, the locking mechanism includes:

a locking housing located at a lower end of the housing, the rotation shaft passing through the locking housing;

the locking block is arranged in the locking shell and can slide in the locking shell, and one side of the locking block faces the rotating shaft;

the driving block is arranged in the locking shell and is opposite to the locking block, and the driving block can drive the locking block to move towards the rotating shaft.

Furthermore, the locking block is a magnetic piece, when the driving block is electrified, the driving block and the locking block form a magnetic piece with the same polarity, and the driving block drives the locking block to move towards the rotating shaft through a magnetic field.

Further, tower crane with guide structure still includes counterpoint subassembly, counterpoint subassembly includes:

the alignment module is arranged on the bottom of the scanning ring;

the laser module is embedded at the free end of the lifting hook and is provided with an optical axis, and the optical axis and the alignment module are positioned in the same vertical direction;

when the alignment module receives the optical axis, the driving block drives the locking block to lock the rotating shaft.

A control method is applied to the tower crane with the guide structure as claimed in claim 8, and comprises the following steps:

during the movement of the hook, the scanning assembly rotates around the shell to scan whether materials exist nearby the hook;

if the scanning component scans that the material exists, the scanning component sends the position information of the material to the driving component, and the driving component adjusts the lifting hook according to the position information to enable the lifting hook to face the material;

the scanning component stops scanning after obtaining the position information, and at the moment, the optical axis of the camera faces to the material;

orientation adjustment of lifting hook is to orientation behind the material, the alignment module senses the optical axis information of laser module will optical axis information sends to the locking subassembly, locking subassembly locking axis of rotation.

Further, when the locking assembly is locked, the lifting hook moves and hooks the materials to move the materials to a transportation route; when the hook is moved onto the transport route, the locking assembly releases the rotating shaft, and the driving assembly rotates the hook so that the hook is oriented in line with the transport route.

The invention has the beneficial effects that: the scanning assembly rotates by taking the shell as an axis, and rotates around the shell to scan an area in the horizontal direction, so that the scanning range of the scanning assembly is increased to the maximum extent; the opening of the lifting hook is rotated to face the direction of the material through the driving assembly according to the position of the material information acquired by the scanning assembly; the rotation shaft is locked according to position information of the opening of the lifting hook towards the material by the locking assembly, so that the driving assembly can lock the driving assembly after the opening of the lifting hook is adjusted, the locking assembly is difficult to rotate, the opening of the lifting hook is difficult to rotate after the opening of the lifting hook faces the material, and the opening of the lifting hook faces the material, namely the opening of the lifting hook is locked to a certain extent.

[ description of the drawings ]

FIG. 1 is a schematic structural view of a guide structure of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

FIG. 3 is an enlarged view of FIG. 1 at B;

FIG. 4 is a schematic view of the scanning assembly of the guide structure of the present invention;

fig. 5 is an enlarged view of fig. 1 at C.

Reference numerals are as follows:

100. a guide structure;

10. a mechanical arm; 101. a connecting member;

20. a housing; 201. a limiting ring;

30. a hook; 301. a free end; 311. accommodating grooves; 321. tempering the glass;

401. scanning a ring; 411. a chute; 421. caulking grooves; 402. an image acquisition module; 412. a spherical shell; 422. a camera; 4321. a fixing member; 4322. a swing shaft; 403. a driver; 404. a Hall sensor; 405. a magnetic member; 406. rotating the toothed ring;

50. a drive assembly; 501. a rotating shaft; 502. magnetic steel; 503. winding;

60. a locking assembly; 601. a locking housing; 602. a locking block; 603. a drive block; 604. a tension spring;

70. a radius region;

801. a laser module; 802. and (7) aligning the module.

