CN116730183A

CN116730183A - Intelligent anti-rolling lifting hook device assisted by disc claws

Info

Publication number: CN116730183A
Application number: CN202310873300.XA
Authority: CN
Inventors: 陈海泉; 黄哲; 赵庭祺; 任昭鹏; 方楠; 刘可心; 王生海; 王丙昱
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2023-07-14
Filing date: 2023-07-14
Publication date: 2023-09-12

Abstract

The invention provides a disk claw assisted intelligent anti-rolling lifting hook device, which relates to the technical field of lifting hook transferring goods, and comprises the following components: the device comprises a box body, a shaft rod, a mechanical arm, an intelligent lifting hook, a vision system and a four-axis thrust system; the box body is arranged in the middle of the shaft rod, a four-axis thrust system is arranged on the shaft rod in the box body, a mechanical arm is arranged at the lower part of each side face of the box body, and an intelligent lifting hook is arranged at the lower end of the shaft rod; the intelligent lifting hook weighs and locks automatically the hanging weight, the vision system identifies hanging weight information and feeds back the information to the mechanical arm, the mechanical arm wraps the hanging weight according to the hanging weight information so as to reduce hanging weight swinging, and the four-axis thrust system identifies and adjusts the deflection angle of the disc claw assisted intelligent anti-rolling lifting hook device. The invention solves the problem that the operation efficiency is affected by the large-amplitude swing of the lifting hook in the current cargo transferring operation process.

Description

Intelligent anti-rolling lifting hook device assisted by disc claws

Technical Field

The invention relates to the technical field of goods transportation by lifting hooks, in particular to a disc claw assisted intelligent anti-rolling lifting hook device.

Background

Helicopter applications present significant advantages, but there are certain disadvantages to performing tasks in certain environments. When the transfer operation is carried out on the sea, the suspended material can swing greatly under the influence of the offshore wind power, and the safety of the material transfer process is seriously threatened. In addition, rescue work needs the helicopter to carry out personnel rescue, and the helicopter shifts personnel through helping hanging flower basket or helping the hanging cage, and the rope that the lifting hook is connected belongs to under-actuated flexible piece, and the hanging flower basket can produce to rock in the sky, and this kind of rocking makes very easily that the personnel of being saved bump with the object on every side and causes the secondary injury, produces very big influence to personnel's rescue transportation process. Meanwhile, in the rescue process, a helicopter driver needs to hear the command of a winch, and the direction of the helicopter basket is controlled to accurately hover above the rescuer under the condition of considering shaking of the rescue basket, so that the operations of the helicopter driver and the winch are increased, and meanwhile, the rescue difficulty is also greatly improved.

Currently, less research is carried out on the stabilization of helicopter marine transportation, in the existing scheme, a special hanging basket for helicopter transportation utilizes the electromagnetic damping and gyroscope balance principle to reduce the shaking of a steel wire rope, and a modularized shaking prevention hanging hook applies a force with opposite deflection angles through a thruster to achieve the purpose of stabilization.

The special hanging basket for transporting the helicopter is designed, the quality of the hanging basket is greatly increased by installing a steel wire rope, a storage battery, a supporting arm and the like, the shape and the size of transported goods are limited by the special hanging basket, the rope below the modularized anti-shaking hanging hook easily generates secondary swinging, and the efficient anti-shaking effect of the lifted objects is difficult to achieve only through the action of a thruster. Aiming at the problems and the current research situation, a helicopter transferring device which does not limit the shape and the size of a transferring object and has good anti-rolling effect is to be designed.

Disclosure of Invention

According to the technical problems that the shape and the size of the helicopter transferring object are limited and secondary swing is easy to occur are solved, the intelligent anti-swing lifting hook device with the assistance of the disk claw is provided. The invention mainly utilizes the two-stage anti-rolling system with the four-axis thrust system and the mechanical arm in a cooperative action, thereby achieving the high efficiency of rolling reduction of transported goods.

