CN106629392A - Crane hook oscillating control device - Google Patents

Crane hook oscillating control device Download PDF

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Publication number
CN106629392A
CN106629392A CN201710033121.XA CN201710033121A CN106629392A CN 106629392 A CN106629392 A CN 106629392A CN 201710033121 A CN201710033121 A CN 201710033121A CN 106629392 A CN106629392 A CN 106629392A
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CN
China
Prior art keywords
steel wire
wire rope
auxiliary steel
damping
wireless signal
Prior art date
Application number
CN201710033121.XA
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Chinese (zh)
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CN106629392B (en
Inventor
魏燕定
高官健
周家辉
方升
陈立
田埂
Original Assignee
浙江大学
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Application filed by 浙江大学 filed Critical 浙江大学
Priority to CN201710033121.XA priority Critical patent/CN106629392B/en
Publication of CN106629392A publication Critical patent/CN106629392A/en
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Publication of CN106629392B publication Critical patent/CN106629392B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Abstract

The invention discloses a crane hook oscillating control device. The crane hook oscillating control device comprises an upper base frame assembly and a lower hook assembly, wherein the upper base frame assembly comprises a hanger base frame, an auxiliary steel wire rope driving mechanism, a damping mechanism, a central processing unit, a signal collecting and processing unit, a main steel wire rope speed sensor and a wireless signal receiver, wherein the auxiliary steel wire rope driving mechanism and the damping mechanism are symmetrically arranged, the main steel wire rope speed sensor and the wireless signal receiver are connected with the signal collecting and processing unit, and the signal collecting and processing unit, the auxiliary steel wire rope driving mechanism and the damping mechanism are connected with the central processing unit; the lower hook assembly comprises a platform assembly, the platform assembly is connected with a hook, a main steel wire rope and an auxiliary steel wire rope, an auxiliary steel wire rope tension sensor is installed on the auxiliary steel wire rope, a main steel wire rope tilt angle sensor and a wireless signal transmitter are installed on the platform assembly, the main steel wire rope tilt angle sensor and the auxiliary steel wire rope tension sensor are connected with the wireless signal transmitter, and the wireless signal transmitter is in communication connected with the wireless signal receiver.

Description

A kind of crane hook rocks control device

Technical field

The present invention relates to a kind of crane hook rocks control device.

Technical background

Connection between crane arm and suspension hook is realized by flexible steel wire rope.Crane is operationally present Unexpected start and stop, acceleration and deceleration, break-in process;At sea, wind-force is big in the medium working environment in mountain valley.These factors can all cause lifting Machine suspension hook and load are significantly rocked.The damage that can cause transported goods and surrounding objects is rocked in crane hook and load Even personal safety is threatened, the requirement of technical capability and labor intensity to staff is increased, reduce the work of crane Efficiency, brings direct economic loss.

By consulting data of literatures and patent, Chinese patent CN201520478687.X discloses a kind of lifting peculiar to vessel Machine anti-roll device, the device mainly includes that motor, PLC, size gear ring, the expansion link being made up of multilayer sleeve, correspondence turn Disk, cylinder, the anti-sway effect of the anti-sway and suspension hook of steel wire rope is realized respectively by expansion link and cylinder piston rod.Chinese patent CN201520471623.7 discloses a kind of ship's crane anti-roll device, the device mainly include suspension bracket, top board, connection rod set, Base plate, realizes that the anti-of steel wire rope shakes effect by telescopic connection rod set mechanism.

The shortcoming that said apparatus are present has:

1st, complex structure, take up room it is big;

2nd, device processing and manufacturing is difficult under the big operating mode of lifting height of crane, and weight is greatly increased;

3rd, actively can not be adjusted according to load, the severe degree rocked and prevent rocking effect.

The content of the invention

It is an object of the invention to provide a kind of simple structure, crane hook easy to use, that anti-shake effect is good are rocked Control device.

