CN118145507A - Digital hydraulic bridge crane and control method thereof - Google Patents

Abstract

The invention provides a digital hydraulic bridge crane and a control method thereof, and relates to the technical field of hoisting equipment. The digital hydraulic bridge crane comprises a longitudinal driving system and a transverse driving system for driving the lifting piece to longitudinally and transversely move, the lifting system is connected with the transverse driving system, the lifting system is arranged on the lifting system, and the control system comprises a control computer, a remote control end, a laser radar and a digital 3D camera, wherein two-way wireless communication is realized among the control computer, the remote control end, the laser radar and the digital 3D camera. The control method of the digital hydraulic bridge crane comprises the following steps: establishing a coordinate origin and calibrating coordinates of equipment, facilities and materials; debugging and synthesizing the crane digital model and the established coordinate system; calculating position coordinates of a digital model of the material when the material is transported; and planning out a step-by-step execution instruction to enable the materials to be automatically transported. The invention has high automation and intelligent degree, improves the production operation efficiency and safety, and drives the workpiece or material to precisely displace.

Description

Digital hydraulic bridge crane and control method thereof

Technical Field

The invention relates to the technical field of hoisting equipment, in particular to a digital hydraulic bridge crane and a control method thereof.

Background

The bridge crane is hoisting equipment for hoisting materials in workshops, warehouses and stock yards, and the two end beams of the bridge crane are placed on the workshop track beams and are shaped like bridges. The bridge frame of the bridge crane runs longitudinally along the workshop track beam, so that the space below the bridge frame can be fully utilized to hoist workpieces or materials, the bridge frame is not blocked by ground equipment, and the bridge frame is a lifting mechanical system with the widest application range and the largest number.

When the existing bridge crane executes the transferring task, the operator controls the movement and lifting completely, so that the working efficiency is lower for operators with lower skills, and the transferred objects and other objects can collide due to the fact that the operators cannot observe the objects in place, so that the safe production is affected, and the working efficiency of operators with higher skills is higher than that of operators with lower experience, however, the operation process is difficult to continuously carry out due to the fact that the surrounding conditions are required to be observed in the process of transferring the objects, and the working efficiency is still lower as long as the operators are not observed in place, so that collision accidents can occur.

The existing bridge crane can not achieve accurate displacement when driving a workpiece or a material to move transversely and longitudinally, and the main reason is that: the vertical and horizontal movements of the crane are all driving systems integrated by a motor, a speed reducer and a brake disc, the driving systems directly drive the vertical idler wheels or the horizontal idler wheels to rotate positively and negatively on corresponding tracks to drive materials to move longitudinally or transversely in workshops, and the crane still slides for a small distance after the driving system stops driving due to movement inertia and slipping between the idler wheels and the tracks, so that the displacement deviation of the crane is large, an operator is difficult to perform accurate displacement control, and the materials or workpieces can be slowly moved in place step by step only by repeatedly adjusting the materials or workpieces back and forth according to personal experience.

Disclosure of Invention

The invention aims to develop a digital hydraulic bridge crane with high automation and intelligent degree, improved production operation efficiency and safety and used for driving workpieces or materials to precisely displace and a control method thereof.

The invention is realized by the following technical scheme:

A digitized hydraulic bridge crane comprising:

the vertical driving system drives the lifting piece to move vertically, and the vertical driving system comprises:

Two cart tracks arranged in parallel;

The cart is arranged on the two cart rails in a sliding manner;

the cart travelling rack is arranged on the cart track and is parallel to the cart track;

the cart traveling gear is rotatably arranged at the bottom of the cart and meshed with the cart traveling rack;

the transverse driving system drives the lifting piece to transversely move, and the transverse driving system comprises:

Two trolley tracks which are arranged in parallel are arranged on the cart;

The movable trolley is arranged on the two trolley rails in a sliding manner;

the trolley travelling rack is arranged on the trolley track and is parallel to the trolley track;

the trolley travelling gear is rotatably arranged at the bottom of the movable trolley and meshed with the trolley travelling rack;