The invention adopts the following technical means:

a disc claw assisted intelligent anti-roll hook assembly comprising: the device comprises a box body, a shaft rod, a mechanical arm, an intelligent lifting hook, a vision system and a four-axis thrust system;

the box body is arranged in the middle of the shaft rod, a four-axis thrust system is arranged on the shaft rod in the box body, a mechanical arm is arranged at the lower part of each side face of the box body, and an intelligent lifting hook is arranged at the lower end of the shaft rod;

the intelligent lifting hook weighs and locks automatically the hanging weight, the vision system identifies hanging weight information and feeds back the information to the mechanical arm, the mechanical arm wraps the hanging weight according to the hanging weight information so as to reduce hanging weight swinging, and the four-axis thrust system identifies and adjusts the deflection angle of the disc claw assisted intelligent anti-rolling lifting hook device.

Further, among the four mechanical arms, two mechanical arms which are oppositely arranged are sucker type mechanical arms, and two mechanical arms which are oppositely arranged are clamping jaw type mechanical arms;

the suction cup type mechanical arm comprises a first control unit connected with the side wall of the box body, the first control unit is respectively and rotatably connected with a first electric hydraulic cylinder and a first front end joint, the first front end joint is rotatably connected with a first middle joint, the other ends of the first electric hydraulic cylinder and the first middle joint are respectively and rotatably connected with a suction cup type tail end mechanical arm, and the first electric hydraulic cylinder controls the hydraulic pressure in the cylinder according to signals of the first control unit so as to control the first electric hydraulic cylinder to move outwards;

the clamping jaw type mechanical arm comprises a second control unit connected with the side wall of the box body, the second control unit is respectively connected with a second electric hydraulic cylinder and a second front end joint in a rotating mode, the second front end joint is connected with a second middle joint in a rotating mode, the other ends of the second electric hydraulic cylinder and the second middle joint are respectively connected with a clamping jaw type tail end mechanical arm in a rotating mode, and the second electric hydraulic cylinder drives the clamping jaw type tail end mechanical arm to clamp.

Further, the four-axis thrust system comprises a third controller, a thruster and a thrust bracket, wherein the third controller and four thrusters are arranged on the thrust bracket, and the axes of the four thrusters are respectively overlapped with the axes of the round windows around the box body;

and the third controller acquires the deflection angle of the disc claw assisted intelligent anti-rolling lifting hook device according to the internal pose sensor, so as to control the thruster to apply acting force opposite to the deflection angle of the disc claw assisted intelligent anti-rolling lifting hook device.

Further, the lower part of sucking disc formula end manipulator is electric telescopic handle, sucking disc formula end manipulator's mid-mounting has the first controller that is used for controlling electric telescopic handle, electric telescopic handle below is provided with first vision sensor, in first vision sensor sends heavy object shape and position information to first controller, first vision sensor below is connected with the sucking disc rotation, the sucking disc links to each other with the vacuum pump.

Further, the tail end of the clamping jaw type tail end manipulator is a rubber clamping jaw, a plurality of miniature rubber blocks are arranged on the rubber clamping jaw, a first pressure sensor and a second controller are arranged in the middle of the clamping jaw type tail end manipulator, and the second controller feeds back the force of clamping an object according to the first pressure sensor so as to control the second electric hydraulic cylinder to move, so that the clamping degree of the clamping jaw type tail end manipulator is adjusted.

Further, the central symmetry axis of the upper bottom surface and the lower bottom surface of the box body is in the same straight line with the axis of the shaft rod, round windows with the same size are formed in the four side walls of the box body, the four round windows are respectively coaxial with the thrust shafts of the four-shaft thrust system, and clamping grooves for fixing the sucking discs and the clamping jaws are formed in the lower bottom surface of the box body.

Further, the upper portion of the shaft lever is connected with the hanging ring, a plum blossom groove-shaped seat is arranged in the middle of the shaft lever, a thrust bracket is fixed on the plum blossom groove-shaped seat, a bearing plate is arranged on the shaft lever below the plum blossom groove-shaped seat, and a lower plate of the box body is arranged on the bearing plate.

Further, the intelligent lifting hook comprises an automatic anti-falling clamping ring and a second pressure sensor, wherein the automatic anti-falling clamping ring and the second pressure sensor are arranged in a lifting hook clamping groove, when the lifting weight generates pressure on the intelligent lifting hook, the numerical value of the second pressure sensor changes, and the automatic anti-falling clamping ring automatically falls down to limit and clamp; when the pressure of the hanging weight to the intelligent hanging hook disappears, the automatic anti-falling clamping ring is lifted.