[ detailed description ] embodiments

The invention is further described with reference to the following figures and embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "comprising" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures, are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

As shown in fig. 1 to 5, a tower crane with a guide structure 100 includes a robot arm 10, a housing 20 connected to the robot arm 10, a hook 30, a scanning assembly (not shown), a driving assembly 50, and a locking assembly 60; the mechanical arm 10 has a telescopic function, a connecting part 101 connected with the guide structure 100 is arranged on the mechanical arm 10, the connecting part 101 is connected to the upper end of the housing 20, and the connecting part 101 is a rigid part, so that the influence on the orientation of the hook 30 due to the swing of the guide structure 100 caused by the over-softness of the connecting part 101 is reduced; in addition, the hook 30 has an opening for hooking the material, the hook 30 is disposed at the lower end of the housing 20, the hook 30 is connected to a rotating shaft 501 of the driving assembly 50 disposed in the housing 20, and the hook 30 is driven to rotate relative to the housing 20 by the rotation of the rotating shaft 501; the scanning assembly is arranged outside the shell 20 and can rotate around the shell 20, namely the scanning assembly can rotate by taking the shell 20 as an axis, so that the scanning assembly can rotate around the shell 20 to scan an area in the horizontal direction, and the scanning range of the scanning assembly is increased to the maximum extent; the driving assembly 50 comprises a rotating shaft 501 connected with the hook 30, and the driving assembly 50 can rotate the opening of the hook 30 towards the direction of the material according to the position of the material information acquired by the scanning assembly; locking subassembly 60, locate on casing 20, locking subassembly 60 can be according to drive assembly 50 with the orientation adjustment of lifting hook 30 towards the position information behind the material, with axis of rotation 501 locking for drive assembly 50 is with the adjustment back of the orientation of lifting hook 30, locking subassembly 60 can lock axis of rotation 501, locking subassembly 60 promptly can lock drive assembly 50, makes it be difficult to rotate, so as to ensure the lifting hook 30 orientation after the adjustment, is difficult to rotate, locks the opening orientation of lifting hook 30 to a certain extent promptly.

As shown in fig. 2 and fig. 4, the scanning assembly in this embodiment includes a scanning ring 401 sleeved on the housing 20, an image capturing module 402 disposed on the scanning ring 401, and a driver 403 for driving the scanning assembly to rotate; the image acquisition module 402 is arranged on the scanning ring 401 and can scan the materials on the horizontal position; be equipped with the rotatory ring gear 406 with the coaxial setting of scanning ring 401 on the scanning ring 401, driver 403 is the servo motor who has the drive shaft, rotates on casing 20 with drive scanning ring 401 after drive shaft and the meshing of rotatory ring gear 406, drives image acquisition module 402 on the scanning ring 401 through driver 403 and uses casing 20 as the center rotation, and then realizes that image acquisition module 402 can scan the material around the lifting hook 30.

Specifically, the outer wall of the housing 20 is sleeved with the limit ring 201, the inner side of the scanning ring 401 is recessed to form a sliding groove 411 matched with the limit ring 201, wherein the cross section of the limit ring 201 is T-shaped, or dovetail-shaped, so that the position of the scanning ring 401 on the housing 20 can be limited, and the scanning ring 401 can rotate on the limit ring 201, so that the position of the scanning ring 401 is limited, and the purpose that the scanning ring 401 rotates around the housing 20 can be met.

Specifically, referring to fig. 4, the image capturing module 402 includes a spherical housing 412, a camera 422, and a rotator 432; a caulking groove 421 for caulking the spherical shell 412 is concavely formed on the outer side of the scanning ring 401, and part of the spherical shell 412 is exposed out of the scanning ring 401; the rotator 432 is disposed in the spherical housing 412, and the camera 422 is assembled on the rotator 432, wherein the rotator 432 can rotate in the spherical housing 412 to drive the camera 422 to rotate in the spherical housing 412, and a rotation area of the rotator 432 is a radius area 70 of the spherical housing 412 exposed out of the scanning ring 401. So as to drive the camera 422 to swing in the spherical shell 412 through the rotation of the rotator 432.