The lifting system comprises a hanging beam which is connected with the movable trolley and can vertically lift;

the lifting system is arranged on the lifting beam; and

A control system;

The control system comprises a control computer, a remote control end, a laser radar and a digital 3D camera, wherein the laser radar and the digital 3D camera are arranged at the bottom of the cart, a power distribution control box electrically connected with electrical components on the crane is arranged on the cart, a walking motor for driving a walking gear is correspondingly arranged in the cart and the mobile cart, and two-way wireless communication is realized among the control computer, the remote control end, the power distribution control box, the laser radar and the digital 3D camera.

Optionally, the cart bottom corresponds the position and rotates and be equipped with the cart running roller with cart track rolling contact, the dolly bottom corresponds the position and rotates and be equipped with the dolly running roller with cart track rolling contact.

Optionally, the cart includes the cart end beam of locating on two cart tracks that slides respectively, two be connected with two cart girders that are parallel to each other between the cart end beam, the travelling car slides and locates on two cart girders, laser radar and digital 3D camera locate cart girder bottom.

Optionally, the cart further comprises a main girder walking platform arranged on the outer side of one main girder of the cart, and anti-skid patterns are arranged on the top surface of the main girder walking platform.

Optionally, the hanging beam is arranged below the travelling car and is connected with a vertically arranged hydraulic cylinder between the hanging beam and the travelling car.

Optionally, at least one lifting platform is arranged between the lifting beam and the movable trolley, and hydraulic cylinders are vertically connected between the movable trolley and the lifting platform, between the two lifting platforms and between the lifting platform and the lifting beam, which are vertically adjacent.

Optionally, the lifting system includes the lifting hook of locating on the hanging beam that rotates, coaxial driven gear that is equipped with on the lifting hook, the corresponding position rotation is equipped with the driving gear with driven gear engagement on the hanging beam, be equipped with the rotating electrical machines that is connected with driving gear transmission in the hanging beam.

Optionally, the cart track is located on the track roof beam, cart one side is equipped with the current collector, corresponds be equipped with on the track roof beam with current collector complex power supply slide frame.

A control method of a digital hydraulic bridge crane, comprising:

Establishing a coordinate origin in a crane operation range, calibrating space coordinates of all equipment, facilities and workpieces or materials in a space range below a cart track by using a laser radar through a three-dimensional laser scanning technology, defining a space outside the crane operation range as a dead space, setting a crane operation boundary, establishing a gridding space basic coordinate system database in an effective working range of the crane, solidifying and storing the database on a control computer, wherein the grid coordinate precision is in millimeter level;

establishing a crane digital model and carrying out debugging synthesis with a gridding space basic coordinate system, integrating the crane digital model and the gridding space basic coordinate system into a whole, displaying and memorizing the coordinates of the initial state of each part of the crane in a control computer, and recording the position coordinates of each part in the control computer every time the crane moves;

When the workpiece or the material is transported, starting a crane to run to a set position, starting a digital 3D camera to photograph the workpiece or the material and generating a photographic digital model in a control computer, processing the photographic digital model by the control computer, calculating the position coordinates of the workpiece or the material in a gridding space, and connecting the workpiece or the material with a lifting system;

After an operator issues a transferring operation task through a remote control end, a control computer automatically calculates and analyzes the transferring operation task, and plans a lifting action parameter instruction, a movement walking path parameter instruction, a rotation action parameter instruction and a descending action parameter instruction for executing the task step by step, and a crane respectively executes lifting actions of a lifting system, transverse and longitudinal actions of a transverse driving system and a longitudinal driving system, rotation actions of a lifting system and descending actions of the lifting system according to the instructions, so that workpieces or materials are accurately placed at a transferring position, and the whole loading and unloading process is completed;

In the running process of the crane, the laser radar continuously detects and scans the front of the running of the cart and the moving cart and feeds back scanning signals to the control computer, and the control computer is used for comparing and identifying each device, facility, workpiece or material in the basic coordinate system of the gridding space to judge whether each part of the crane collides with an object in front of the running, and modifies the running motion track in real time to avoid collision.

