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CN-122009980-A - Intelligent safety control device and method suitable for magnetic attraction program-controlled traveling crane

CN122009980ACN 122009980 ACN122009980 ACN 122009980ACN-122009980-A

Abstract

The invention belongs to the technical field of metal plate cutting, in particular to an intelligent safety control device and method suitable for a magnetic program-controlled crane, comprising a program-controlled crane body and a lifting appliance arranged on the program-controlled crane body; the intelligent sensing system is arranged on the lifting appliance and is used for collecting image, thickness, weight and contact state data of a target steel plate before and during the grabbing process of the steel plate and transmitting the data to an upper system, and the intelligent executing system is in signal connection with the intelligent sensing system and is used for executing deviation rectifying, magnetic attraction, buffering, anti-swing and anti-impact actions according to the data collected by the intelligent sensing system and instructions of the upper system. The invention fuses the sensing capability, the on-line monitoring capability and the dynamic execution capability deeply, and realizes the safe automatic closed-loop control of the steel plate raw material plate in the transportation process.

Inventors

  • LI HAIFENG
  • FAN WEIGUO
  • ZHAO LEI
  • Pu Ruixiong
  • WANG YU

Assignees

  • 沈阳新松机器人自动化股份有限公司

Dates

Publication Date
20260512
Application Date
20260311

Claims (10)

  1. 1. The intelligent safety control device suitable for the magnetic attraction program-controlled traveling crane is characterized by comprising a program-controlled traveling crane and lifting appliance device, an intelligent sensing system and an intelligent sensing execution system; the lifting appliance is connected with a lifting shaft of the program-controlled crane body through a switching structure and is used as a mechanical bearing structure and a mounting platform of an intelligent sensing system and an intelligent executing system; the intelligent sensing system is arranged on the lifting appliance, and is used for acquiring image, thickness, weight and contact state data of a target steel plate before and during the grabbing of the steel plate and transmitting the data to an upper system; The intelligent execution system is arranged on the lifting appliance, is in signal connection with the intelligent sensing system and is used for executing deviation rectifying, magnetic attraction, buffering, anti-swing and anti-impact actions according to data acquired by the intelligent sensing system and instructions of an upper system.
  2. 2. The intelligent safety control device suitable for the magnetic attraction program-controlled crane is characterized by comprising a program-controlled crane switching beam (1), a servo deviation correcting device (2), a slewing bearing, a program-controlled crane lifting beam (3) and a cantilever frame; The top of the program-controlled traveling crane transfer beam (1) is fixedly connected with a lifting shaft of the traveling crane body to serve as a mounting base of the whole lifting appliance device, one end of the bottom of the program-controlled traveling crane transfer beam (1) is fixedly provided with a servo deviation correcting device (2), and the other end of the bottom is provided with a slewing bearing which is diagonally arranged with the servo deviation correcting device (2); the top of the program-controlled crane lifting beam (3) is fixedly connected with the output end of the servo deviation correcting device (2) and the rotating part of the slewing bearing respectively, and is driven by the servo deviation correcting device (2) to realize horizontal rotation and position adjustment; The intelligent crane is characterized in that two groups of cantilever frames are arranged and symmetrically arranged on two sides of the width direction of the program-controlled crane lifting beam (3), the tail end of each group of cantilever frames is used as a mounting base, and an online weighing module (8) of an intelligent sensing system, a magnetic absorption buffer module (9) of an intelligent execution system and an electromagnet (10) are arranged.
  3. 3. The intelligent safety control device suitable for the magnetic attraction program-controlled traveling crane according to claim 1, wherein the intelligent sensing system comprises a vision correction system, an intelligent detection system, an online monitoring module and a safety control system; The vision correction system comprises a vision driving actuator (4) and a vision recognition system (5); The visual driving actuator (4) is vertically and fixedly arranged at the middle position of the lower part of the program-controlled travelling crane lifting beam (3); the visual recognition system (5) is fixedly arranged at the lower end of the visual driving actuator (4), and is driven by the visual driving actuator (4) to perform lifting movement, the visual recognition system (5) is a 3D visual camera, and the 3D visual camera projects downwards to form a visual camera shooting range (6) for acquiring a target steel plate image and performing position correction; The intelligent detection system comprises a steel plate detection sensor, an ultrasonic thickness measurement sensor (7) and an online weighing module (8); the steel plate detection sensor is a proximity switch sensor (11) arranged on the side surface of the electromagnet (10) at the tail end of each cantilever frame and is used for detecting the contact state of the steel plate and the electromagnet; the ultrasonic thickness measuring sensor (7) is fixedly arranged at the middle side surface of the program-controlled travelling crane lifting beam (3), and the detection direction of the ultrasonic thickness measuring sensor (7) is vertically downward and is used for measuring the thickness of the steel plate; the online weighing module (8) is fixedly arranged at the top of the cantilever frame and is used for measuring the weight of the steel plate in real time; The on-line monitoring module is connected with each sensor of the intelligent sensing system and is used for collecting and uploading sensor data to the safety control system in real time; And the safety control system is used for carrying out safety judgment and issuing control instructions according to the acquired data.
  4. 4. An intelligent safety control device for a magnetically controlled vehicle according to claim 1, wherein the intelligent execution system comprises: the execution subassembly is inhaled to magnetism, sets up in each cantilever frame end, and every magnetism is inhaled and is carried out subassembly and include: The magnetic absorption buffer module (9) is arranged below the online weighing module (8), a hollow guide shaft and an elastic buffer element are arranged in the magnetic absorption buffer module (9), and an electromagnet (10) for absorbing a steel plate is fixedly connected to the lower end of the hollow guide shaft; And the magnet controller is electrically connected with the electromagnet (10) and is used for matching the initial magnetic flux and the secondary full magnetic flux as the electromagnet (10) according to the steel plate parameters analyzed by the upper layer system.
  5. 5. The safety control method of an intelligent safety control device suitable for a magnetically controlled vehicle according to any one of claims 1 to 4, comprising the steps of: S1, a magnetic program-controlled traveling crane is positioned at a safe position, in-situ judgment is carried out, and a task is requested to be executed on an upper layer system; Step S2, after the upper layer system issues the task, receiving the current task, judging whether the current task type accords with the program-controlled driving grabbing condition, if so, continuing to execute, and if not, requesting the upper layer system to execute the task again and reporting errors; Step S3, the program-controlled traveling crane invokes a corresponding program of the current task, performs visual locating, image analysis and correction on the steel raw material plate, confirms the magnetic flux signal of the electromagnet, and enters step S4 after the visual correction is completed and the magnetic flux signal is confirmed; step S4, performing grabbing and detecting, judging whether the current grabbing target object is in compliance on line, if so, continuing to perform step S5, and if not, sending alarm information to wait for manual confirmation and returning to step S3 for re-detection; Step S5, electromagnet matching magnetism, triggering electromagnetic suction to execute a task of specifying a transportation path, and simultaneously, before the steel raw material plate is not demagnetized, monitoring the monitoring data of the electromagnet and the steel raw material plate in real time by using material detection, online weighing and online magnetic flux detection through an intelligent sensing system; And S6, after the task of the designated transportation path is completed and demagnetized successfully, feeding back a completion signal to the upper layer system by the magnetic attraction program-controlled traveling crane, returning to the program-controlled traveling crane safety position, and requesting the next task.
  6. 6. The safety control method of the intelligent safety control device for the magnetically controlled traveling crane according to claim 5, wherein in the step S3, the steel raw material plate is subjected to visual locating, image analysis, correction and electromagnetic flux signal confirmation, specifically: s3-1, a visual driving actuator (4) drives a visual recognition system (5) to descend to a shooting position; s3-2, shooting a target steel plate at a designated position by a 3D vision camera of a vision recognition system (5) to obtain a plurality of partial images; S3-3, performing jigsaw processing on a plurality of shot images to form a complete steel plate surface image; S3-4, performing correction analysis on the complete image after the jigsaw, and identifying deviation between the current actual position and the theoretical position of the steel plate; S3-5, driving a servo deviation correcting device (2) according to the deviation amount to adjust the horizontal position and the rotation angle of the lifting appliance, so that an electromagnet (10) is aligned to the grabbing position of the target steel plate; And S3-6, confirming that the magnetic flux signal of the electromagnet is in a standby state.
  7. 7. The safety control method of the intelligent safety control device for the magnetically controlled vehicle according to claim 5, wherein the step S4 comprises the following steps: S4-1, detecting the thickness of a target steel plate through an ultrasonic thickness measuring sensor (7) in a non-magnetic matching state of an electromagnet (10); S4-2, comparing the actually measured thickness value with steel plate thickness data analyzed by an upper layer system, and judging whether the thickness is within an allowable range or not; s4-3, after the thickness detection is qualified, the electromagnet (10) adsorbs the steel plate and slowly lifts the steel plate; S4-4, weighing the grabbed steel plates in real time through an online weighing module (8); s4-5, comparing the measured weight with a theoretical value given by an upper layer system, and judging whether the weight is in an allowable range or not; And S4-6, if the thickness deviation or the weight deviation exceeds the preset range, judging that the grabbing target object is not compliant, sending out alarm information to wait for manual confirmation, and returning to the step S3 for re-detection.
  8. 8. The safety control method of the intelligent safety control device for the magnetically controlled vehicle according to claim 5, wherein the step S5 comprises the following steps: S5-1, matching magnetic flux for the electromagnet (10) by the magnet controller according to the steel plate parameters analyzed by the upper layer system; s5-2, triggering electromagnetic suction, and starting program-controlled travelling crane to execute a task of designating a transportation path; s5-3, detecting the contact state of the steel plate and the electromagnet (10) through a proximity switch sensor (11) before the steel raw material plate is demagnetized, continuously monitoring weight data through an online weighing module (8), and continuously monitoring real-time magnetic flux data through a magnet controller; And S5-4, uploading all monitoring data to the safety control system in real time.
  9. 9. The safety control method of the intelligent safety control device for the magnetically controlled traveling crane according to claim 5, wherein the step S6 is specifically: S6-1, after the program-controlled travelling crane conveys the steel plate to a designated target position, stopping moving, preparing for demagnetizing, and lowering the lifting appliance to enable the lower surface of the steel plate to contact a target placing surface; s6-2, after the steel plate is placed stably, the magnet controller completes demagnetizing operation, so that the steel plate is separated from the electromagnet (10); S6-3, after the proximity switch sensor (11) confirms that the steel plate is separated from the electromagnet (10), feeding back a task completion signal to the upper layer system by the magnetic attraction program-controlled traveling crane; S6-4, after feedback is completed, the program-controlled crane lifts the lifting appliance to a safe height; And S6-5, after the lifting is in place, returning to a preset safe position, and requesting the next task to the upper layer system.
  10. 10. The safety control method of an intelligent safety control device for a magnetically controlled vehicle according to any one of claims 5-9, wherein in the execution of steps S3 to S6, the safety control method further comprises an intelligent anti-drop program control mechanism, specifically: S7-1, monitoring a contact signal of a proximity switch sensor (11), weight data of an online weighing module (8) and magnetic flux data of a magnet controller in real time; S7-2, when the loss of a contact signal, the weight or the magnetic force is detected to be not in a preset range, the system automatically stops travelling movement, keeps the current magnetic flux of the electromagnet (10) unchanged, prohibits automatic demagnetization and triggers an alarm; and S7-3, recording the abnormal data, generating an abnormal event report, releasing the alarm after the safety is confirmed manually, and returning to the corresponding step for re-execution according to the abnormal occurrence position.

Description

Intelligent safety control device and method suitable for magnetic attraction program-controlled traveling crane Technical Field The invention belongs to the technical field of metal plate cutting, and particularly relates to an intelligent safety control device and method suitable for a magnetic attraction program-controlled traveling crane. Background At present, the steel structure plate blanking process generally has the outstanding problems of excessively relying on manual experience, difficult quality control, insufficient flexibility of a production line and the like. The traditional steel raw material plate is extremely dependent on manual operation and semi-automatic machinery in the process of lifting by a common crane, an operator needs to position a raw material steel plate by means of a hanging tool of the crane, and the problems of poor positioning precision, low efficiency and low safety are solved by a plurality of steel structure factories. In order to solve the problem of hoisting the traditional raw material steel plate, the manufacturing industry sequentially provides a plurality of technical improvement schemes including application of program-controlled travelling crane, customized lifting appliance application, centering platform application and the like. However, the existing scheme still has the following defects that firstly, the automatic rechecking function of the thickness and the position of the steel plate before grabbing is lacking, grabbing errors are easy to cause, secondly, the magnetic flux in the magnetic attraction process cannot be intelligently matched according to the parameters of the steel plate, multiple pieces of adsorption or insufficient attraction are easy to cause, thirdly, the real-time monitoring of the contact state in the lifting process is lacking, the falling risk cannot be found in time, and fourthly, the detection and control functions are mutually independent, systematic closed-loop management and control are not formed, and real intelligent safe lifting is difficult to realize. Disclosure of Invention The invention aims to provide an intelligent safety control device and method suitable for a magnetic attraction program-controlled traveling crane, which are used for solving the technical problems of dependence on manual operation, poor positioning precision and low safety in the existing steel plate lifting process, realizing visual correction and thickness rechecking before steel plate grabbing, intelligent matching of magnetic flux during grabbing, weighing check, real-time monitoring of the contact state and anti-drop protection in the whole transportation process, forming a closed loop intelligent control from task request to demagnetization in place, and improving the safety and automation level of steel plate lifting operation. The intelligent safety control device suitable for the magnetic attraction program-controlled crane comprises a program-controlled crane and lifting appliance device, an intelligent sensing system and an intelligent sensing execution system; the lifting appliance is connected with a lifting shaft of the program-controlled crane body through a switching structure and is used as a mechanical bearing structure and a mounting platform of an intelligent sensing system and an intelligent executing system; the intelligent sensing system is arranged on the lifting appliance, and is used for acquiring image, thickness, weight and contact state data of a target steel plate before and during the grabbing of the steel plate and transmitting the data to an upper system; The intelligent execution system is arranged on the lifting appliance, is in signal connection with the intelligent sensing system and is used for executing deviation rectifying, magnetic attraction, buffering, anti-swing and anti-impact actions according to data acquired by the intelligent sensing system and instructions of an upper system. The program-controlled crane and lifting appliance device comprises a program-controlled crane switching beam, a servo deviation correcting device, a slewing bearing, a program-controlled crane lifting beam and a cantilever frame; The top of the program-controlled traveling crane transfer beam is fixedly connected with the lifting shaft of the traveling crane body to serve as a mounting base of the whole lifting appliance device, one end of the bottom of the program-controlled traveling crane transfer beam is fixedly provided with a servo deviation correcting device, and the other end of the bottom of the program-controlled traveling crane transfer beam is provided with a slewing bearing which is diagonally arranged with the servo deviation correcting device; The top of the program-controlled crane lifting beam is fixedly connected with the output end of the servo deviation correcting device and the rotating part of the slewing bearing respectively, and is driven by the servo deviation correcting device to realize horizontal rota