Further, the vision system comprises a vision feedback camera arranged on the bottom surface of the box body, the vision feedback camera recognizes the shape of the suspended heavy object and feeds signals back to a first control unit and a second control unit, the first control unit controls the sucker type mechanical arm to assist in stabilizing according to the feedback signals, and the second control unit controls the clamping jaw type mechanical arm to assist in stabilizing according to the feedback signals.

Further, when the suspended object is spherical or ellipsoidal, the sucker type mechanical arm acts to assist in stabilizing; when the suspended object is square, the clamping jaw type mechanical arm acts to assist in stabilizing. When the suspended object is in other irregular shapes, the clamping jaw type mechanical arm and the sucking disc mechanical arm act simultaneously to assist in stabilizing.

Compared with the prior art, the invention has the following advantages:

1. according to the four-axis thrust system, the clamping jaw mechanical arm and the sucking disc mechanical arm of the disc claw assisted intelligent anti-rolling lifting hook device, which are provided by the invention, the anti-rolling purpose of the disc claw assisted intelligent anti-rolling lifting hook device during object transferring is realized through the feedback control principle of the cooperative action of the four-axis thrust system and the mechanical arm.

2. The intelligent anti-rolling lifting hook device assisted by the disc claw is a primary anti-rolling system which assists anti-rolling according to the shape of an object through the clamping jaw mechanical arm and the sucking disc mechanical arm, and the secondary anti-rolling system which is matched with the four-axis thrust system to apply acting force opposite to the deflection angle is used, so that the reliability of the anti-rolling effect of the transported object is greatly improved.

3. The tail end of the clamping jaw mechanical arm is provided with a tension sensor and a miniature rubber block, and the clamping jaw force is controlled through tension feedback, so that objects are prevented from being damaged. The electronic telescopic link in sucking disc arm end is according to the feedback of first vision sensor to object position, and the accurate control vacuum chuck of controller presss from both sides the object surface and gets.

4. The intelligent lifting hook is provided with the anti-falling clamping ring and the second pressure sensor, and the heavy object is prevented from falling off in the transportation process after being hung and taken, so that an automatic anti-falling function is realized. The third controller obtains a differential pressure signal of the second pressure sensor after the second pressure sensor is hung to take the weight, and outputs the weight of the weight, so that the weighing function of the object is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

Fig. 1 is an overall view of the device of the present invention.

Fig. 2 is a schematic view of the structure of the shaft of the present invention.

FIG. 3 is a schematic diagram of the operation of the device of the present invention.

Fig. 4 is a lower perspective view of the device of the present invention.

Fig. 5 is a schematic working diagram of a suction cup type mechanical arm according to the present invention.

Fig. 6 is a schematic working diagram of a jaw mechanical arm according to the present invention.

In the figure: 1. a case; 101. a circular window; 2. a shaft lever; 201. a bearing plate; 202. a plum blossom groove-shaped seat; 3. a sucker type mechanical arm; 301. a first control unit; 302. a first electro-hydraulic cylinder; 303. a first front end joint; 304. a first intermediate joint; 305. a sucker type tail end manipulator; 306. an electric telescopic rod; 307. a visual sensor; 308. a first controller; 309. a suction cup; 310. a vacuum pump; 4. a jaw type mechanical arm; 401. a second control unit; 402. a second electro-hydraulic cylinder; 403. a second front end joint; 404. a second intermediate joint; 405. a jaw end manipulator; 406. rubber clamping jaws; 407. a first pressure sensor; 408. a second controller; 5. an intelligent lifting hook; 501. an automatic anti-falling clamping ring; 502. a second pressure sensor; 6. a vision system; 601. a visual feedback camera; 7. a four-axis thrust system; 701. a third controller; 702. a thruster; 703. a thrust bracket; 8. and (5) hanging rings.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

The invention provides a disk claw assisted intelligent anti-rolling lifting hook device. As shown in fig. 1, the device comprises a box body 1, a shaft lever 2, a sucker type mechanical arm 3, a clamping jaw type mechanical arm 4, an intelligent lifting hook 5, a vision system 6 and a four-axis thrust system 7.

The central symmetry axis of the upper and lower bottom surfaces of the box body 1 and the axis of the shaft lever 2 are on the same straight line, and round windows 101 with the same size are formed around the box body 1. The four circular windows 101 are respectively concentric with the thrust shaft of the four-shaft thrust system 7. Holes with the same outer diameter as the shaft lever 2 are formed in the upper bottom surface and the lower bottom surface of the box body 1.