More specifically, the rotator 432 is a motor with a swing shaft 4322, wherein the swing shaft 4322 is provided with a fixing part 4321 for mounting the camera 422, and the camera 422 is a miniature CDD industrial camera; when the camera 422 is detected to exceed the swing range of the camera, the rotator 432 instantly rotates to realize that the rotator 432 can drive the camera 422 to swing back and forth to perform image acquisition in the vertical direction; wherein, the hall sensors 404 are symmetrically arranged in the spherical shell 412, the fixed part 4321 is driven by the rotator 432 to have its moving area located between the two hall sensors 404, the fixed part 4321 is provided with symmetrically arranged magnetic parts 405, when the fixed part 4321 is driven by the rotator 432 to rotate upwards in the spherical shell 412, after the magnetic element 405 above the fixed element 4321 senses the hall sensor 404, the hall sensor 404 detects the swing of the fixed element 4321, so that the rotator 432 drives the fixed element 4321 to rotate downward, when the fixed part 4321 is rotated downward in the spherical housing 412 by the rotator 432, after the magnetic part 405 under the fixed part 4321 senses the hall sensor 404, the hall sensor 404 detects the swing of the fixed part 4321, so that the rotator 432 drives the fixed part 4321 to rotate upwards and reciprocate until the material is scanned.

As shown in fig. 1, the driving assembly 50 in this embodiment includes a rotating shaft 501 disposed at the center of the casing 20 and rotating relative to the casing 20, a plurality of magnetic steels 502 disposed on the inner wall of the inner cavity of the casing 20, and a winding set 503 disposed with the rotating shaft 501 as the center, wherein the plurality of magnetic steels 502 are disposed around the winding set 503; when the winding set 503 is electrified, the rotating shaft 501 is driven to rotate by the action of the magnetic force; the hook 30 is attached to the end of the rotating shaft 501 below the housing 20.

As shown in fig. 1 and 5, the locking mechanism in this embodiment includes a locking housing 601 located at the lower end of the housing 20, a locking block 602 disposed in the locking housing 601, and a driving block 603 disposed in the locking housing 601 and disposed opposite to the locking block 602; the rotating shaft 501 penetrates through the locking housing 601 from one end of the housing 20, the locking block 602 is a magnetic member 405 and can slide in the locking housing 601, when the driving block 603 is electrified, the driving block 603 and the locking member form a magnetic member 405 of the same polarity, the driving block 603 drives the locking block 602 to move towards the rotating shaft 501 through a magnetic field, and therefore friction between the locking block 602 and the rotating shaft 501 is increased, and the rotating shaft 501 is difficult to rotate.

Specifically, there are two locking blocks 602 and two driving blocks 603, and the locking block 602 and the driving block 603 in one group and the locking block 602 and the driving block 603 in the other group are symmetrically arranged, so that the locking assembly 60 can more firmly lock the rotating shaft 501; a tension spring 604 is connected between the locking block 602 and the driving block 603; when the driving block 603 is energized, the driving block 603 drives the lock block 602 to slide the tension spring 604 toward the rotation shaft 501 in a stretched state, the rotation shaft 501 is hard to rotate, and when the driving block 603 is not energized, the lock block 602 is pulled to be disengaged from the rotation shaft 501 by the elastic force of the tension spring 604.

As shown in fig. 1 to fig. 3, the tower crane with the guiding structure 100 in this embodiment further includes an alignment assembly (not marked in the drawings), which includes a laser module 801 disposed on the free end 301 of the hook 30 and an alignment module 802 disposed on the bottom of the scanning ring 401; wherein, laser module 801 and counterpoint module 802 set up relatively, and the laser that laser module 801 takes place can shine to counterpoint module 802 on, when the opening of lifting hook 30 rotates towards the material, and drive assembly 50 stops rotating when counterpoint module 802 senses the laser of laser module 801 transmission.

