CN220926098U - Grapple system of portal crane with visual positioning function - Google Patents
Grapple system of portal crane with visual positioning function Download PDFInfo
- Publication number
- CN220926098U CN220926098U CN202322909425.1U CN202322909425U CN220926098U CN 220926098 U CN220926098 U CN 220926098U CN 202322909425 U CN202322909425 U CN 202322909425U CN 220926098 U CN220926098 U CN 220926098U
- Authority
- CN
- China
- Prior art keywords
- grapple
- visual positioning
- rod
- positioning function
- fixed plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000000605 extraction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
The invention belongs to the technical field of cranes, and discloses a grapple system of a portal crane with a visual positioning function, which comprises a grapple body and a visual positioning control system, wherein the visual positioning control system comprises camera equipment; the grapple body comprises a fixed plate, a plurality of grapple connecting rods are arranged at the bottom of the fixed plate, a driving mechanism for driving all the grapple connecting rods to open and close synchronously is arranged on the fixed plate, and each grapple connecting rod is connected with a grapple main body; the top fixedly connected with bracing piece of fixed plate. This scheme sets up the camera equipment in one side of grapple body and gathers image information in real time through the camera equipment, and the accurate of cooperation vision positioning control system assurance work piece is got, is placed and the utilization of every grapple main part, has improved work efficiency, has eliminated the potential safety hazard, and makes the grapple main part through this hook angle and arc clamp groove can realize snatching and getting, improves the utilization ratio.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a grapple system of a portal crane with a visual positioning function.
Background
The crane is a device for moving a heavy object in a long distance space, a rope or a hanging buckle component is sleeved on the lifted object, the rope or the hanging buckle component is hooked through a grapple system of the crane so as to realize the engagement, lifting, transferring and releasing of the heavy object, and the portal crane is one of various types of cranes.
In order to achieve automatic hooking of articles and improve working efficiency, a camera is usually arranged at the bottom of a grapple of an existing grapple system of a crane to assist in working, visual angle positioning of grabbing is achieved, and blind areas are reduced.
But in the in-process of hooking article, the camera can be blocked by article, can only use one grapple once to the grapple structure of multitrack, and grapple utilization ratio is low, and the operating personnel can't know the information of placing the position accurately through the camera when placing article, and then probably has the potential safety hazard.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a grapple system of a portal crane with a visual positioning function.
In order to solve the problems, the invention adopts the following technical scheme.
The grapple system of the portal crane with the visual positioning function comprises a grapple body and a visual positioning control system, wherein the visual positioning control system comprises camera equipment;
The grapple body comprises a fixed plate, a plurality of grapple connecting rods are arranged at the bottom of the fixed plate, a driving mechanism for driving all the grapple connecting rods to open and close synchronously is arranged on the fixed plate, and each grapple connecting rod is connected with a grapple main body; the top of the fixed plate is fixedly connected with a supporting rod, a mounting block is arranged on the supporting rod, and the mounting block is used for being connected with a portal crane;
The visual positioning control system also comprises a feature recognition and extraction module and a central processing unit, and the camera equipment is used for collecting images or videos in the environment; the characteristic recognition and extraction module is used for receiving, processing and analyzing the image data acquired by the camera equipment, recognizing and extracting the characteristics of the target object and determining the position and the gesture of the target object; the central processing unit is used for driving the grapple body to make corresponding actions;
The support rod is provided with an angle adjusting mechanism, and the image pickup device is connected with the angle adjusting mechanism.
As a further description of the above technical solution: the supporting rod is a hollow rod, and the driving mechanism is positioned in the supporting rod.
As a further description of the above technical solution: the angle adjusting mechanism comprises an adjusting motor fixedly installed on the inner side wall of the supporting rod, an output shaft of the adjusting motor is fixedly connected with a gear, a through hole through which the gear passes is formed in the side wall of the supporting rod, the gear extends to the outer side of the supporting rod through the through hole, an inner gear ring which is in annular sliding connection with the gear is sleeved on the supporting rod, the gear is meshed with the inner gear ring, a connecting rod which is transversely arranged is fixedly connected with the surface of the inner gear ring, a second adjusting component is arranged at one end, far away from the inner gear ring, of the connecting rod, and the second adjusting component is connected with the image pickup equipment.
As a further description of the above technical solution: the second adjusting component comprises a connecting block fixedly connected with a connecting rod, a rotating rod is rotationally connected to the connecting block, the rotating rod is fixedly connected with the camera equipment, a servo motor is fixedly installed on the connecting block, and an output shaft of the servo motor is fixedly connected with the rotating rod.
As a further description of the above technical solution: the connecting rod is a pneumatic telescopic rod.