As shown in fig. 2, the upper section of the shaft lever 2 is fixedly connected with the hanging ring 8 through bolts. Further, the middle section of the shaft lever 2 is provided with a plum blossom groove type seat 202 for supporting the four-axis thrust system 7 and preventing the thrust bracket 703 of the four-axis thrust system 7 from rotating. The lower section of the shaft lever 2 is provided with a bearing plate 201 for supporting the weight of the box body 1 and is fixedly connected through bolts.

As shown in fig. 3, when the object lifted by the disc claw assisted intelligent anti-rolling hook device is in an irregular shape, the sucker type mechanical arm 3 and the clamping jaw type mechanical arm 4 simultaneously work to wrap the object, so that the swing of the lifting weight is reduced.

As shown in fig. 4, when the disc claw assisted intelligent anti-rolling hook device does not perform the assisted anti-rolling action, the sucker type mechanical arm and the clamping jaw mechanical arm retract, and the sucker type mechanical arm 3 tail end sucker 309 and the clamping jaw type mechanical arm 4 tail end rubber clamping jaw 406 are fixed with the lower bottom surface clamping groove of the box body.

As shown in fig. 5, the suction cup type mechanical arm 3 includes a first control unit 301, a first electro-hydraulic cylinder 302, a first front end joint 303, a first middle joint 304, and a suction cup type end mechanical arm 305. And a power supply module is arranged in the box body and provides a power source for the action of the electric hydraulic cylinder. The first electro-hydraulic cylinder 302 controls the hydraulic pressure in the cylinder to control the cylinder movement by motor driving according to the signal of the first control unit 301. The sucker type mechanical arm 3 is provided with a first front end joint 303 and a first middle joint 304 for flexibly changing the width of the clamping range. The working range of the sucker type mechanical arm 3 and the clamping jaw type mechanical arm 4 is about six times of the width of the box body 1.

The sucker type terminal manipulator 305 is divided into an upper section and a lower section, the upper section of the sucker type terminal manipulator 305 is provided with a motor-driven electric telescopic rod 306, and the electric telescopic rod 306 is independently powered by the upper section of the sucker type terminal manipulator 305 and is controlled by a first controller 308. The lower section of the sucker type end manipulator 305 is provided with a visual sensor 307, and the shape and position information of the weight are fed back to the first controller 308 at the upper section of the sucker type end manipulator 305. Further, the motor-driven telescopic rod 306 is driven to adaptively adjust the length of the sucker type end mechanical arm 305 to wrap the heavy object, so that hanging swing is reduced. The vacuum pump 310 is arranged at the suction cup 309 at the lower section of the suction cup type terminal manipulator 305 to ensure that the suction cup has higher vacuum degree, and the suction cup 309 can rotate in a small angle around a connecting shaft at the lower section of the suction cup type terminal manipulator 305, so as to ensure that the suction cup 309 is in more flexible and rapid contact with a crane.

As shown in fig. 6, the jaw mechanical arm 4 includes a second control unit 401, a second electro-hydraulic cylinder 402, a second front end joint 403, a second middle joint 404, and a jaw end mechanical arm 405. The tail end of the clamping jaw type mechanical arm 4 is provided with a clamping jaw type tail end mechanical arm 405, and the clamping jaw type tail end mechanical arm 405 is driven by a second electro-hydraulic cylinder 402 to clamp. The second front end joint 403 and the second middle joint 404 of the jaw mechanical arm 4 work simultaneously to ensure the flexibility of the jaw type end mechanical arm. Rubber clamping jaw 406 is installed to clamping jaw formula terminal manipulator 405 end, rubber clamping jaw 406 is provided with a plurality of miniature rubber pieces and prevents to destroy the object surface when the clamp picks up the object, plays buffering guard action. Rubber clamping jaw 406 can freely rotate in the small angle at the tail end of clamping jaw type tail end mechanical arm 405, and the rubber clamping jaw 406 can be ensured to be more rapid and flexible in the process of wrapping objects, so that the objects are stable. The first pressure sensor 407 is installed in the middle of the rubber clamping jaw 406, the clamping jaw type mechanical arm 4 controls the second electro-hydraulic cylinder 402 to move according to the force fed back by the first pressure sensor 407 to clamp an object, and the clamping degree of the clamping jaw type end mechanical arm 405 is adaptively adjusted to prevent the object from being damaged.