The beneficial effects of the invention are as follows:

Compared with the traditional roller walking scheme, the device has the advantages that the device adopts a gear and rack driving mode, the slipping phenomenon can not occur, the cart and the moving trolley are accurate, an operator can move a workpiece or a material in place without repeated adjustment according to experience, the time and labor consumption problem is solved, and the transfer efficiency is improved;

the lifting of the lifted workpiece or material is realized by adopting multistage hydraulic lifting, compared with the traditional steel wire rope winch lifting scheme, the lifting device has the advantages that the swinging of the workpiece or material does not occur, the safety is greatly improved, the hydraulic lifting displacement is accurate, an operator can realize that the workpiece or material moves in place without repeated adjustment according to experience, the time and labor consumption problem is solved, and the transfer efficiency is improved;

The lifting system can drive the lifted workpiece or material to rotate, so that the problem that manual work is needed to be adopted for the traditional crane workpiece or material transposition adjustment is solved, the rotation of the workpiece or material is realized by a lifting hook driven by a gear to rotate, the rotation angle of the workpiece or material is accurately controlled, the operator is prevented from manually and repeatedly rotating the position of the workpiece or material, the time and labor consumption problem is solved, the manual labor intensity is reduced, and the transportation efficiency is improved;

The full-system four-dimensional digital intelligent control technology is adopted, the automation and intelligent degree is high, the modular structure composition is simpler, the problem that a traditional crane has to be manually operated by a professional operator for each action is solved, the production operation efficiency is greatly improved, the production cost is greatly reduced, the full-digital intelligent control system is particularly suitable for loading and unloading large-scale shaped products or materials, the full-digital production management of workshop production is realized, the problems of complicated operation, high skill requirements, high labor intensity, low execution efficiency and the like are no longer required for operators, the collision is automatically avoided in operation, the safety is also greatly improved, and the automatic, digital, intelligent and unmanned development trend of future factories is met.

Drawings

In order to more clearly illustrate the embodiments of the application 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, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a top view of the cart of FIG. 1;

FIG. 3 is a side view of the cart of FIG. 1;

FIG. 4 is an enlarged view of FIG. 1 at A;

FIG. 5 is an enlarged view of FIG. 1 at B;

fig. 6 is an enlarged view of fig. 3 at C.

Reference numerals: 1. end beams of the cart; 2. a main girder of the cart; 3. a moving trolley; 4. a lifting platform; 5. a hanging beam; 6. a primary hydraulic cylinder; 7. a primary hydraulic push rod; 8. a secondary hydraulic cylinder; 9. a second-stage hydraulic push rod; 10. a lifting hook; 11. a driven gear; 12. electrohydraulic drag chain; 13. a power supply tow chain; 14. a current collector; 15. a power supply slide wire frame; 16. a main girder walking platform; 17. a trolley track; 18. a cart track; 19. a lifting control hydraulic station; 20. a power distribution control box; 21. the cart runs on the idler wheels; 22. a cart running rack; 23. a cart running gear; 24. a cart walking motor; 25. a rotating electric machine; 26. a drive gear; 27. the trolley moves along the rack; 28. a trolley traveling gear; 29. a trolley walking motor; 30. trolley running roller; 31. a control computer; 32. a remote control end; 33. a laser radar; 34. a digital 3D camera.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those skilled in the pertinent art, the described embodiments may be modified in numerous different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-6, the invention discloses a digital hydraulic bridge crane, which comprises a longitudinal driving system, a transverse driving system, a lifting system and a control system, wherein after the lifting system lifts a workpiece or a material, the longitudinal driving system, the transverse driving system and the lifting system respectively drive the workpiece or the material to longitudinally, transversely and vertically move.

