CN113526359B - Intelligent anti-swing control system and control method for crane - Google Patents
Intelligent anti-swing control system and control method for crane Download PDFInfo
- Publication number
- CN113526359B CN113526359B CN202010319222.5A CN202010319222A CN113526359B CN 113526359 B CN113526359 B CN 113526359B CN 202010319222 A CN202010319222 A CN 202010319222A CN 113526359 B CN113526359 B CN 113526359B
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- Prior art keywords
- swing
- lifting hook
- driving
- control system
- swing mechanism
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Abstract
The invention discloses an intelligent anti-swing and anti-swing control system of a crane, which comprises a frame and machine legs, wherein an anti-swing mechanism is arranged above a lifting hook, electromagnetic rings are arranged on two horizontal sides of the anti-swing mechanism, the inner sides of the two machine legs are connected with sliding blocks through driving mechanisms in a transmission way, and the two sliding blocks are connected with the electromagnetic rings through hydraulic cylinders in a transmission way; the anti-swing mechanism comprises a fixed ring, and a magnetic ring is fixedly connected to the outer side of the fixed ring. According to the invention, the electromagnetic rings driven by the hydraulic cylinders to absorb the magnetic rings synchronously move downwards, so that the larger deviation of the angle of the anti-swing mechanism is avoided, meanwhile, the driving motor drives the chain mechanism through the driving chain to synchronously move in cooperation with the anti-swing mechanism, and after the driving motor moves to a specified height, the driving mechanisms of the two hydraulic cylinders cooperate with the driving mechanism of the lifting hook to move leftwards and rightwards, so that the larger angle deviation of the lifting hook in the moving process is prevented.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to an intelligent anti-swing control system and a control method for a crane.
Background
The crane is hoisting equipment for hoisting materials in workshops, warehouses and yards. The bridge-like shape is obtained by sitting on tall concrete columns or metal supports at both ends. The bridge frame of the bridge crane longitudinally runs along the tracks paved on the two side high frames, so that the space below the bridge frame can be fully utilized to hoist materials, and the bridge frame is not blocked by ground equipment. The hoisting machine has the advantages of being the hoisting machine with the widest application range and the largest number.
The existing crane is influenced by bottom end goods or external factors in the use process, the lifting hook can swing to a certain extent, and when the swing angle is overlarge, the surrounding crowd and the crane are threatened to a certain extent, so that the safety of the crane is reduced, and the crane is required to be additionally provided with an anti-swing mechanism to control and improve the safety of the crane.
Disclosure of Invention
The invention aims at: in order to solve the problem that the existing crane does not control the swing of the lifting hook correspondingly, the intelligent swing-preventing and swing-eliminating control system and method for the crane are provided.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the intelligent anti-swing and anti-swing control system for the crane comprises a frame, machine legs arranged on two horizontal sides of the frame and a lifting hook arranged below the frame, wherein the lifting hook is fixedly connected with a driving mechanism of the crane through a steel wire rope, two groups of rollers are respectively arranged below the machine legs, an anti-swing mechanism is arranged above the lifting hook, electromagnetic rings are arranged on two horizontal sides of the anti-swing mechanism, sliding blocks are connected on the inner sides of the two machine legs through driving mechanisms in a transmission manner, and the two sliding blocks are connected with the electromagnetic rings through hydraulic cylinders in a transmission manner;
the anti-swing mechanism comprises a fixed ring, and a magnetic ring is fixedly connected to the outer side of the fixed ring.
As a further description of the above technical solution:
the fixed ring is fixedly connected with the magnetic ring through at least six connecting columns, and the magnetizing mode of the magnetic ring is two-stage magnetizing axially symmetrical outside the magnetic ring.
As a further description of the above technical solution:
two auxiliary ropes are symmetrically arranged at the top of the fixing ring along the steel wire rope, and a driving mechanism is arranged above the auxiliary ropes and is correspondingly controlled by the driving mechanism of the steel wire rope.
As a further description of the above technical solution:
two groups of driving motors are respectively arranged at two ends of the interior of the frame, and two groups of driving motors are symmetrically arranged along the center line of the frame.