The intelligent lifting hook 5 is installed to the end of axostylus axostyle 2, automatic anticreep snap ring 501 is installed to intelligent lifting hook 5, second pressure sensor 502 is installed to intelligent lifting hook 5 lower extreme draw-in groove, when hanging weight to intelligent lifting hook 5 production pressure, the automatic spacing chucking that falls of automatic anticreep snap ring 501 is changed to second pressure sensor 502 numerical value. When the pressure of the hanging weight on the intelligent hanging hook 5 disappears, the automatic anti-falling clamping ring 501 is automatically lifted by the motor. The intelligent lifting hook 5 clamping groove is provided with a second pressure sensor 502, and the object weighing function can be realized on the lifting weight.

The vision system 6 is composed of four vision feedback cameras 601 installed on the lower bottom surface of the box body 1, the vision feedback cameras 601 automatically recognize the shape of a suspended weight object and feed signals back to the first control unit 301 and the second control unit 401, and the first control unit 301 and the second control unit 401 control the sucker type mechanical arm 3 or the clamping jaw type mechanical arm 4 to assist in stabilizing according to the feedback signals. When the object hung by the lifting hook is spherical/ellipsoidal, the sucker type mechanical arm 3 can act to assist in stabilizing. When the object hung by the lifting hook is square, the clamping jaw type mechanical arm 4 can act to assist in stabilizing. When the suspended object is in other irregular shapes, the clamping jaw type mechanical arm 4 and the sucking disc mechanical arm 3 act simultaneously to assist in stabilizing.

The four-axis thrust system 7 is composed of a power module, a third controller 701, a thruster 702 and a thrust bracket 703. The axes of the four thrusters 702 of the four-axis thrust system 7 are respectively overlapped with the axes of the round window 101 around the box body 1. The lower end of the thrust bracket 703 of the four-axis thrust system 7 is provided with a plum blossom groove structure which is precisely matched with the plum blossom groove seat 202 at the middle section of the shaft rod, and further, the upper end of the thrust bracket 703 is fixed with the shaft rod through a bolt, so that the thrust bracket 703 is prevented from sliding up and down on the shaft rod. The third controller 701 obtains the deflection angle of the disk claw assisted intelligent anti-rolling hook device according to the internal pose sensor, and the thruster 702 is powered by the power module. Further, the third controller 701 controls the motor to drive the thruster 702 to apply a force opposite to the deflection angle of the intelligent anti-rolling hook device with assistance of the disk claw, so as to achieve the purpose of anti-rolling.

The working state of the invention is as follows:

when the intelligent anti-shake hook device with the assistance of the disc claw does not work, the rubber clamping jaw 406 at the tail end of the clamping jaw type mechanical arm is fixed in the clamping groove at the bottom surface of the box body 1, the tail end of the sucking disc type mechanical arm is sucked, 309 is adsorbed to the bottom surface of the box body 1, and the automatic anti-drop clamping ring 501 of the intelligent hook 5 is in an open state.

When the intelligent anti-shaking lifting hook device assisted by the disc claw is used for lifting a heavy object, the second pressure sensor 502 in the clamping groove at the lower end of the intelligent lifting hook 5 acquires a pressure signal, the automatic anti-falling clamping ring 501 is closed, and the heavy object is prevented from falling off in the transportation operation process of the intelligent anti-shaking lifting hook device assisted by the disc claw. The second pressure sensor 502 transmits a differential pressure signal to the third controller 701, and the third controller 701 outputs the weight of the crane to realize the object weighing function. The intelligent anti-shake lifting hook device assisted by the disk claw can perform secondary anti-shake actions, and the purpose of anti-shake is achieved.

When the disk claw assisted intelligent anti-shaking lifting hook device works, the lifting hook device lifts again to swing, the first-stage motion is that a visual feedback camera 601 arranged outside the box body 1 automatically recognizes the shape of a lifting object, and signals are transmitted to four mechanical arm control units. The control unit controls the sucker type mechanical arm or the clamping jaw type mechanical arm to assist in stabilizing according to the feedback signal.