The longitudinal drive system comprises two cart rails 18 arranged in parallel above a vehicle or warehouse, and rail beams for keeping the cart rails 18 horizontal and supporting them are correspondingly arranged in the vehicle or warehouse. The two cart rails 18 are respectively provided with cart end beams 1 in a sliding manner, two cart main beams 2 which are parallel to each other are arranged between the two cart end beams 1, two ends of each cart main beam 2 are respectively connected with the two cart end beams 1, the outer side of one cart main beam 2 is also connected with a main beam walking table 16, the top surface of the main beam walking table 16 is provided with anti-skidding patterns, and the main beam walking table 16 is used as an maintainer passage. The cart end beam 1, the cart main beam 2 and the main beam travelling platform 16 form a cart of the crane, and the cart serves as a longitudinal moving part of the crane.

The bottom of the cart end beam 1 is rotatably provided with a plurality of cart running rollers 21 matched with the cart tracks 18, and the cart end beam 1 slides along the cart tracks 18 through the rolling of the cart running rollers 21 on the cart tracks 18. The side wall of the cart track 18 is provided with a cart running rack 22 parallel to the cart running rack, a cart running gear 23 meshed with the cart running rack 22 is rotatably arranged at a corresponding position of the cart end beam 1, and a cart running motor 24 for driving the cart running gear 23 to rotate is arranged in the cart end beam 1.

The transverse driving system comprises two trolley tracks 17 which are respectively arranged on the two main beams 2 of the large trolley, and the two trolley tracks 17 are parallel to each other and perpendicular to the large trolley tracks 18. The movable trolley 3 is arranged between the two main trolley beams 2 in a sliding manner, a plurality of trolley traveling rollers 30 matched with the two trolley rails 17 are respectively arranged at corresponding positions of the bottom of the movable trolley 3 in a rotating manner, and the movable trolley 3 slides along the trolley rails 17 through the rolling of the trolley traveling rollers 30 on the trolley rails 17. The side wall of the trolley track 17 is provided with a trolley travelling rack 27 parallel to the trolley track, a trolley travelling gear 28 meshed with the trolley travelling rack 27 is rotatably arranged at a corresponding position of the movable trolley 3, and a trolley travelling motor 29 for driving the trolley travelling gear 28 to rotate is arranged in the movable trolley 3.

The lifting system comprises four primary hydraulic cylinders 6 which are vertically arranged on the travelling car 3, the arrangement track of the four primary hydraulic cylinders 6 is rectangular, primary hydraulic push rods 7 in the primary hydraulic cylinders 6 are arranged downwards, and the bottom ends of the four primary hydraulic push rods 7 are connected with a lifting platform 4. Four secondary hydraulic cylinders 8 are vertically arranged on the lifting platform 4, the arrangement track of the four secondary hydraulic cylinders 8 is rectangular, a secondary hydraulic push rod 9 in the secondary hydraulic cylinders 8 is arranged downwards, and the bottom ends of the four secondary hydraulic push rods 9 are connected with a hanging beam 5. The primary hydraulic cylinder 6 and the secondary hydraulic cylinder 8 are of a double-cavity structure, hydraulic oil inlet and outlet connectors are arranged in the two cavities, when one cavity is charged with oil, the other cavity is discharged with oil for unloading, and the hydraulic oil pushes the hydraulic push rod to extend or retract.

In this embodiment, the lifting system includes a lifting platform 4 and a lifting beam 5 that can lift, and is two-stage hydraulic lifting, in addition, the lifting platform 4 may be multiple, multiple lifting platforms 4 are arranged between the lifting beam 5 and the travelling car 3, a hydraulic cylinder is connected between the uppermost lifting platform 4 and the travelling car 3, a hydraulic cylinder is connected between two lifting platforms 4 that are adjacent up and down, a hydraulic cylinder is connected between the lowermost lifting platform 4 and the lifting beam 5, and multi-stage hydraulic lifting is implemented, and multi-stage hydraulic lifting can work independently or in combination as required.

The lifting system comprises a lifting hook 10 which is rotatably arranged on the lifting beam 5, the top end of the lifting hook 10 extends out of the top of the lifting beam 5, and a thrust bearing is arranged between the top end of the lifting hook 10 and the top of the lifting beam 5. The lifting hook 10 below the bottom of the lifting beam 5 is coaxially provided with a driven gear 11, a driving gear 26 meshed with the driven gear 11 is rotatably arranged at a corresponding position of the bottom of the lifting beam 5, and a rotating motor 25 in transmission connection with the driving gear 26 is arranged in the lifting beam 5.

The main girder walking platform 16 is provided with a lifting control hydraulic station 19 and a power distribution control box 20, the lifting control hydraulic station 19 is provided with a proportional electromagnetic distribution valve for controlling hydraulic oil of a plurality of hydraulic cylinders to enter and exit, the lifting control hydraulic station 19 is connected with the hydraulic cylinders through high-pressure hydraulic oil pipes, the movable trolley 3 and the lifting platform 4 are correspondingly provided with electrohydraulic drag chains 12, the hanging beam 5 is correspondingly provided with power supply drag chains 13, one ends of the main girders 2 of the two trolleys are provided with current collectors 14, the track girders corresponding to the side parts of the current collectors 14 are provided with power supply slide frames 15 matched with the current collectors, and the power distribution control box 20 is electrically connected with electric components on the crane.

The control system comprises a control computer 31, a remote control end 32, a laser radar 33 and a digital 3D camera 34, wherein the control computer 31 is an independent control console and can be placed in a workshop control room or a workshop site safety position, the remote control end 32 can be a remote control tablet personal computer, and the laser radar 33 and the digital 3D camera 34 are arranged at the bottoms of two main beams 2 of the two large vehicles.

The crane is provided with a 5G wireless communication base station at the place where the crane is located, so that the crane is completely located in the coverage range of 5G wireless communication signals, and bidirectional wireless communication is realized among the control computer 31, the remote control end 32, the distribution control box 20, the laser radar 33 and the digital 3D camera 34.

The control computer 31 has the functions of analyzing and calculating the scanning signal fed back by the laser radar 33 and giving an execution instruction to the distribution control box 20; the control computer 31 has the function of AI intelligent analysis, and can perform intelligent planning and decomposition operation on work orders for loading, unloading and transferring workpieces or materials, and send out execution parameter instruction signals for implementing each action.

The invention also discloses a control method of the digital hydraulic bridge crane, which comprises the following steps:

Establishing a coordinate origin in a crane operation range, calibrating space coordinates of all equipment, facilities, workpieces or materials and the like in a space range below a cart track 18 by utilizing a three-dimensional laser scanning technology through a laser radar 33, defining a space outside the crane operation range as a dead space, setting a crane operation boundary, establishing a gridding space basic coordinate system database in an effective working range of the crane, solidifying and storing the database on a control computer 31, wherein the grid coordinate precision is in millimeter level;

Establishing a crane digital model and carrying out debugging synthesis with a gridding space basic coordinate system, integrating the crane digital model and the gridding space basic coordinate system into a whole, displaying and memorizing the coordinates of the initial state of each part of the crane in a control computer 31, and recording the position coordinates of each part in the control computer 31 during each movement of the crane;

When the workpiece or the material is transported, starting the crane to run to a set proper position, starting the digital 3D camera 34 to photograph the workpiece or the material and generating a photographic digital model in the control computer 31, processing the photographic digital model by the control computer 31, calculating the position coordinates of the workpiece or the material in the gridding space, and connecting the workpiece or the material with the lifting system;

After an operator issues a transferring operation task through a remote control end 32, the control computer 31 automatically calculates and analyzes the transferring operation task, plans a lifting action parameter instruction, a movement walking path parameter instruction, a rotation action parameter instruction and a descending action parameter instruction for executing the task step by step, and the crane respectively executes lifting actions of a lifting system, transverse and longitudinal actions of a transverse driving system and a longitudinal driving system, rotation actions of a lifting system and descending actions of the lifting system according to the instructions to accurately place workpieces or materials at a transferring position to finish the whole loading and unloading process;

in the crane operation process, the laser radar 33 continuously detects and scans the front of the running of the cart and the moving cart 3 and feeds back scanning signals to the control computer 31, and the control computer 31 compares and identifies each device, facility, workpiece or material in the gridding space basic coordinate system to judge whether each part of the crane collides with an object in front of the running, and modifies the running movement track in real time to avoid collision.

