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CN-121974237-A - Bridge crane system with vision assistance

CN121974237ACN 121974237 ACN121974237 ACN 121974237ACN-121974237-A

Abstract

The application discloses a bridge crane system with visual assistance, which relates to the technical field of remote control of port container cranes and comprises a bottom plate, wherein an avoidance hole is formed in the middle of the bottom plate in a penetrating manner, angle-adjustable assemblies are symmetrically arranged at the front end and the rear end of the bottom plate, and each angle-adjustable assembly comprises an extension plate fixedly arranged at the front end and the rear end of the bottom plate. According to the bridge crane system with vision assistance, the vision module is positioned right above cargoes in an initial state, accurate alignment and gesture detection before grabbing can be completed, the vision module is moved to the side of the cargoes through sliding block translation in the clamping process, the industrial pain point of the traditional bridge crane vision system, which is shielded by clamping jaws and cargoes, is thoroughly solved, continuous vision monitoring of the grabbing and transferring whole process is realized, the angle of an inclined section can be preset according to operation requirements, the monitoring view angle can be flexibly adjusted, the multi-scene requirements of cargo gesture detection, surrounding environment obstacle avoidance, clamping state monitoring and the like are met, and the safety and the intelligent level of bridge crane operation are greatly improved.

Inventors

  • WANG YONG
  • LI WEIBING
  • ZHANG MINGBAO

Assignees

  • 江苏骏腾重工机械有限公司

Dates

Publication Date
20260505
Application Date
20260327

Claims (10)

  1. 1. The utility model provides a take vision-assisted bridge crane system, includes bottom plate (1), a serial communication port, dodge hole (2) has been run through in bottom plate (1) middle part, both ends symmetry installs adjustable angle subassembly (3) around bottom plate (1), adjustable angle subassembly (3) including fixed mounting in extension board (301) at bottom plate (1) front and back both ends, fixed mounting has track (302) in extension board (301) bottom, and extension board (301) bottom side fixed mounting has deflector (303) to cam slot (304) of L shape structure have been seted up at deflector (303) middle part, inside slidable mounting of cam slot (304) has slide pin (305), and slide pin (305) fixed connection in the one end of pivot (306) to the other end fixed mounting of pivot (306) has vision-assisted module (307).
  2. 2. The bridge crane system with vision assistance according to claim 1, wherein the cam groove (304) is a two-section combined structure of a linear guide section and an oblique driving section, the two sections are connected through an arc transition, and when the sliding pin (305) slides along the cam groove (304), the rotation shaft (306) is driven to rotate through the constraint of the groove wall of the cam groove (304), so that the vision assistance module (307) is driven to synchronously complete the rotation action of a preset angle.
  3. 3. The bridge crane system with visual assistance according to claim 2, wherein guide posts (4) are fixedly arranged at the front end and the rear end of the bottom plate (1), and one end, deviating from the bottom plate (1), of each guide post (4) is fixed with the top plate (5).
  4. 4. A bridge crane system with visual aid according to claim 3, characterized in that a cover plate (6) is welded and fixed on the top plate (5), a connecting piece (7) is fixedly connected to the top of the cover plate (6), and the cover plate (6) is connected with a bridge crane lifting mechanism through the connecting piece (7).
  5. 5. The bridge crane system with vision assistance according to claim 4, wherein the hydraulic driving member (8) is fixed to the inner portion of the cover plate (6) by bolts, and the telescopic end of the hydraulic driving member (8) is fixedly connected to the telescopic rod (9) ‌.
  6. 6. The bridge crane system with visual assistance according to claim 5, wherein the lower end of the telescopic rod (9) is in transmission connection with a translation driving assembly (10), the translation driving assembly (10) comprises a lower driving member (1001) in transmission connection with the lower end of the telescopic rod (9), the external dimension of the lower driving member (1001) is smaller than the inner diameter of the middle hole of the avoidance hole (2), and the lower driving member (1001) is located in the inner hole of the avoidance hole (2) to axially lift under the driving of the telescopic rod (9).
  7. 7. The bridge crane system with visual assistance according to claim 6, wherein the translational driving assembly (10) further comprises a connecting rod (1002) rotatably connected to the front end and the rear end of the lower driving member (1001), one end of the connecting rod (1002) deviating from the lower driving member (1001) is rotatably connected with a corresponding sliding block (1003), the sliding block (1003) is located in a track (302) on the corresponding side, a mounting hole (1004) is formed in the middle of the sliding block (1003), and the mounting hole (1004) is assembled and connected with the rotating shaft (306) through a bearing.
  8. 8. The bridge crane system with visual assistance according to claim 7, wherein the upper end of the telescopic rod (9) is in transmission connection with a synchronous clamping assembly (11), the synchronous clamping assembly (11) comprises an upper driving piece (1101) in transmission connection with the upper end of the telescopic rod (9), the upper driving piece (1101) and the lower driving piece (1001) are coaxially fixed at the upper end and the lower end of the telescopic rod (9), guide sleeves (1102) are fixedly arranged at the front end and the rear end of the upper driving piece (1101), and the guide sleeves (1102) are in limit sliding fit with guide posts (4) on the corresponding sides.
  9. 9. The bridge crane system with visual aid according to claim 8, wherein the synchronous clamping assembly (11) further comprises trunnions (1103) fixedly installed at the left end and the right end of the upper driving member (1101), crank arms (1104) are rotatably installed inside the trunnions (1103), the crank arms (1104) on two sides are in an L-shaped structure with opposite notches, and one end of each crank arm (1104) deviating from the upper driving member (1101) is rotatably connected with the outer side of the top end of the clamping jaw (1105).
  10. 10. The bridge crane system with vision assistance according to claim 9, wherein the synchronous clamping assembly (11) further comprises a gasket (1106) fixedly installed on the clamping surfaces of the clamping jaws (1105), a rocker arm (1107) is rotatably connected to the inner side of the top ends of the clamping jaws (1105), and one end of the rocker arm (1107) deviating from the clamping jaws (1105) is rotatably connected with notches at the left end and the right end of the base plate (1).