Specifically, the hook 30 has two ends, one of which is connected to the rotating shaft 501 and the other of which is the free end 301; the end of the free end 301 is concavely formed with an accommodating groove 311, the laser module 801 is assembled in the accommodating groove 311, and the notch of the accommodating groove 311 is covered with transparent tempered glass 321, so that laser generated by the laser module 801 can penetrate through the tempered glass 321 to irradiate onto the alignment module 802; in addition, the connection surface between the toughened glass 321 and the end of the free end 301 is a plane, so that the hook 30 can hook materials more smoothly.

The control method of the guide structure 100 is as follows:

s1, in the process of controlling the lifting hook 30 to move, the scanning assembly rotates around the shell 20 to scan whether materials exist near the lifting hook 30 or not;

s2, if the scanning assembly scans that materials exist, the scanning assembly sends position information of the materials to the driving assembly, and the driving assembly 50 adjusts the lifting hook 30 according to the position information to enable the lifting hook 30 to face the materials, so that the lifting hook 30 can hook the materials conveniently;

s3, stopping scanning after the scanning assembly obtains the position information, wherein the optical axis direction of the camera 422 faces to the material;

s4, after the orientation of the lifting hook 30 is adjusted to the orientation of the material, the alignment module 802 senses the optical axis information of the laser module 801 and sends the optical axis information to the locking assembly 60, and the locking assembly 60 locks the rotating shaft 501.

S5, after the locking assembly 60 is locked, the lifting hook 30 moves and hooks the materials so as to move the materials to a transportation route;

s6, when the hook 30 moves to the transportation route, the locking assembly 60 releases the rotating shaft 501, and the driving assembly rotates the hook 30 so that the orientation of the hook 30 coincides with the transportation route.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims

1. The utility model provides a tower crane with guide structure, includes the arm and connect in casing on the arm, its characterized in that still includes:

the driving assembly is arranged in the shell and comprises a rotating shaft fixedly connected with the lifting hook; the driving component adjusts the orientation of the lifting hook to face the material according to the material position information acquired by the image acquisition module;

2. The tower crane with the guide structure as claimed in claim 1, wherein: the scanning assembly includes:

3. The tower crane with the guide structure as claimed in claim 2, wherein: the scanning assembly further comprises a rotating gear ring sleeved on the outer wall of the shell, and the rotating gear ring is connected with the scanning ring; the driver is provided with a rotating shaft meshed with the rotating toothed ring, and the driver drives the scanning ring to rotate around the shell through the meshing of the rotating shaft and the rotating toothed ring.

4. The tower crane with the guide structure as claimed in claim 1, wherein: the image acquisition module includes:

5. The tower crane with the guide structure as claimed in claim 1, wherein: the drive assembly further includes:

the winding set is arranged by taking a rotating shaft as a center, and the winding set is arranged in the shell;

6. The tower crane with the guide structure as claimed in claim 4, wherein:

the locking mechanism includes:

7. The tower crane with the guide structure as claimed in claim 6, wherein: the locking block is a magnetic piece, when the driving block is electrified, the driving block and the locking block form a magnetic piece with the same polarity, and the driving block drives the locking block to move towards the rotating shaft through a magnetic field.

8. The tower crane with the guide structure of claim 7, wherein: the tower crane with guide structure still includes the counterpoint subassembly, the counterpoint subassembly includes:

the alignment module is arranged on the bottom of the scanning ring;

9. A control method is applied to the tower crane with the guide structure as claimed in claim 8, and is characterized in that: the method comprises the following steps:

10. The control method according to claim 9, characterized in that: when the locking assembly is locked, the lifting hook moves and hooks the materials so as to move the materials to a transportation line; when the hook is moved onto the transport route, the locking assembly releases the rotating shaft, and the driving assembly rotates the hook so that the hook is oriented in line with the transport route.