The beneficial effects of the invention are as follows:

Compared with the traditional roller walking scheme, the roller walking device has the advantages that the roller walking device adopts a gear and rack driving mode, the phenomenon of slipping does not occur, the cart and the movable trolley 3 are accurate in displacement, an operator can move a workpiece or a material in place without repeated adjustment according to experience, the time and labor consumption problem is solved, and the transfer efficiency is improved;

the lifting of the lifted workpiece or material is realized by adopting multistage hydraulic lifting, compared with the traditional steel wire rope winch lifting scheme, the lifting device has the advantages that the swinging of the workpiece or material does not occur, the safety is greatly improved, the hydraulic lifting displacement is accurate, an operator can realize that the workpiece or material moves in place without repeated adjustment according to experience, the time and labor consumption problem is solved, and the transfer efficiency is improved;

The lifting system can drive the lifted workpiece or material to rotate, so that the problem that manual work is needed to be adopted for the traditional crane workpiece or material transposition adjustment is solved, the rotation of the workpiece or material is realized by the lifting hook 10 driven by the gear to rotate, the rotation angle of the workpiece or material is accurately controlled, the operator is prevented from manually and repeatedly rotating the position of the workpiece or material, the time and labor consumption problem is solved, the manual labor intensity is reduced, and the transportation efficiency is improved;

The full-system four-dimensional digital intelligent control technology is adopted, the automation and intelligent degree is high, the modular structure composition is simpler, the problem that a traditional crane has to be manually operated by a professional operator for each action is solved, the production operation efficiency is greatly improved, the production cost is greatly reduced, the full-digital intelligent control system is particularly suitable for loading and unloading large-scale shaped products or materials, the full-digital production management of workshop production is realized, the problems of complicated operation, high skill requirements, high labor intensity, low execution efficiency and the like are no longer required for operators, the collision is automatically avoided in operation, the safety is also greatly improved, and the automatic, digital, intelligent and unmanned development trend of future factories is met.

The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.

Claims (9)

1. A digital hydraulic bridge crane, comprising:

the vertical driving system drives the lifting piece to move vertically, and the vertical driving system comprises:

Two cart tracks arranged in parallel;

The cart is arranged on the two cart rails in a sliding manner;

the cart travelling rack is arranged on the cart track and is parallel to the cart track;

the cart traveling gear is rotatably arranged at the bottom of the cart and meshed with the cart traveling rack;

the transverse driving system drives the lifting piece to transversely move, and the transverse driving system comprises:

Two trolley tracks which are arranged in parallel are arranged on the cart;

The movable trolley is arranged on the two trolley rails in a sliding manner;

the trolley travelling rack is arranged on the trolley track and is parallel to the trolley track;

the trolley travelling gear is rotatably arranged at the bottom of the movable trolley and meshed with the trolley travelling rack;

The lifting system comprises a hanging beam which is connected with the movable trolley and can vertically lift;

the lifting system is arranged on the lifting beam; and

A control system;

The control system comprises a control computer, a remote control end, a laser radar and a digital 3D camera, wherein the laser radar and the digital 3D camera are arranged at the bottom of the cart, a power distribution control box electrically connected with electrical components on the crane is arranged on the cart, a walking motor for driving a walking gear is correspondingly arranged in the cart and the mobile cart, and two-way wireless communication is realized among the control computer, the remote control end, the power distribution control box, the laser radar and the digital 3D camera.

2. The digitized hydraulic bridge crane of claim 1 wherein the cart bottom is rotatably provided with cart travel rollers in rolling contact with the cart rails in a position corresponding to the cart bottom, and wherein the mobile cart bottom is rotatably provided with cart travel rollers in rolling contact with the cart rails in a position corresponding to the mobile cart bottom.

3. The digitized hydraulic bridge crane of claim 1 wherein the cart comprises cart end beams respectively slidably disposed on two cart rails, two cart end beams parallel to each other are connected between the two cart end beams, the mobile cart is slidably disposed on the two cart main beams, and the laser radar and the digital 3D camera are disposed at the bottom of the cart main beams.

4. The digitized hydraulic bridge crane of claim 3 wherein said cart further comprises a main girder running platform disposed outside one of said main girders, said main girder running platform having anti-skid patterns on its top surface.

5. The digitized hydraulic bridge crane of claim 1 wherein the lifting beam is disposed below the travelling car and is connected with a vertically disposed hydraulic cylinder therebetween.

6. The digitized hydraulic bridge crane of claim 1, wherein at least one lifting platform is arranged between the lifting beam and the movable trolley, and hydraulic cylinders are vertically connected between the movable trolley and the lifting platform, between the two lifting platforms and between the lifting platform and the lifting beam, which are vertically adjacent.

7. The digitized hydraulic bridge crane of claim 1 wherein the lifting system comprises a lifting hook rotatably arranged on the lifting beam, a driven gear is coaxially arranged on the lifting hook, a driving gear meshed with the driven gear is rotatably arranged at a corresponding position on the lifting beam, and a rotating motor in transmission connection with the driving gear is arranged in the lifting beam.

8. The digital hydraulic bridge crane according to claim 1, wherein the cart rail is arranged on a rail beam, a current collector is arranged on one side of the cart, and a power supply sliding wire frame matched with the current collector is arranged on the corresponding rail beam.

9. A method of controlling a digital hydraulic bridge crane according to any one of claims 1 to 8, comprising:

Establishing a coordinate origin in a crane operation range, calibrating space coordinates of all equipment, facilities and workpieces or materials in a space range below a cart track by using a laser radar through a three-dimensional laser scanning technology, defining a space outside the crane operation range as a dead space, setting a crane operation boundary, establishing a gridding space basic coordinate system database in an effective working range of the crane, solidifying and storing the database on a control computer, wherein the grid coordinate precision is in millimeter level;

establishing a crane digital model and carrying out debugging synthesis with a gridding space basic coordinate system, integrating the crane digital model and the gridding space basic coordinate system into a whole, displaying and memorizing the coordinates of the initial state of each part of the crane in a control computer, and recording the position coordinates of each part in the control computer every time the crane moves;

When the workpiece or the material is transported, starting a crane to run to a set position, starting a digital 3D camera to photograph the workpiece or the material and generating a photographic digital model in a control computer, processing the photographic digital model by the control computer, calculating the position coordinates of the workpiece or the material in a gridding space, and connecting the workpiece or the material with a lifting system;

After an operator issues a transferring operation task through a remote control end, a control computer automatically calculates and analyzes the transferring operation task, and plans a lifting action parameter instruction, a movement walking path parameter instruction, a rotation action parameter instruction and a descending action parameter instruction for executing the task step by step, and a crane respectively executes lifting actions of a lifting system, transverse and longitudinal actions of a transverse driving system and a longitudinal driving system, rotation actions of a lifting system and descending actions of the lifting system according to the instructions, so that workpieces or materials are accurately placed at a transferring position, and the whole loading and unloading process is completed;

In the running process of the crane, the laser radar continuously detects and scans the front of the running of the cart and the moving cart and feeds back scanning signals to the control computer, and the control computer is used for comparing and identifying each device, facility, workpiece or material in the basic coordinate system of the gridding space to judge whether each part of the crane collides with an object in front of the running, and modifies the running motion track in real time to avoid collision.