As a further description of the above technical solution: the number of the grapple connecting rods is two to five, and the number of the grapple main bodies is consistent with the number of the grapple connecting rods.
As a further description of the above technical solution: the grapple main part is including grabbing the piece, grab the outside of piece and be provided with the hook angle, grab the inboard of piece and seted up the arc and press from both sides the groove, grab the inboard of piece and be located arc and press from both sides the groove and all seted up anti-skidding sawtooth from top to bottom.
As a further description of the above technical solution: the driving mechanism is inserted and fixed on the pneumatic telescopic rod on the fixed plate
As a further description of the above technical solution: the installation piece is connected with the bracing piece through annular slider rotation, the bottom fixed mounting of installation piece has driving motor, driving motor's output shaft fixedly connected with backup pad, the outside of backup pad and the inner wall fixed connection of bracing piece.
Compared with the prior art, the invention has the advantages that:
This scheme sets up the camera equipment in one side of grapple body and gathers image information in real time through the camera equipment, and the accurate of cooperation vision positioning control system assurance work piece is got, is placed and the utilization of every grapple main part, has improved work efficiency, has eliminated the potential safety hazard, and makes the grapple main part through this hook angle and arc clamp groove can realize snatching and getting, improves the utilization ratio.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a system diagram of a visual positioning control system of the present invention;
FIG. 3 is a schematic view of the angle adjusting mechanism of the present invention;
FIG. 4 is a schematic view showing the internal structure of the support bar according to the present invention;
fig. 5 is a schematic structural view of the grapple body of the present invention.
The reference numerals in the figures illustrate:
1. A grapple body; 11. a mounting block; 12. a support rod; 13. a fixing plate; 14. a grapple connecting rod; 15. a driving mechanism; 16. a grapple body; 161. grasping blocks; 162. hook angle; 163. arc-shaped clamping grooves;
2. A visual positioning control system; 21. an image pickup apparatus; 22. the feature recognition and extraction module; 23. a central processing unit;
3. An angle adjusting mechanism; 31. adjusting a motor; 32. a gear; 33. an inner gear ring; 34. a connecting rod; 35. a second adjustment assembly; 351. a connecting block; 352. a rotating rod; 353. a servo motor;
4. a driving motor; 5. and a support plate.
Detailed Description
The technical solutions in 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; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, a grapple system of a gantry crane with visual positioning function comprises a grapple body 1 and a visual positioning control system 2,
The grapple body 1 includes fixed plate 13, and the bottom of fixed plate 13 is provided with a plurality of grapple connecting rods 14, is provided with the actuating mechanism 15 that drives all grapple connecting rods 14 and open and shut in step on the fixed plate 13, all is connected with the top fixedly connected with bracing piece 12 of grapple main part 16 fixed plate 13 on every grapple connecting rod 14, is provided with installation piece 11 on the bracing piece 12, and the installation piece is used for being connected with the portal crane, is provided with angle adjustment mechanism 3 on the bracing piece 12, and camera equipment 21 is connected with angle adjustment mechanism 3.
The mechanism controls the opening and closing of the grapple connecting rod 14 through the driving mechanism 15, thereby realizing the opening and closing control of the grapple main body 16, facilitating the automatic hooking of articles, accurately hooking and placing the articles in the hooking process through the camera equipment 21, the angle adjusting mechanism 3 and the visual positioning control system 2, improving the working efficiency and eliminating the potential safety hazard
The visual positioning control system 2 comprises an image pickup device 21, a feature recognition and extraction module 22 and a central processing unit 23, wherein the image pickup device 21 is used for collecting images or videos in the environment; the feature recognition and extraction module 22 is used for receiving, processing and analyzing the image data acquired by the camera device 21, recognizing and extracting features of the target object, such as edges, corner points, textures and the like, and then performing matching and recognition to determine the position and the gesture of the target object; the central processing unit 23 is used for driving the grapple body 1 to make corresponding actions, such as driving the grapple body 1 or adjusting the position of the crane.
The supporting rod 12 is a hollow rod, the driving mechanism 15 is located in the supporting rod 12, the number of the grapple connecting rods 14 is two to five, the number of the grapple main bodies 16 is consistent with the number of the grapple connecting rods 14, and the driving mechanism 15 is inserted into the pneumatic telescopic rod fixed on the fixed plate 13.