When the object hung by the intelligent anti-shake hook device with the assistance of the disk claw is spherical/ellipsoidal, the sucker type mechanical arm 3 acts, the vision sensor 307 arranged at the lower section of the sucker type end mechanical arm 305 feeds back the shape and position information of the heavy object to the first controller 308 at the upper section of the sucker type end mechanical arm 305, and then the electric telescopic rod 306 at the upper section of the sucker type end mechanical arm 305 is driven to automatically adjust the length of the sucker type end mechanical arm 305, so that the hanging weight is accurately wrapped to reduce hanging weight swinging. The contact of the end suction cup 309 of the suction cup end robot 305 with the object surface increases the vacuum therebetween by the vacuum pump 310, causing the weight to decrease the swing to assist in stabilizing.

When the object hung by the disc claw assisting type intelligent anti-shaking lifting hook device is square, the clamping jaw type mechanical arm 4 acts, and the rubber clamping jaw 406 arranged at the tail end of the clamping jaw type tail end mechanical arm 405 is provided with a plurality of miniature rubber blocks for preventing the surface of the object from being damaged when the object is clamped, so that a buffering protection effect is achieved. Rubber jaw 406 rotates freely within a small angle at the end of jaw end robot 405, ensuring flexibility in the gripping process of rubber jaw 406. A first pressure sensor 407 is arranged in the middle of the rubber clamping jaw 406, the second controller 408 controls the second electro-hydraulic cylinder 402 to move according to the force fed back by the first pressure sensor 407 to clamp the object, and the clamping degree of the clamping jaw type end mechanical arm 405 is adaptively adjusted to prevent the object from being damaged.

When the object hung by the disc claw assisting type intelligent anti-shaking lifting hook device is an irregularly-shaped object, the sucker type mechanical arm 3 and the clamping jaw type mechanical arm 4 assist in stabilizing simultaneously, so that a better stabilizing effect is achieved.

When the intelligent anti-shake hook device with the assistance of the disk claw is lifted and swings again in the working process, the third controller 701 of the second-stage motion as the four-axis thrust system 7 obtains the deflection angle of the hook device according to the pose sensor, and then the controller controls the motor to drive the thruster 702 to apply acting force opposite to the deflection angle of the hook device, so that the purpose of stabilizing the swing is achieved.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. The utility model provides a dish claw assistance formula intelligence stabilizer hook assembly which characterized in that includes: the intelligent lifting device comprises a box body (1), a shaft lever (2), a mechanical arm, an intelligent lifting hook (5), a vision system (6) and a four-axis thrust system (7);

the box body (1) is arranged in the middle of the shaft lever (2), a four-axis thrust system (7) is arranged on the shaft lever (2) in the box body (1), a mechanical arm is arranged at the lower part of each side face of the box body (1), and an intelligent lifting hook (5) is arranged at the lower end of the shaft lever (2);

the intelligent lifting hook (5) weighs and locks automatically the lifting weight, the vision system (6) recognizes lifting weight information and feeds back the information to the mechanical arm, the mechanical arm wraps the lifting weight according to the lifting weight information so as to reduce lifting weight swinging, and the four-axis thrust system (7) recognizes and adjusts the deflection angle of the disc claw assisted intelligent anti-rolling lifting hook device.

2. The disc claw assisted intelligent anti-shake hook apparatus according to claim 1, wherein two of the four mechanical arms are sucker type mechanical arms (3), and two of the two opposite mechanical arms are jaw type mechanical arms (4);

the suction cup type mechanical arm (3) comprises a first control unit (301) connected with the side wall of the box body (1), the first control unit (301) is respectively and rotatably connected with a first electric hydraulic cylinder (302) and a first front end joint (303), the first front end joint (303) is rotatably connected with a first middle joint (304), the other ends of the first electric hydraulic cylinder (302) and the first middle joint (304) are respectively and rotatably connected with a suction cup type tail end mechanical arm (305), and the first electric hydraulic cylinder (302) controls hydraulic pressure in the cylinder according to signals of the first control unit (301) so as to control the first electric hydraulic cylinder (302) to move outwards;

the clamping jaw type mechanical arm (4) comprises a second control unit (401) connected with the side wall of the box body (1), the second control unit (401) is respectively connected with a second electric hydraulic cylinder (402) and a second front end joint (403) in a rotating mode, the second front end joint (403) is connected with a second middle joint (404) in a rotating mode, the other ends of the second electric hydraulic cylinder (402) and the second middle joint (404) are respectively connected with a clamping jaw type end mechanical arm (405) in a rotating mode, and the second electric hydraulic cylinder (402) drives the clamping jaw type end mechanical arm (405) to clamp.