As a further description of the above technical solution:
the lower part of each driving motor is correspondingly provided with a chain mechanism, two steering wheels at the inner side of the chain mechanism are respectively and fixedly connected with the lower end face of the frame and the bottom end of the machine foot, and the driving motor is in transmission connection with the chain mechanism arranged below correspondingly through a transmission chain.
As a further description of the above technical solution:
two chain mechanisms positioned on the same side of the frame are fixedly connected with two ends of the sliding block, and a hydraulic cylinder is fixedly connected with the central position of the sliding block.
As a further description of the above technical solution:
the two magnetic poles of the magnetic ring are respectively and correspondingly arranged between the two electromagnetic rings, the two electromagnetic rings are in a top view and form a major arc structure, and the control mechanisms of the two hydraulic cylinders are mutually independent.
As a further description of the above technical solution:
a control method of an intelligent anti-shake anti-swing control system of a crane comprises the following steps:
step one: starting two hydraulic cylinders to act, wherein the output ends of the hydraulic cylinders drive two electromagnetic rings to two sides of a magnetic ring, and starting an electric control mechanism to control the electromagnetic rings to generate magnetism so as to adsorb the magnetic rings;
step two: the control mechanisms of the steel wire rope and the auxiliary rope synchronously operate to control the lifting hook and the anti-swing mechanism, so that larger deviation of the angle of the anti-swing mechanism is avoided;
step three: the driving motor drives the chain mechanism through the driving chain while the anti-swing mechanism acts, so that the chain mechanism drives the sliding blocks on the inner side and synchronously moves in cooperation with the anti-swing mechanism;
step four: after the lifting hook moves to a designated height, the driving mechanisms of the two hydraulic cylinders cooperate with the driving mechanisms of the lifting hook to perform left and right actions, so that the lifting hook is prevented from deviating by a larger angle in the action process;
step five: when the driving mechanisms reversely move to hoist the materials below, the anti-swing mechanisms and the electromagnetic rings synchronously move, and the anti-swing mechanisms are close to the lifting hook, so that the anti-swing of the lifting hook is realized.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
according to the invention, the electromagnetic rings driven by the hydraulic cylinders to absorb the magnetic rings synchronously move downwards, so that the larger deviation of the angle of the anti-swing mechanism is avoided, meanwhile, the driving motor drives the chain mechanism through the driving chain to synchronously move in cooperation with the anti-swing mechanism, and after the driving motor moves to a specified height, the driving mechanisms of the two hydraulic cylinders cooperate with the driving mechanism of the lifting hook to move leftwards and rightwards, so that the larger angle deviation of the lifting hook in the moving process is prevented.
Drawings
FIG. 1 is a front view of an intelligent anti-sway and anti-sway control system and control method for a crane according to the present invention;
FIG. 2 is a side view partially in cross section of an intelligent anti-sway and anti-sway control system and control method for a crane according to the present invention;
FIG. 3 is a top view of an anti-sway mechanism of the intelligent anti-sway and anti-sway control system and control method of a crane;
fig. 4 is a flow chart of an intelligent anti-sway and anti-sway control system and a control method for a crane.
Legend description:
1. a frame; 2. a lifting hook; 3. a wire rope; 4. an auxiliary rope; 5. an anti-sway mechanism; 6. an electromagnetic ring; 7. a hydraulic cylinder; 8. a slide block; 9. a machine foot; 10. a roller; 11. a driving motor; 12. a drive chain; 13. a chain mechanism; 14. a fixing ring; 15. a connecting column; 16. and a magnetic ring.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-4, an intelligent anti-swing control system of a crane comprises a frame 1, a machine leg 9 arranged on two horizontal sides of the frame 1 and a lifting hook 2 arranged below the frame 1, wherein the lifting hook 2 is fixedly connected with a driving mechanism of the crane through a steel wire rope 3, two groups of rollers 10 are respectively arranged below the machine leg 9, an anti-swing mechanism 5 is arranged above the lifting hook 2, electromagnetic rings 6 are respectively arranged on two horizontal sides of the anti-swing mechanism 5, sliding blocks 8 are respectively connected on the inner sides of the two machine legs 9 through driving mechanisms in a transmission manner, and the two sliding blocks 8 are respectively connected with the electromagnetic rings 6 through a hydraulic cylinder 7 in a transmission manner;
the anti-swing mechanism 5 comprises a fixed ring 14, wherein the outer side of the fixed ring 14 is fixedly connected with a magnetic ring 16, the fixed ring 14 is fixedly connected with the magnetic ring 16 through at least six connecting columns 15, the magnetic ring 16 is magnetized in two stages in an axial symmetry manner along the center line of the frame 1, two magnetic poles of the magnetic ring 16 are respectively and correspondingly arranged between the two electromagnetic rings 6, the two electromagnetic rings 6 are in a major arc structure when overlooked, the control mechanisms of the two hydraulic cylinders 7 are mutually independent, the top of the fixed ring 14 is symmetrically provided with two auxiliary ropes 4 along the steel wire rope 3, the upper part of the auxiliary ropes 4 is provided with a driving mechanism which is correspondingly controlled by the driving mechanism of the steel wire rope 3, two groups of driving motors 11 are respectively arranged at the two ends of the inside of the frame 1 and are respectively and symmetrically arranged along the center line of the frame 1, one chain mechanism 13 is respectively and correspondingly arranged below each driving motor 11, two steering wheels at the inner side of the chain mechanism 13 are respectively and fixedly connected with the bottom ends of the frame 1 and the machine leg 9, the driving motors 11 are respectively and are in transmission connection with the mechanisms 13 which are correspondingly arranged at the positions of the two ends of the chain mechanisms 1 and the two chain mechanisms 7 which are fixedly connected with the two sliding blocks 8 at the two ends of the side of the frame 1 and the sliding blocks 8;
a control method of an intelligent anti-shake anti-swing control system of a crane comprises the following steps:
step one: starting two hydraulic cylinders 7 to act, wherein the output ends of the hydraulic cylinders 7 drive two electromagnetic rings 6 to two sides of a magnetic ring 16, and starting an electric control mechanism to control the electromagnetic rings 6 to generate magnetism so as to adsorb the magnetic ring 16;
step two: the control mechanisms of the steel wire rope 3 and the auxiliary rope 4 synchronously move downwards to control the lifting hook 2 and the anti-swing mechanism 5, so that larger deviation of the angle of the anti-swing mechanism 5 is avoided;
step three: the anti-swing mechanism 5 acts and simultaneously drives the chain mechanism 13 through the driving chains 12, the two driving chains 12 synchronously and reversely move, the sliding blocks 8 on the inner side synchronously move downwards, and the anti-swing mechanism 5 synchronously moves in cooperation with the driving motor 11;
step four: after the lifting hook moves to the designated height, the driving mechanisms of the two hydraulic cylinders 7 cooperate with the driving mechanism of the lifting hook 2 to perform leftward action, so that the lifting hook 2 is prevented from deviating by a larger angle in the action process;
step five: when the driving mechanisms reversely move to hoist the materials below, the anti-swing mechanism 5 and the electromagnetic ring 6 synchronously move, and the anti-swing mechanism 5 is close to the position of the lifting hook 2, so that the anti-swing of the lifting hook 2 is realized.