Specifically, as shown in fig. 3 and 4, the angle adjusting mechanism 3 includes an adjusting motor 31 fixedly installed on an inner sidewall of the supporting rod 12, an output shaft of the adjusting motor 31 is fixedly connected with a gear 32, a through hole through which the gear 32 passes is formed in the sidewall of the supporting rod 12, the gear 32 extends to the outer side of the supporting rod 12 through the through hole, an inner gear ring 33 in annular sliding connection with the gear 32 is sleeved on the supporting rod 12, the gear 32 is meshed with the inner gear ring 33, a connecting rod 34 is fixedly connected with the surface of the inner gear ring 33, a second adjusting component 35 is arranged at one end of the connecting rod 34 away from the inner gear ring 33, and the second adjusting component 35 is connected with the image capturing device 21.
The second adjusting component 35 comprises a connecting block 351 fixedly connected with the connecting rod 34, a rotating rod 352 is rotatably connected to the connecting block 351, the rotating rod 352 is fixedly connected with the image pickup device 21, a servo motor 353 is fixedly installed on the connecting block 351, and an output shaft of the servo motor 353 is fixedly connected with the rotating rod 352.
The angle adjusting mechanism 3 is composed of a horizontal position adjusting mechanism and a vertical angle adjusting mechanism, and the horizontal position adjusting mechanism: the gear 32 is driven to rotate by the adjusting motor 31, the inner gear ring 33 is driven to rotate by the transmission of the gear 32, and then the connecting rod 34, the second adjusting component 35 and the image pickup device 21 are driven to integrally adjust positions by the inner gear ring 33.
The vertical angle adjusting mechanism comprises: the rotation lever 352 is driven to rotate by the servo motor 353, so that the image pickup apparatus 21 is driven to adjust the vertical angle.
Further, the connection rod 34 is a pneumatic telescopic rod, and the distance between the image pickup apparatus 21 and the support rod 12 can be adjusted by the telescopic of the pneumatic telescopic rod.
Example 2
Referring to fig. 4, on the basis of the first embodiment, a mounting block 11 is rotatably connected with a supporting rod 12 through an annular sliding block, a driving motor 4 is fixedly mounted at the bottom of the mounting block 11, an output shaft of the driving motor 4 is fixedly connected with a supporting plate 5, and the outer side of the supporting plate 5 is fixedly connected with the inner wall of the supporting rod 12.
Through above-mentioned mechanism, can realize the rotation of grapple body 1, and adopt hidden design, save space.
Example 3
Referring to fig. 5, the grapple body 16 includes a grab block 161, a hook angle 162 is disposed on an outer side of the grab block 161, an arc-shaped clamping groove 163 is formed on an inner side of the grab block 161, and anti-slip saw teeth are formed on an inner side of the grab block 161 and located above and below the arc-shaped clamping groove 163.
With the above structure, the hook angle 162 and the arc-shaped clamping groove 163 can enable the grapple main body 16 to achieve grabbing and hooking, and the utilization rate is improved.
The above description is only of the preferred embodiments of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (9)
1. The grapple system of the gantry crane with the visual positioning function comprises a grapple body (1) and a visual positioning control system (2), wherein the visual positioning control system (2) comprises an image pickup device (21);
The grapple body (1) comprises a fixed plate (13), a plurality of grapple connecting rods (14) are arranged at the bottom of the fixed plate (13), a driving mechanism (15) for driving all the grapple connecting rods (14) to open and close synchronously is arranged on the fixed plate (13), and each grapple connecting rod (14) is connected with a grapple main body (16);
The method is characterized in that: the top of the fixed plate (13) is fixedly connected with a supporting rod (12), the supporting rod (12) is provided with a mounting block (11) which is used for being connected with a portal crane;
The visual positioning control system (2) further comprises a feature recognition and extraction module (22) and a central processing unit (23), and the camera equipment (21) is used for acquiring images or videos in the environment; the characteristic recognition and extraction module (22) is used for receiving, processing and analyzing the image data acquired by the camera equipment (21), recognizing and extracting the characteristics of the target object and determining the position and the gesture of the target object; the central processing unit (23) is used for driving the grapple body (1) to make corresponding actions;
The support rod (12) is provided with an angle adjusting mechanism (3), and the image pickup device (21) is connected with the angle adjusting mechanism (3).
2. The grapple system of a gantry crane with visual positioning function according to claim 1, characterized in that: the supporting rod (12) is a hollow rod, and the driving mechanism (15) is positioned in the supporting rod (12).
3. The grapple system of a gantry crane with visual positioning function according to claim 2, characterized in that: the angle adjusting mechanism (3) comprises an adjusting motor (31) fixedly installed on the inner side wall of the supporting rod (12), a gear (32) is fixedly connected to an output shaft of the adjusting motor (31), a through hole through which the gear (32) passes is formed in the side wall of the supporting rod (12), the gear (32) extends to the outer side of the supporting rod (12) through the through hole, an inner gear ring (33) in annular sliding connection with the gear (32) is sleeved on the supporting rod (12), the gear (32) is meshed with the inner gear ring (33), a connecting rod (34) transversely arranged is fixedly connected to the surface of the inner gear ring (33), a second adjusting component (35) is arranged at one end, far away from the inner gear ring (33), of the connecting rod (34), and the second adjusting component (35) is connected with the image pickup device (21).