3. The disk claw assisted intelligent anti-roll lifting hook device according to claim 2, wherein the four-axis thrust system (7) comprises a third controller (701), thrusters (702) and a thrust bracket (703), the third controller (701) and four thrusters (702) are arranged on the thrust bracket (703), and the axes of the four thrusters (702) are respectively coincident with the axes of round windows (101) around the box body (1);

the third controller (701) obtains the deflection angle of the disc claw assisted intelligent anti-rolling hook device according to the internal pose sensor, so as to control the thruster (702) to apply a force opposite to the deflection angle of the disc claw assisted intelligent anti-rolling hook device.

4. The intelligent anti-rolling hook device with assistance of a disk claw according to claim 2, wherein the lower part of the sucker type end manipulator (305) is an electric telescopic rod (306), a first controller (308) for controlling the electric telescopic rod (306) is installed in the middle of the sucker type end manipulator (305), a first vision sensor (307) is arranged below the electric telescopic rod (306), the first vision sensor (307) sends weight shape and position information to the first controller (308), the lower part of the first vision sensor (307) is rotationally connected with a sucker (309), and the sucker (309) is connected with a vacuum pump (310).

5. The disc claw assisted intelligent anti-shake hook apparatus according to claim 1, wherein the tail end of the claw type tail end manipulator (405) is provided with a rubber claw (406), the rubber claw (406) is provided with a plurality of miniature rubber blocks, the middle part of the claw type tail end manipulator (405) is provided with a first pressure sensor (407) and a second controller (408), and the second controller (408) is used for controlling the movement of the second electro-hydraulic cylinder (402) according to the force of the first pressure sensor (407) for feeding back the object, so that the clamping degree of the claw type tail end manipulator (405) is adjusted.

6. The disc claw assisted intelligent anti-rolling lifting hook device according to claim 1, wherein the central symmetry axis of the upper bottom surface and the lower bottom surface of the box body (1) and the axis of the shaft rod (2) are in the same straight line, round windows (101) with the same size are formed in four side walls of the box body (1), the four round windows (101) are coaxial with the thrust shafts of the four-shaft thrust system (7) respectively, and clamping grooves for fixing a sucker (309) and a clamping claw (406) are formed in the lower bottom surface of the box body (1).

7. The intelligent anti-rolling lifting hook device with assistance of the disk claw according to claim 1, wherein the upper portion of the shaft lever (2) is connected with the lifting ring (8), a plum blossom groove-shaped seat (202) is arranged in the middle of the shaft lever (2), a thrust bracket (703) is fixed on the plum blossom groove-shaped seat (202), a bearing plate (201) is arranged on the shaft lever (2) below the plum blossom groove-shaped seat (202), and a lower plate of the box body (1) is arranged on the bearing plate (201).

8. The disc claw assisted intelligent anti-shake hook apparatus according to claim 1, wherein the intelligent hook (5) comprises an automatic anti-shake clamp ring (501) and a second pressure sensor (502) which are arranged in a hook clamping groove, when the intelligent hook (5) is pressurized by a crane weight, the value of the second pressure sensor (502) changes, and the automatic anti-shake clamp ring (501) automatically falls down to be limited and clamped; when the pressure of the hanging weight to the intelligent hanging hook (5) disappears, the automatic anti-falling clamping ring (501) is lifted.

9. The intelligent anti-rolling lifting hook device with assistance of a disc claw according to claim 1, wherein the vision system (6) comprises a vision feedback camera (601) arranged on the bottom surface of the box body (1), the vision feedback camera (601) recognizes the shape of a lifting object and feeds signals back to a first control unit (301) and a second control unit (401), the first control unit (301) controls the sucker mechanical arm (3) to assist anti-rolling according to the feedback signals, and the second control unit (401) controls the clamping jaw mechanical arm (4) to assist anti-rolling according to the feedback signals.

10. The disc claw assisted intelligent anti-rolling hook device according to claim 2, wherein when the suspended object is spherical or ellipsoidal, the sucker type mechanical arm (3) acts to assist anti-rolling; when the suspended object is a square body, the clamping jaw type mechanical arm (4) acts to assist in stabilizing; when the suspended object is irregularly shaped, the sucker mechanical arm and the clamping jaw mechanical arm act simultaneously to assist in stabilizing.