The technical solution used in the present invention is:

A kind of crane hook rocks control device, including upper foundation assemblies and lower hook assembly, it is characterised in that:The upper base Frame component includes being fixedly attached to the suspension bracket pedestal on crane arm or on trolley, and it is right to be provided with the suspension bracket pedestal Claim the damping mechanism that the auxiliary steel wire rope drive mechanism for arranging and decay are rocked, on the suspension bracket pedestal central authorities are also equipped with Processing unit, signal acquisition process unit, main rope velocity sensor, wireless signal receiver, the main rope speed Sensor and wireless signal receiver are connected with signal acquisition process unit, the signal acquisition process unit with receive its at The CPU connection of the signal managed, the CPU is driven with the auxiliary steel wire rope controlled by its output order Motivation structure and damping mechanism connect;The master being connected with lower hook assembly is provided with front side of the main rope velocity sensor Steel wire rope, is wound with auxiliary steel wire rope in the auxiliary steel wire rope drive mechanism, the free end of auxiliary steel wire rope subtracts through damping It is connected with lower hook assembly after shake mechanism;

The lower hook assembly includes platform assembly, and the lower end of platform assembly is connected with suspension hook, and its upper end is connected with main rope, Both sides are connected respectively with auxiliary steel wire rope, and auxiliary steel wire rope pulling force sensor, platform assembly are provided with the auxiliary steel wire rope On main rope angle sensor, wireless signal transmitter, the main rope angle sensor and auxiliary steel wire rope are installed Pulling force sensor is connected with wireless signal transmitter, and wireless signal transmitter is connected with wireless signal receiver communication.This It is bright to make to rock rapid decay according to load and shaking degree active damping adjusting power, and without the need for manually operating, using It is convenient.

Further, the auxiliary steel wire rope drive mechanism includes conjuncted torque motor, reel, decelerator, electromagnetic brake, Conjuncted torque motor output shaft is connected by shaft coupling with reel, and reel opposite side is connected with decelerator by shaft coupling, electromagnetism Brake output shaft is connected with decelerator, and auxiliary steel wire rope is wrapped on reel, and conjuncted torque motor and electromagnetic brake are equal It is connected with CPU.

Further, the damping mechanism includes being hinged on pulley assembly on suspension bracket pedestal, pulley assembly it is another Be provided with by damping adjusting power the MR damper rocked to decay between end and suspension bracket pedestal, the MR damper with Control the CPU connection of its damping force size.

Further, the MR damper is connected by ball pivot with suspension bracket pedestal and pulley assembly.

Further, the free end of the auxiliary steel wire rope exists after the pulley assembly of damping mechanism with main rope In same plane.

The invention has the beneficial effects as follows:

1st, whole device takes up room little, lightweight;

2nd, it is easy to use without the need for manually operating;

3rd, can make to rock rapid decay according to load and shaking degree active damping adjusting power.

Description of the drawings

Fig. 1 is the upper base frame section structural representation of the present invention.

Fig. 2 is the lower hook portion structural representation of the present invention.

Fig. 3 is the operation principle schematic diagram of the present invention.

Specific embodiment

The present invention is further described with reference to specific embodiment, but does not limit the invention to these tools Body embodiment.One skilled in the art would recognize that present invention encompasses being potentially included in Claims scope All alternatives, improvement project and equivalents.

A kind of crane hook rocks control device, is made up of upper foundation assemblies and lower hook assembly.

As shown in figure 1, upper foundation assemblies include suspension bracket pedestal 1, CPU 2, signal acquisition process unit 3, by Conjuncted torque motor 4, reel 5, decelerator 6, electromagnetic brake 7 composition auxiliary steel wire rope drive mechanism, by pulley assembly 8, The damping mechanism of the composition of MR damper 9, auxiliary steel wire rope 10, main rope velocity sensor 11, main rope 12, Wireless signal receiver 13, auxiliary steel wire rope drive mechanism, damping mechanism and auxiliary steel wire rope 10 are symmetricly set on suspension bracket The both sides of pedestal 1.

Suspension bracket pedestal 1 is fixedly attached on crane arm or on trolley, during installation ensure auxiliary steel wire rope 10 with Main rope 12 is in the same plane.CPU 2, signal acquisition process unit 3, conjuncted torque motor 4, reel 5, subtract Fast device 6, electromagnetic brake 7, pulley assembly 8, MR damper 9, main rope velocity sensor 11 and reception of wireless signals Device 13 is installed on suspension bracket pedestal 1.The output shaft of conjuncted torque motor 4 is connected by shaft coupling with reel 5, the opposite side of reel 5 It is connected by shaft coupling with decelerator 6, the output shaft of electromagnetic brake 7 is connected with decelerator 6.Auxiliary steel wire rope 10 is wrapped in volume On cylinder 5, it is connected with lower hook assembly downwards through pulley assembly 8 afterwards.The side of pulley assembly 8 is hinged on can on suspension bracket pedestal 1 Freely rotate, opposite side is connected by ball pivot with MR damper 9, and MR damper 9 is connected to suspension bracket base by ball pivot On frame 1.

Main rope velocity sensor 11, wireless signal receiver 13 are connected by transmission line and signal acquisition process unit 3 Connect;Signal acquisition process unit 3, conjuncted torque motor 4, electromagnetic brake 7, MR damper 9 are by transmission line with Central Processing Unit 2 connects, as shown in Figure 3.

As shown in Fig. 2 lower hook assembly include auxiliary steel wire rope pulling force sensor 14, main rope angle sensor 15, Suspension hook 16, wireless signal transmitter 17, platform assembly 18.

Auxiliary steel wire rope pulling force sensor 14 is arranged on auxiliary steel wire rope 10, the upper end of platform assembly 18 and main rope 12 Connection, lower end is connected with suspension hook 16, and both sides are connected respectively with auxiliary steel wire rope 10, main rope angle sensor 15, wireless communication Number emitter 17 is installed on platform assembly 18, and auxiliary steel wire rope pulling force sensor 14, main rope angle sensor 15 are equal It is connected with wireless signal transmitter 17 by transmission line, wireless signal transmitter 17 is connected with the communication of wireless signal receiver 13.

The course of work of the present invention is described as follows:

When main rope 12 falls or rises, main rope velocity sensor 11 gathers the rate signal of main rope 12, and leads to Cross transmission line and pass to signal acquisition process unit 3;Auxiliary steel wire rope pulling force sensor 14 gathers 10 tensions of auxiliary steel wire rope Force signal, and signal acquisition process unit 3 is passed to by the Jing wireless signal receivers 13 of wireless signal transmitter 17.Signal is adopted Collection 3 pairs of signals for receiving of processing unit pass to CPU 2 after processing.CPU 2 is according to reception Signal issue instructions to conjuncted torque motor 4.Conjuncted torque motor 4 works, and band movable reel 5 rotates, and auxiliary steel wire rope 10 is matched somebody with somebody Close main rope 12 to fall or rise.Electromagnetic brake 7 departs from and does not work during this.

When main rope 12 falls or the rate of climb goes to zero, CPU 2 controls conjuncted torque motor 4 and stops work Make, 7 braking actions of electromagnetic brake, reel 5 stops the rotation, auxiliary steel wire rope 10 coordinates main rope 12 to fall or upper raising speed Degree goes to zero.

When interference cause suspension hook and load rock when, main rope angle sensor 15 detect main rope 12 relative to Drift angle size and direction that vertical position is rocked, reception of wireless signals is passed to by declination signal by wireless signal transmitter 17 Device 13.Signal transmission to signal acquisition process unit 3, and then is passed to CPU 2 by wireless signal receiver 13.In Central Processing Unit 2 rocks signal according to the main rope for receiving, and issues instructions to coupled MR damper 9, control The size of MR damper damping force processed, makes to rock rapid decay, suspension hook and load restoration steady statue.

Claims (5)

1. a kind of crane hook rocks control device, including upper foundation assemblies and lower hook assembly, it is characterised in that:On described Foundation assemblies include being fixedly attached to the suspension bracket pedestal on crane arm or on trolley, are provided with the suspension bracket pedestal The damping mechanism that symmetrically arranged auxiliary steel wire rope drive mechanism and decay are rocked, in being also equipped with the suspension bracket pedestal Central Processing Unit, signal acquisition process unit, main rope velocity sensor, wireless signal receiver, the king wire rope speed Degree sensor and wireless signal receiver be connected with signal acquisition process unit, the signal acquisition process unit with reception its The CPU connection of the signal for processing, the CPU and the auxiliary steel wire rope controlled by its output order Drive mechanism and damping mechanism connect;It is provided with what is be connected with lower hook assembly on front side of the main rope velocity sensor Main rope, is wound with auxiliary steel wire rope in the auxiliary steel wire rope drive mechanism, the free end of auxiliary steel wire rope is through damping It is connected with lower hook assembly after damping;
The lower hook assembly includes platform assembly, and the lower end of platform assembly is connected with suspension hook, and its upper end is connected with main rope, Both sides are connected respectively with auxiliary steel wire rope, and auxiliary steel wire rope pulling force sensor, platform assembly are provided with the auxiliary steel wire rope On main rope angle sensor, wireless signal transmitter, the main rope angle sensor and auxiliary steel wire rope are installed Pulling force sensor is connected with wireless signal transmitter, and wireless signal transmitter is connected with wireless signal receiver communication.
2. a kind of crane hook as claimed in claim 1 rocks control device, it is characterised in that:The auxiliary steel wire rope drives Motivation structure include conjuncted torque motor, reel, decelerator, electromagnetic brake, conjuncted torque motor output shaft by shaft coupling with Reel connects, and reel opposite side is connected with decelerator by shaft coupling, and electromagnetic brake output shaft is connected with decelerator, auxiliary On reel, conjuncted torque motor and electromagnetic brake are connected wirerope-winding with CPU.
3. a kind of crane hook as claimed in claim 1 rocks control device, it is characterised in that:The damping mechanism Including the pulley assembly being hinged on suspension bracket pedestal, it is provided with by damping adjusting between the other end and suspension bracket pedestal of pulley assembly The MR damper that power is rocked to decay, the MR damper connects with the CPU for controlling its damping force size Connect.
4. a kind of crane hook as claimed in claim 3 rocks control device, it is characterised in that:The MR damper It is connected with suspension bracket pedestal and pulley assembly by ball pivot.
5. a kind of crane hook as described in one of claim 1 ~ 4 rocks control device, it is characterised in that:The auxiliary steel The free end of cord after the pulley assembly of damping mechanism with main rope in the same plane.
CN201710033121.XA 2017-01-18 2017-01-18 A kind of crane hook rocks control device CN106629392B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710033121.XA CN106629392B (en) 2017-01-18 2017-01-18 A kind of crane hook rocks control device

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Application Number Priority Date Filing Date Title
CN201710033121.XA CN106629392B (en) 2017-01-18 2017-01-18 A kind of crane hook rocks control device

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CN106629392B CN106629392B (en) 2018-05-11

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107381351A (en) * 2017-07-21 2017-11-24 无锡市湖昌机械制造有限公司 The loop wheel machine special cart of secondary spring hooking device is installed
CN107601281A (en) * 2017-11-10 2018-01-19 丁向峰 Crane stabilizer
CN108279599A (en) * 2018-01-25 2018-07-13 咸宁职业技术学院 A kind of device and method for improving crane cable and shaking
CN110451405A (en) * 2019-06-28 2019-11-15 佳力机械股份有限公司 Crane loop chain only shakes device and loop chain lifting equipment

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2442975Y (en) * 2001-01-02 2001-08-15 成都畅越机械工程有限公司 Hook type rotary sling for preventing container from shaking
WO2015122764A1 (en) * 2014-02-13 2015-08-20 Itrec B.V. Damping device, damping system, vessel equipped with damping system and damping method
CN204727489U (en) * 2015-07-06 2015-10-28 河南省中原矿山设备有限公司 A kind of deck crane anti roll device
CN204823811U (en) * 2015-07-23 2015-12-02 金川集团股份有限公司 Positioner is prevented putting by hoist list gib head
CN204823810U (en) * 2015-07-02 2015-12-02 河南重工起重机集团有限公司 Crane hook anti -swing device
CN205662268U (en) * 2016-06-03 2016-10-26 大连海事大学 Folding rocking arm formula anti -sway device that subtracts of ship's crane

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2442975Y (en) * 2001-01-02 2001-08-15 成都畅越机械工程有限公司 Hook type rotary sling for preventing container from shaking
WO2015122764A1 (en) * 2014-02-13 2015-08-20 Itrec B.V. Damping device, damping system, vessel equipped with damping system and damping method
CN204823810U (en) * 2015-07-02 2015-12-02 河南重工起重机集团有限公司 Crane hook anti -swing device
CN204727489U (en) * 2015-07-06 2015-10-28 河南省中原矿山设备有限公司 A kind of deck crane anti roll device
CN204823811U (en) * 2015-07-23 2015-12-02 金川集团股份有限公司 Positioner is prevented putting by hoist list gib head
CN205662268U (en) * 2016-06-03 2016-10-26 大连海事大学 Folding rocking arm formula anti -sway device that subtracts of ship's crane

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107381351A (en) * 2017-07-21 2017-11-24 无锡市湖昌机械制造有限公司 The loop wheel machine special cart of secondary spring hooking device is installed
CN107601281A (en) * 2017-11-10 2018-01-19 丁向峰 Crane stabilizer
CN108279599A (en) * 2018-01-25 2018-07-13 咸宁职业技术学院 A kind of device and method for improving crane cable and shaking
CN108279599B (en) * 2018-01-25 2019-04-05 咸宁职业技术学院 A kind of device and method for improving crane cable and shaking
CN110451405A (en) * 2019-06-28 2019-11-15 佳力机械股份有限公司 Crane loop chain only shakes device and loop chain lifting equipment

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