Description

Bridge crane system with vision assistance Technical Field The invention relates to the technical field of remote control of port container cranes, in particular to a bridge crane system with visual assistance. Background The bridge crane is core hoisting equipment for the scenes of port container loading and unloading, heavy industrial material transferring and the like, the operation safety and the accuracy of the bridge crane directly determine the logistics transferring efficiency and the production operation safety, the requirements of automatic and intelligent upgrading along with the bridge crane are continuously improved, the existing bridge crane system is generally integrated with a vision auxiliary module and is used for achieving the functions of cargo grabbing alignment, gesture detection, surrounding environment obstacle avoidance, clamping state real-time monitoring and the like, and the bridge crane system is a key core component for unmanned and automatic operation of the bridge crane. However, the existing vision auxiliary module is mainly arranged above the clamping jaw and on the bottom of the bridge crane trolley or the clamping jaw body structure, when the clamping jaw performs folding and grabbing actions, the clamping jaw body and the goods to be grabbed can completely shield the monitoring view angle of the vision module, so that the vision system can only finish goods alignment and gesture detection before grabbing, safety accidents such as unstable clamping, falling of goods and equipment collision are easily caused in the clamping process and the goods transferring stage, the safety monitoring requirement of the bridge crane whole process operation cannot be met, the load and the energy consumption of the bridge crane are increased, the system fault rate is greatly improved, the operating condition requirements of the bridge crane heavy load, high reliability and continuous operation are difficult to adapt, in addition, the installation position and the angle of the existing vision module are fixed, only a single monitoring view angle (such as a overlooking view angle) can be provided, the accurate alignment of the view angle is not required to be finished before grabbing, the situation is monitored in real time by the side view angle, the environment is required to avoid the situation in the transferring, the environment is simultaneously, the single monitoring view angle is suitable for the bridge crane is required, and the intelligent vision system cannot be limited by the multiple vision system has a severe operating range. Aiming at the technical defects in the prior art, the application provides a bridge crane system with visual assistance, which aims to solve the technical problems of visual blind areas, single monitoring visual angle, redundant and complex driving system in the grabbing process of the existing bridge crane visual system, and the like, and realizes the translational and rotational linkage of clamping jaw clamping and visual module through single driving source synchronously, thereby improving the safety, accuracy and intellectualization level ‌ ‌ of bridge crane operation. Disclosure of Invention The present invention is directed to a bridge crane system with visual assistance, so as to solve the problems set forth in the background art. In order to achieve the above purpose, the invention provides a bridge crane system with visual assistance, which comprises a bottom plate, wherein an avoidance hole is formed in the middle of the bottom plate in a penetrating manner, angle-adjustable assemblies are symmetrically arranged at the front end and the rear end of the bottom plate, each angle-adjustable assembly comprises an extension plate fixedly arranged at the front end and the rear end of the bottom plate, a track is fixedly arranged at the middle end of the bottom of each extension plate, a guide plate is fixedly arranged at the side end of the bottom of each extension plate, a cam groove with an L-shaped structure is formed in the middle of each guide plate, a sliding pin is slidably arranged in each cam groove, the sliding pins are fixedly connected to one end of a rotating shaft, and a visual assistance module is fixedly arranged at the other end of the rotating shaft. Further, the cam groove is of a two-section combined structure of a linear guide section and an oblique driving section, the two sections are connected through arc transition, and when the sliding pin slides along the cam groove, the rotation shaft is driven to rotate through the constraint of the groove wall of the cam groove, so that the vision auxiliary module is driven to synchronously finish the rotation action of a preset angle. Furthermore, the front end and the rear end of the bottom plate are fixedly provided with guide posts, and one end of each guide post, which is away from the bottom plate, is fixed with the top plate. Further, a cover plate is fixedly welded on the top plate