Example 2
Referring to fig. 1-4, an intelligent anti-swing control system of a crane comprises a frame 1, a machine leg 9 arranged on two horizontal sides of the frame 1 and a lifting hook 2 arranged below the frame 1, wherein the lifting hook 2 is fixedly connected with a driving mechanism of the crane through a steel wire rope 3, two groups of rollers 10 are respectively arranged below the machine leg 9, an anti-swing mechanism 5 is arranged above the lifting hook 2, electromagnetic rings 6 are respectively arranged on two horizontal sides of the anti-swing mechanism 5, sliding blocks 8 are respectively connected on the inner sides of the two machine legs 9 through driving mechanisms in a transmission manner, and the two sliding blocks 8 are respectively connected with the electromagnetic rings 6 through a hydraulic cylinder 7 in a transmission manner;
the anti-swing mechanism 5 comprises a fixed ring 14, and a magnetic ring 16 is fixedly connected to the outer side of the fixed ring 14;
a control method of an intelligent anti-shake anti-swing control system of a crane comprises the following steps:
step one: starting two hydraulic cylinders 7 to act, wherein the output ends of the hydraulic cylinders 7 drive two electromagnetic rings 6 to two sides of a magnetic ring 16, and starting an electric control mechanism to control the electromagnetic rings 6 to generate magnetism so as to adsorb the magnetic ring 16;
step two: the control mechanisms of the steel wire rope 3 and the auxiliary rope 4 synchronously move downwards to control the lifting hook 2 and the anti-swing mechanism 5, so that larger deviation of the angle of the anti-swing mechanism 5 is avoided;
step three: the anti-swing mechanism 5 acts and simultaneously drives the chain mechanism 13 through the driving chains 12, the two driving chains 12 synchronously and reversely move, the sliding blocks 8 on the inner side synchronously move downwards, and the anti-swing mechanism 5 synchronously moves in cooperation with the driving motor 11;
step four: after the lifting hook moves to the designated height, the driving mechanisms of the two hydraulic cylinders 7 cooperate with the driving mechanism of the lifting hook 2 to perform leftward action, so that the lifting hook 2 is prevented from deviating by a larger angle in the action process;
step five: when the driving mechanisms reversely move to hoist the materials below, the anti-swing mechanism 5 and the electromagnetic ring 6 synchronously move, and the anti-swing mechanism 5 is close to the position of the lifting hook 2, so that the anti-swing of the lifting hook 2 is realized.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. The intelligent anti-swing and anti-swing control system for the crane comprises a frame (1), machine legs (9) arranged on two horizontal sides of the frame (1) and a lifting hook (2) arranged below the frame (1), wherein the lifting hook (2) is fixedly connected with a driving mechanism of the crane through a steel wire rope (3), two groups of rollers (10) are respectively arranged below the machine legs (9), and the intelligent anti-swing and anti-swing control system is characterized in that an anti-swing mechanism (5) is arranged above the lifting hook (2), electromagnetic rings (6) are arranged on two horizontal sides of the anti-swing mechanism (5), sliding blocks (8) are connected on the inner sides of the two machine legs (9) through driving mechanisms, and the two sliding blocks (8) are connected with the electromagnetic rings (6) through transmission of a hydraulic cylinder (7);
the anti-swing mechanism (5) comprises a fixed ring (14), and a magnetic ring (16) is fixedly connected to the outer side of the fixed ring (14);
the fixed ring (14) is fixedly connected with the magnetic ring (16) through at least six connecting columns (15), and the magnetic ring (16) is magnetized in two stages in the outer diameter axial symmetry.
2. The intelligent anti-sway and anti-sway control system of the crane according to claim 1, characterized in that two auxiliary ropes (4) are symmetrically arranged at the top of the fixed ring (14) along the steel wire rope (3), and a driving mechanism is arranged above the auxiliary ropes (4) and is correspondingly controlled with the driving mechanism of the steel wire rope (3).
3. The intelligent anti-swing and anti-swing control system of the crane according to claim 1 is characterized in that two groups of driving motors (11) are respectively arranged at two ends of the inside of the frame (1), and the two groups of driving motors (11) are respectively symmetrically arranged along the center line of the frame (1).
4. The intelligent anti-swing and anti-swing control system of the crane according to claim 3, wherein a chain mechanism (13) is correspondingly arranged below each driving motor (11), two steering wheels on the inner side of the chain mechanism (13) are fixedly connected with the lower end face of the frame (1) and the bottom end of the machine leg (9) respectively, and the driving motors (11) are in transmission connection with the chain mechanisms (13) correspondingly arranged below through transmission chains (12).
5. The intelligent anti-swing and anti-swing control system of the crane according to claim 1 is characterized in that two chain mechanisms (13) positioned on the same side of the frame (1) are fixedly connected with two ends of the sliding block (8), and a hydraulic cylinder (7) is fixedly connected with the central position of the sliding block (8).
6. The intelligent anti-sway and anti-sway control system of the crane according to claim 1, characterized in that two magnetic poles of the magnetic ring (16) are respectively arranged between the two electromagnetic rings (6) correspondingly, the two electromagnetic rings (6) are in a major arc structure in overlook plane, and the control mechanisms of the two hydraulic cylinders (7) are mutually independent.