4. A grapple system of a gantry crane with visual positioning function according to claim 3, characterized in that: the second adjusting component (35) comprises a connecting block (351) fixedly connected with the connecting rod (34), a rotating rod (352) is rotationally connected to the connecting block (351), the rotating rod (352) is fixedly connected with the image pickup device (21), a servo motor (353) is fixedly installed on the connecting block (351), and an output shaft of the servo motor (353) is fixedly connected with the rotating rod (352).
5. A grapple system of a gantry crane with visual positioning function according to claim 3, characterized in that: the connecting rod (34) is a pneumatic telescopic rod.
6. The grapple system of a gantry crane with visual positioning function according to claim 1, characterized in that: the number of the grapple connecting rods (14) is two to five, and the number of the grapple main bodies (16) is consistent with the number of the grapple connecting rods (14).
7. The grapple system of a gantry crane with visual positioning function according to claim 1, characterized in that: the grapple body (16) comprises a grapple block (161), a hook angle (162) is arranged on the outer side of the grapple block (161), an arc-shaped clamping groove (163) is formed in the inner side of the grapple block (161), and anti-slip saw teeth are formed in the inner side of the grapple block (161) and located on the upper portion and the lower portion of the arc-shaped clamping groove (163).
8. The grapple system of a gantry crane with visual positioning function according to claim 1, characterized in that: the driving mechanism (15) is inserted and fixed on the pneumatic telescopic rod on the fixed plate (13).
9. The grapple system of a gantry crane with visual positioning function according to claim 2, characterized in that: the installation piece (11) is connected with the rotation of bracing piece (12) through annular slider, the bottom fixed mounting of installation piece (11) has driving motor (4), the output shaft fixedly connected with backup pad (5) of driving motor (4), the outside of backup pad (5) and the inner wall fixed connection of bracing piece (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322909425.1U CN220926098U (en) | 2023-10-27 | 2023-10-27 | Grapple system of portal crane with visual positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322909425.1U CN220926098U (en) | 2023-10-27 | 2023-10-27 | Grapple system of portal crane with visual positioning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220926098U true CN220926098U (en) | 2024-05-10 |
Family
ID=90937929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322909425.1U Active CN220926098U (en) | 2023-10-27 | 2023-10-27 | Grapple system of portal crane with visual positioning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220926098U (en) |
-
2023
- 2023-10-27 CN CN202322909425.1U patent/CN220926098U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109466841B (en) | Automatic tag hanging system | |
| CN113277413B (en) | Automatic crane grappling hook and automatic unhooking mechanism based on visual positioning | |
| CN109335964A (en) | A kind of container rotation lock detection system and detection method | |
| CN108516344B (en) | Automatic adaptation conveyer based on visual detection | |
| CN114750194A (en) | Multipurpose automatic intelligent grabbing manipulator | |
| CN220926098U (en) | Grapple system of portal crane with visual positioning function | |
| CN115406676A (en) | Bogie detection system and method | |
| CN205572056U (en) | Blank wheel hub compound die sideline angle location recognition device | |
| CN110775491A (en) | Bucket formula is hung to intelligence from loading and unloading garbage truck | |
| WO2018211489A1 (en) | A crane ground control operating system | |
| CN216847426U (en) | Multifunctional visual detection device | |
| CN109108966B (en) | Reinforcing mesh grabbing control method based on visual identification | |
| CN112040200A (en) | Crane hoisting monitoring system and control method thereof | |
| CN209113356U (en) | Container handling system | |
| CN115448185A (en) | Ultra-large intelligent tower crane and construction method | |
| CN112429031B (en) | Method for hooking and unhooking mine car | |
| CN212374689U (en) | F-TR lock safety auxiliary system of railway container flatcar | |
| CN211920631U (en) | Rotary hoisting device | |
| CN114532763A (en) | Cabinet in middle of wisdom | |
| CN209081146U (en) | The looping disk handling equipment of coil winding machine | |
| CN115009978A (en) | Hoist that ton package was snatched to intelligence | |
| CN111924712A (en) | Bulk grain container loading and unloading device based on visual positioning | |
| CN109855539A (en) | A kind of aluminum alloy pattern plate processing dimension detection system | |
| CN215797946U (en) | Electric horizontal coil clamp device for intelligent crane | |
| CN208697486U (en) | Manipulator vision adjusts device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |