CN-116730183-B - Intelligent anti-rolling lifting hook device assisted by disc claws

CN116730183BCN 116730183 BCN116730183 BCN 116730183BCN-116730183-B

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 a box body, a shaft rod, mechanical arms, intelligent lifting hooks, a visual system and a four-axis thrust system, wherein the box body is arranged in the middle of the shaft rod, the four-axis thrust system is arranged on the shaft rod in the box body, the mechanical arms are respectively arranged at the lower part of each side face of the box body, the intelligent lifting hooks are arranged at the lower ends of the shaft rods, the intelligent lifting hooks weigh and automatically lock lifting weights, the visual system identifies lifting weight information and feeds back the lifting weight information to the mechanical arms, the mechanical arms wrap the lifting weights according to the lifting weight information so as to reduce lifting weight swinging, and the four-axis thrust system identifies and adjusts the deflection angle of the disk 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.

Inventors

CHEN HAIQUAN
HUANG ZHE
ZHAO TINGQI
REN ZHAOPENG
FANG NAN
LIU KEXIN
WANG SHENGHAI
WANG BINGYU

Assignees

大连海事大学

Dates

Publication Date: 20260512
Application Date: 20230714

Claims (5)

1. The intelligent anti-rolling lifting hook device assisted by the disk claw is characterized by comprising 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 mechanical arm is a clamping jaw type mechanical arm (4) or a sucking disc type mechanical arm (3); 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) is used for weighing and automatically locking the lifting weight, the vision system (6) is used for identifying lifting weight information and feeding back the lifting weight information to the mechanical arm, the mechanical arm wraps the lifting weight according to the lifting weight information so as to reduce the swinging of the lifting weight, and the four-axis thrust system (7) is used for identifying and adjusting the deflection angle of the disc claw assisted intelligent anti-swing lifting hook device; 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 suspended weight 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 type mechanical arm (3) to assist in stabilizing according to the feedback signals, and the second control unit (401) controls the clamping jaw type mechanical arm (4) to assist in stabilizing according to the feedback signals; the four-axis thrust system (7) comprises a third controller (701), thrusters (702) and a thrust bracket (703), wherein 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 overlapped with the axes of the 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 acting force opposite to the deflection angle of the disc claw assisted intelligent anti-rolling hook device; The lower part of a sucker type tail end manipulator (305) in the sucker type manipulator (3) is provided with an electric telescopic rod (306), a first controller (308) for controlling the electric telescopic rod (306) is arranged in the middle of the sucker type tail end manipulator (305), a visual sensor (307) is arranged below the electric telescopic rod (306), the visual sensor (307) sends weight shape and position information to the first controller (308), the lower part of the visual sensor (307) is rotationally connected with a sucker (309), and the sucker (309) is connected with a vacuum pump (310); The tail end of a clamping jaw type tail end manipulator (405) in the clamping jaw type mechanical arm (4) is provided with a rubber clamping jaw (406), a plurality of miniature rubber blocks are arranged on the rubber clamping jaw (406), a first pressure sensor (407) and a second controller (408) are arranged in the middle of the clamping jaw type tail end manipulator (405), and the second controller (408) is used for controlling the movement of a second electric hydraulic cylinder (402) according to the force fed back by the first pressure sensor (407) to clamp an object, so that the clamping degree of the clamping jaw type tail end manipulator (405) is adjusted; when the suspended object is spherical or ellipsoidal, the sucker type mechanical arm (3) acts to assist in stabilizing, when the suspended object is square, the clamping jaw type mechanical arm (4) acts to assist in stabilizing, and when the suspended object is irregularly shaped, the sucker type mechanical arm (3) and the clamping jaw type mechanical arm (4) act simultaneously to assist in stabilizing.
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 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 rubber clamping claw (406) are formed in the lower bottom surface of the box body (1).
4. 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).
5. 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 lifting weight generates pressure on the intelligent hook (5), the value of the second pressure sensor (502) changes, the automatic anti-shake clamp ring (501) automatically falls down to limit and clamp, and when the lifting weight removes the pressure on the intelligent hook (5), the automatic anti-shake clamp ring (501) rises.

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 disk claw assisted intelligent anti-rolling lifting hook device comprises a box body, a shaft lever, a mechanical arm, an intelligent lifting hook, a visual 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 c