7. The control method of the intelligent anti-sway and anti-sway control system of the crane according to claim 1, comprising the following steps:
step one: starting two hydraulic cylinders (7) to act, wherein the output ends of the hydraulic cylinders (7) drive two electromagnetic rings (6) to two sides of a magnetic ring (16), and starting an electric control mechanism to control the electromagnetic rings (6) to obtain electricity to generate magnetism so as to adsorb the magnetic ring (16);
step two: the control mechanisms of the steel wire rope (3) and the auxiliary rope (4) synchronously operate to control the lifting hook (2) and the anti-swing mechanism (5), so that larger deviation of the angle of the anti-swing mechanism (5) is avoided;
step three: the anti-swing mechanism (5) acts and simultaneously drives the chain mechanism (13) through the transmission chain (12), so that the chain mechanism (13) drives the sliding block (8) at the inner side and synchronously moves in cooperation with the anti-swing mechanism (5);
step four: after the lifting hook moves to a designated height, the driving mechanisms of the two hydraulic cylinders (7) are matched with the driving mechanism of the lifting hook (2) to perform left and right actions, so that the lifting hook (2) is prevented from deviating by a larger angle in the action process;
step five: when the driving mechanisms reversely move to hoist the materials below, the anti-swing mechanism (5) and the electromagnetic ring (6) synchronously move, and the anti-swing mechanism (5) is close to the position of the lifting hook (2), so that the anti-swing of the lifting hook (2) is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010319222.5A CN113526359B (en) | 2020-04-21 | 2020-04-21 | Intelligent anti-swing control system and control method for crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010319222.5A CN113526359B (en) | 2020-04-21 | 2020-04-21 | Intelligent anti-swing control system and control method for crane |
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| Publication Number | Publication Date |
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| CN113526359A CN113526359A (en) | 2021-10-22 |
| CN113526359B true CN113526359B (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010319222.5A Active CN113526359B (en) | 2020-04-21 | 2020-04-21 | Intelligent anti-swing control system and control method for crane |
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| CN116748589A (en) * | 2023-06-13 | 2023-09-15 | 上海骏润机械制造有限公司 | Plate shearing machine material feeding unit that elevator railway carriage or compartment frame was made usefulness |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10316361A (en) * | 1997-05-22 | 1998-12-02 | Mitsubishi Heavy Ind Ltd | Crane device |
| US7150366B1 (en) * | 2004-07-29 | 2006-12-19 | Mi-Jack Products, Inc. | Hanger chain anti-sway device for gantry crane |
| CN203187313U (en) * | 2013-03-13 | 2013-09-11 | 于泽群 | Bridge crane |
| CN103663143A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Hoisting load anti-swing control device, method, system and engineering machinery |
| CN208308288U (en) * | 2018-05-23 | 2019-01-01 | 江苏奔牛港务集团有限公司 | A kind of anti-swing device of gantry container crane |
| CN209052305U (en) * | 2018-11-09 | 2019-07-02 | 王靓 | Portal frame is used in a kind of transport of highway engineering construction |
| CN209442536U (en) * | 2019-01-10 | 2019-09-27 | 上海金虞机械有限公司 | A kind of crane of high stability |
-
2020
- 2020-04-21 CN CN202010319222.5A patent/CN113526359B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10316361A (en) * | 1997-05-22 | 1998-12-02 | Mitsubishi Heavy Ind Ltd | Crane device |
| US7150366B1 (en) * | 2004-07-29 | 2006-12-19 | Mi-Jack Products, Inc. | Hanger chain anti-sway device for gantry crane |
| CN203187313U (en) * | 2013-03-13 | 2013-09-11 | 于泽群 | Bridge crane |
| CN103663143A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Hoisting load anti-swing control device, method, system and engineering machinery |
| CN208308288U (en) * | 2018-05-23 | 2019-01-01 | 江苏奔牛港务集团有限公司 | A kind of anti-swing device of gantry container crane |
| CN209052305U (en) * | 2018-11-09 | 2019-07-02 | 王靓 | Portal frame is used in a kind of transport of highway engineering construction |
| CN209442536U (en) * | 2019-01-10 | 2019-09-27 | 上海金虞机械有限公司 | A kind of crane of high stability |
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