CN113753752A - Anti-swing method, device and system for lifting appliance and hoisting equipment - Google Patents
Anti-swing method, device and system for lifting appliance and hoisting equipment Download PDFInfo
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- CN113753752A CN113753752A CN202111111141.7A CN202111111141A CN113753752A CN 113753752 A CN113753752 A CN 113753752A CN 202111111141 A CN202111111141 A CN 202111111141A CN 113753752 A CN113753752 A CN 113753752A
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- 230000007246 mechanism Effects 0.000 claims abstract description 331
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- 229910000831 Steel Inorganic materials 0.000 description 52
- 239000010959 steel Substances 0.000 description 52
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- 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
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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Abstract
The application discloses an anti-swing method, an anti-swing device, an anti-swing system and hoisting equipment of a lifting appliance, wherein the operation state of the lifting appliance is obtained, if the operation state of the lifting appliance is a swing state, the swing amplitude of the lifting appliance is obtained, and if the swing amplitude is larger than a preset amplitude threshold value, the moment output by an anti-swing mechanism is adjusted to enable the lifting appliance to swing within a preset amplitude interval. The corresponding swing amplitude when the operating state of the lifting appliance is the swing state is obtained, and then the moment output by the anti-swing mechanism is adjusted according to the swing amplitude and the preset amplitude threshold value, so that the lifting appliance swings in the preset amplitude interval, the swing amplitude of the lifting appliance is effectively reduced, and the safety of operation and the loading and unloading efficiency are improved.
Description
Technical Field
The application relates to the technical field of sling anti-swing, in particular to a sling anti-swing method, a device and a system and hoisting equipment.
Background
At present, with the progress and development of technology, a crane is generally used to load, unload and transport containers in engineering, thereby providing a lot of convenience. The crane usually aligns the container by the spreader, and after the alignment, the spreader moves the container while loading the container, and places the container at a designated position. The movement of the spreader is usually controlled by a trolley or cab, and the trolley moves to drive the spreader. Because the lifting appliance and the trolley are usually connected through a steel wire rope, the lifting appliance is likely to swing in the moving process of the lifting appliance, so that a container grabbed by the lifting appliance can also swing along with the swinging. Thus, the swinging of the container may cause a deviation in the placement of the container to a specified position by the spreader. But also the swinging of the spreader affects the efficiency of the spreader in loading and unloading containers, thereby wasting a lot of time and possibly causing the safety of the operation to be reduced if the swinging of the spreader is too large.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides an anti-swing method, an anti-swing device, an anti-swing system and hoisting equipment of a lifting appliance, and solves the problems of low loading and unloading efficiency and low safety caused by swing of the lifting appliance.
According to an aspect of the present application, there is provided a method of preventing a spreader from rolling, comprising: acquiring the running state of the lifting appliance; if the operating state of the lifting appliance is a swinging state, acquiring the swinging amplitude of the lifting appliance; wherein the swing state represents that the spreader makes horizontal motion; if the swing amplitude is larger than a preset amplitude threshold value, adjusting the torque output by the anti-shaking mechanism to enable the lifting appliance to swing within a preset amplitude interval; wherein, the anti-sway mechanism is used for controlling the swing of hoist, the anti-sway mechanism include first anti-sway mechanism with the anti-sway mechanism of second, first anti-sway mechanism with the anti-sway mechanism of second sets up relatively, first anti-sway mechanism with the hoist is kept away from one side of first anti-sway mechanism is connected, the anti-sway mechanism of second with the hoist is kept away from one side of second anti-sway mechanism is connected.
In one embodiment, the adjusting the torque output by the anti-shake mechanism comprises: acquiring the swinging direction of the lifting appliance; and if the swinging direction of the lifting appliance meets the preset condition, adjusting the moment output by the anti-shaking mechanism.
In an embodiment, if the swing direction of the spreader satisfies a predetermined condition, adjusting the torque output by the anti-swing mechanism includes: if the swinging direction of the lifting appliance is a first direction, calculating to obtain a first amplitude compensation value according to the swinging amplitude and the preset amplitude threshold value; wherein the first direction represents movement of the spreader from the first anti-roll mechanism to the second anti-roll mechanism; calculating to obtain the torque output by the first anti-shaking mechanism according to the first amplitude compensation value and the initial torque; the moment output by the first anti-shaking mechanism is used for driving the lifting appliance to move along the direction opposite to the first direction.
In an embodiment, the calculating the torque output by the first anti-shake mechanism according to the first amplitude compensation value and the initial torque includes: acquiring a first rope length of the first anti-shaking mechanism connected with the lifting appliance; calculating a rope length compensation value according to the first rope length; and calculating to obtain the moment output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial moment and the rope length compensation value.
In an embodiment, the first anti-sway mechanism includes a first anti-sway motor, where the calculating the torque output by the first anti-sway mechanism according to the first amplitude compensation value, the initial torque, and the rope length compensation value includes: acquiring a first running speed of the first anti-shaking motor; calculating to obtain a speed compensation value according to the first running speed; and calculating to obtain the torque output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial torque, the rope length compensation value and the speed compensation value.
In an embodiment, if the swing direction of the spreader satisfies a predetermined condition, adjusting the torque output by the anti-swing mechanism includes: if the swing direction of the lifting appliance is a second direction, calculating to obtain a second amplitude compensation value according to the swing amplitude and the swing amplitude threshold value; wherein the second direction represents movement of the second anti-roll mechanism toward the first anti-roll mechanism; calculating to obtain the torque output by the second anti-shaking mechanism according to the second amplitude compensation value and the initial torque; and the moment output by the second anti-shaking mechanism is used for driving the lifting appliance to move in the direction opposite to the second direction.
In one embodiment, the method for preventing the spreader from rolling further comprises: if the operating state of the lifting appliance is a descending state, acquiring a torsion angle of the lifting appliance; if the torsion angle is larger than a preset torsion angle threshold value, calculating to obtain a torsion angle compensation value according to the torsion angle and the preset torsion angle threshold value; calculating to obtain the torque output by the anti-shaking mechanism according to the torsion angle compensation value; and the moment output by the anti-shaking mechanism is used for inhibiting the torsion of the lifting appliance.
According to another aspect of the present application, there is provided an anti-roll device of a spreader, comprising: the operating state acquisition module is used for acquiring the operating state of the lifting appliance; the swing amplitude acquisition module is used for acquiring the swing amplitude of the lifting appliance if the running state of the lifting appliance is a swing state; wherein the swing state represents that the spreader makes horizontal motion; the adjusting module is used for adjusting the torque output by the anti-shaking mechanism to enable the lifting appliance to swing within a preset amplitude interval if the swing amplitude is larger than a preset amplitude threshold value; wherein, the anti-sway mechanism is used for controlling the swing of hoist, the anti-sway mechanism include first anti-sway mechanism with the second anti-sway mechanism, first anti-sway mechanism with the second anti-sway mechanism sets up relatively, first anti-sway mechanism the hoist keep away from with one side of first anti-sway mechanism is connected, the second anti-sway mechanism with the hoist is kept away from one side of second anti-sway mechanism is connected.
According to another aspect of the present application, there is provided an anti-roll system of a spreader, comprising: the anti-shaking mechanism is arranged on the lifting appliance and comprises a first anti-shaking mechanism and a second anti-shaking mechanism, the first anti-shaking mechanism and the second anti-shaking mechanism are oppositely arranged, the first anti-shaking mechanism is connected with one side of the lifting appliance, which is far away from the first anti-shaking mechanism, the second anti-shaking mechanism is connected with one side of the lifting appliance, which is far away from the second anti-shaking mechanism, and the anti-shaking mechanism is used for controlling the swinging of the lifting appliance; and a controller connected to the anti-sway mechanism, the controller being configured to: acquiring the running state of the lifting appliance; if the operating state of the lifting appliance is a swinging state, acquiring the swinging amplitude of the lifting appliance; wherein the swing state represents that the spreader makes horizontal motion; and if the swing amplitude is larger than a preset amplitude threshold value, adjusting the moment output by the anti-shaking mechanism to enable the lifting appliance to swing within a preset amplitude interval.
According to another aspect of the present application, there is provided a lifting apparatus comprising: a hoisting device body comprising a spreader; and the lifting appliance anti-swing system is arranged on the lifting appliance.
The application provides an anti-swing method, device, system and hoisting equipment of hoist, acquires the running state of hoist, if the running state of hoist is the swing state, then acquires the amplitude of oscillation of hoist, wherein, the swing state shows the horizontal motion is to the hoist, and if the amplitude of oscillation is greater than preset range threshold value, then the moment of adjustment anti-swing mechanism output makes the hoist swing in the interval of preset range, wherein, anti-swing mechanism is used for controlling the swing of hoist, anti-swing mechanism includes first anti-swing mechanism and second anti-swing mechanism, first anti-swing mechanism sets up with the second anti-swing mechanism relatively, first anti-swing mechanism is connected with the one side that the first anti-swing mechanism was kept away from to the hoist, second anti-swing mechanism is connected with one side that the second anti-swing mechanism was kept away from to the hoist. The corresponding swing amplitude when the operating state of the lifting appliance is the swing state is obtained, and then the moment output by the anti-swing mechanism is adjusted according to the swing amplitude and the preset amplitude threshold value, so that the lifting appliance swings in the preset amplitude interval, the swing amplitude of the lifting appliance is effectively reduced, and the safety of operation and the loading and unloading efficiency are improved.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of a method for preventing a spreader from rolling according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flow chart of a torque adjustment method of an output of a shaking prevention mechanism according to an exemplary embodiment of the present application.
Fig. 3 is a schematic flow chart of a torque adjustment method for an output of a shaking prevention mechanism according to another exemplary embodiment of the present application.
Fig. 4 is a schematic flow chart of a torque adjustment method for an output of a shaking prevention mechanism according to another exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart of a method for preventing a spreader from rolling according to another exemplary embodiment of the present application.
Fig. 6 is a schematic structural diagram of an anti-rolling device of a spreader according to an exemplary embodiment of the present application.
Fig. 7 is a schematic structural diagram of an anti-roll device of a spreader according to another exemplary embodiment of the present application.
Fig. 8 is a schematic structural diagram of an anti-roll system of a spreader according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of an anti-roll system of a spreader according to another exemplary embodiment of the present application.
Fig. 10 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic flow chart of a method for preventing a spreader from rolling according to an exemplary embodiment of the present application. As shown in fig. 1, the anti-rolling method of the spreader comprises the following steps:
step 110: and acquiring the running state of the lifting appliance.
First, the operating state of the spreader at this time is acquired. The operation state includes a swing state, a descending state, a lifting state and the like. The running state of the lifting appliance is obtained, and the anti-swing control method of the lifting appliance is determined according to different running states, so that the high-efficiency operation of the lifting appliance in each running state is improved.
Step 120: and if the running state of the lifting appliance is the swinging state, acquiring the swinging amplitude of the lifting appliance.
When the lifting appliance is in a static state, the swing amplitude of the lifting appliance is close to zero. When the lifting appliance swings, the swing amplitude of the current lifting appliance can be monitored through the sensor. The swing amplitude of the lifting appliance can be known to be too large or too small through the swing amplitude of the lifting appliance, and then the swing amplitude of the lifting appliance is adjusted, so that the swing amplitude of the lifting appliance is reduced, and the loading and unloading efficiency is prevented from being influenced by the swing of the lifting appliance. Wherein, the swing state represents that the lifting appliance does horizontal movement. That is, the swing state of the spreader is not considered when the spreader is descending.
Step 130: if the swing amplitude is larger than the preset amplitude threshold value, the moment output by the anti-shaking mechanism is adjusted to enable the lifting appliance to swing within the preset amplitude interval.
If the swing amplitude is larger than the preset amplitude threshold value, the swing amplitude of the lifting appliance at the moment is over large, so that the container can swing greatly. Therefore, the swing amplitude of the lifting appliance is reduced by adjusting the moment output by the anti-swing mechanism, so that the lifting appliance swings in a preset amplitude interval. For example, the preset amplitude threshold value may be set to 5 centimeters (cm), and the current swing amplitude of the spreader may be set to 7 cm. The moment which is 7 cm greater than 5 cm and needs to be output by the anti-shaking mechanism can be obtained, so that the swing amplitude of the lifting appliance is within 5 cm. The predetermined amplitude interval may be 0 to 5 cm. The anti-shaking mechanism is used for inhibiting the swinging of the lifting appliance and comprises a first anti-shaking mechanism and a second anti-shaking mechanism, the first anti-shaking mechanism and the second anti-shaking mechanism are arranged oppositely, the first anti-shaking mechanism is connected with one side of the lifting appliance far away from the first anti-shaking mechanism, and the second anti-shaking mechanism is connected with one side of the lifting appliance far away from the second anti-shaking mechanism.
In addition, the anti-swing mechanism is not limited to two anti-swing mechanisms, and the number of the anti-swing mechanisms may be 4 or more than 8. For example, the first anti-shake mechanism includes a first sub-anti-shake mechanism and a second sub-anti-shake mechanism. The second anti-shaking mechanism comprises a third sub anti-shaking mechanism and a fourth sub anti-shaking mechanism. The first sub anti-shaking mechanism and the fourth sub anti-shaking mechanism are arranged oppositely, and the third sub anti-shaking mechanism and the second sub anti-shaking mechanism are arranged oppositely. And each sub-anti-swing mechanism comprises an anti-swing motor, a steel wire rope, an anti-swing winding drum and a guide pulley. The first sub anti-shaking mechanism and the second sub anti-shaking mechanism are respectively connected with one side of the lifting appliance, which is far away from the first sub anti-shaking mechanism and the second sub anti-shaking mechanism, and the third sub anti-shaking mechanism and the fourth sub anti-shaking mechanism are connected with one side of the lifting appliance, which is far away from the third sub anti-shaking mechanism and the fourth sub anti-shaking mechanism. One end of the first sub-steel wire rope is fixedly connected with one side, far away from the first sub-anti-swing mechanism, of the lifting appliance. The other end of the first sub-steel wire rope is wound on the first sub-anti-swing winding drum through the first sub-guide pulley and is connected with the first sub-anti-swing motor. One end of the second sub-steel wire rope is fixedly connected with one side of the lifting appliance far away from the second sub-anti-swing mechanism. The other end of the second sub-steel wire rope is wound on the second sub-anti-swing winding drum through a second sub-guide pulley and is connected with a second sub-anti-swing motor. One end of the third sub-steel wire rope is fixedly connected with the other side of the lifting appliance far away from the third sub-anti-swing mechanism. The other end of the third sub-steel wire rope is wound on the third sub-anti-swing winding drum through a third sub-guide pulley and is connected with a third sub-anti-swing motor. One end of the fourth sub-steel wire rope is fixedly connected with the other side of the lifting appliance far away from the fourth sub-anti-swing mechanism. The other end of the fourth sub-steel wire rope is wound on the fourth sub-anti-swing winding drum through a fourth sub-guide pulley and is connected with a fourth sub-anti-swing motor. The first sub anti-swing motor, the second sub anti-swing motor, the third sub anti-swing motor and the fourth sub anti-swing motor are used for driving the swing of the lifting appliance and inhibiting the torsion of the lifting appliance. The first sub-guide pulley, the second sub-guide pulley, the third sub-guide pulley and the fourth sub-guide pulley are used for enabling the corresponding first sub-steel wire rope, the corresponding second sub-steel wire rope, the corresponding third sub-steel wire rope and the corresponding fourth sub-steel wire rope to slide along the sliding direction of the pulleys.
The application provides an anti-swing method of hoist, at first acquire the running state of hoist, then if the running state of hoist is the swing state, then acquire the swing range of hoist, wherein, the swing state indicates that the hoist is horizontal motion, and if the swing range is greater than preset range threshold value at last, then the moment of adjustment anti-swing mechanism output makes the hoist swing in the interval of preset range, wherein, anti-swing mechanism is used for controlling the swing of hoist, anti-swing mechanism includes first anti-swing mechanism and second anti-swing mechanism, first anti-swing mechanism sets up with the second anti-swing mechanism relatively, first anti-swing mechanism is connected with the one side that the hoist keeps away from first anti-swing mechanism, second anti-swing mechanism is connected with the one side that the hoist keeps away from second anti-swing mechanism. The corresponding swing amplitude when the operating state of the lifting appliance is the swing state is obtained, and then the moment output by the anti-swing mechanism is adjusted according to the swing amplitude and the preset amplitude threshold value, so that the lifting appliance swings in the preset amplitude interval, the swing amplitude of the lifting appliance is effectively reduced, and the safety of operation and the loading and unloading efficiency are improved.
Fig. 2 is a schematic flow chart of a torque adjustment method of an output of a shaking prevention mechanism according to an exemplary embodiment of the present application. As shown in fig. 2, step 120 may include:
step 121: and acquiring the swinging direction of the lifting appliance.
And determining whether the lifting appliance moves to the second anti-shaking mechanism along the first anti-shaking mechanism or moves to the first anti-shaking mechanism along the second anti-shaking mechanism by acquiring the swinging direction of the lifting appliance.
Step 122: and if the swinging direction of the lifting appliance meets the preset condition, adjusting the torque output by the anti-shaking mechanism.
And if the lifting appliance is determined to move to the second anti-shaking mechanism along the first anti-shaking mechanism, adjusting the moment output by the first anti-shaking mechanism. And if the lifting appliance is determined to move to the first anti-shaking mechanism along the second anti-shaking mechanism, adjusting the torque output by the second anti-shaking mechanism. This first anti-swing mechanism includes first anti-swing motor, and the second anti-swing mechanism includes the second anti-swing motor, through the swing range of moment of setting for first anti-swing motor and second anti-swing motor with the adjustment hoist.
Fig. 3 is a schematic flow chart of a torque adjustment method for an output of a shaking prevention mechanism according to another exemplary embodiment of the present application. As shown in fig. 3, step 122 may include:
step 1221: and if the swinging direction of the lifting appliance is the first direction, calculating to obtain a first amplitude compensation value according to the swinging amplitude and a preset amplitude threshold value.
And determining that the lifting appliance moves from the first anti-shaking mechanism to the second anti-shaking mechanism, and the swing amplitude is greater than the preset amplitude threshold value, and then calculating a first difference value between the swing amplitude and the preset amplitude threshold value. And calculating to obtain a first amplitude compensation value according to the first difference and the initial moment. I.e. the first amplitude compensation value is equal to the product between the first difference and the initial torque. Firstly, determining the swing amplitude of the lifting appliance to exceed a preset amplitude threshold value, and then calculating a moment value to be compensated. That is to say, in order to ensure that the lifting appliance swings within the preset amplitude interval, the lifting appliance needs to pull the lifting appliance by a certain moment value on the basis of the initial moment so as to enable the swing amplitude of the lifting appliance to be smaller than or equal to the preset amplitude threshold value. Wherein, the first direction represents that the lifting appliance moves from the first anti-swing mechanism to the second anti-swing mechanism.
Step 1222: and calculating to obtain the torque output by the first anti-shaking mechanism according to the first amplitude compensation value and the initial torque.
The moment output by the first anti-shaking mechanism is equal to the first amplitude compensation value plus the initial moment. The moment output by the first anti-shaking mechanism is used for driving the lifting appliance to move along the direction opposite to the first direction. And the moment output by the second anti-shaking mechanism is set as the initial moment, so that the swing amplitude of the lifting appliance is reduced, and the loading and unloading efficiency of the lifting appliance is improved.
In one embodiment, step 1222 can be implemented as: acquiring a first rope length of a first anti-sway mechanism connecting lifting appliance; calculating a rope length compensation value according to the first rope length; and calculating to obtain the moment output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial moment and the rope length compensation value.
The first anti-shaking mechanism comprises a first steel wire rope, and the first anti-shaking mechanism is connected with the lifting appliance through the first steel wire rope. The second anti-shaking mechanism comprises a second steel wire rope, and the second anti-shaking mechanism is connected with the lifting appliance through the second steel wire rope. When the swing direction of the lifting appliance is the first direction, the second steel wire rope is taken up, the first steel wire rope is released, and the length of the first steel wire rope after releasing is larger than that of the second steel wire rope after taking up. And if the length of the second steel wire rope after the rope is taken up is smaller than the average rope length and the length of the first steel wire rope after the rope is put is larger than the average rope length, acquiring the first rope length of the first anti-sway mechanism connected with the lifting appliance.
And calculating the first rope length of the second steel wire rope after the rope is taken up through the position encoder. And calculating a rope length compensation value according to the first rope length and the average rope length. I.e. a second difference between the first rope length and the average rope length is calculated. And calculating to obtain a rope length compensation value according to the second difference value and the initial moment. The rope length compensation value is (first rope length-average rope length) x initial moment. And the average rope length is the average value of the rope length of the first steel wire rope and the rope length of the second steel wire rope detected when the hanger is in a static state. That is, the average rope length is (the rope length of the first wire rope + the rope length of the second wire rope)/2. Wherein the detected rope length of the first steel wire rope is approximately equal to the rope length of the second steel wire rope. The moment output by the first anti-shaking mechanism is equal to a first amplitude compensation value + an initial moment + a rope length compensation value. In order to ensure that the lifting appliance swings in the preset amplitude interval, considering the change of the rope length of the second steel wire rope after rope reeling, the lifting appliance needs to be pulled by a certain moment value under the condition that the initial moment and the first amplitude compensation value are known so that the swinging amplitude of the lifting appliance is smaller than or equal to the preset amplitude threshold value.
In one embodiment, the first anti-shake mechanism comprises a first anti-shake motor, and step 1222 may be embodied as: acquiring a first running speed of a first anti-shaking motor; calculating to obtain a speed compensation value according to the first running speed; and calculating to obtain the moment output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial moment, the rope length compensation value and the speed compensation value.
When the lifting appliance is in a static state, the running speeds of the first anti-swing motor and the second anti-swing motor can be measured to be equal through the speed encoder. Can be recorded as the initial velocity. The speed encoder feeds the detected speed back to the first anti-swing motor, so that the swing amplitude of the full closed-loop control lifting appliance is realized, and the precision of speed detection and the speed of system response are improved. When the swing direction of the lifting appliance is the first direction, the running speed of the first anti-swing motor is greater than the initial speed, and the running speed of the second anti-swing motor is less than the initial speed. And if the running speed of the first anti-shaking motor is greater than the initial speed and the running speed of the second anti-shaking motor is less than the initial speed, acquiring the first running speed of the first anti-shaking motor. And calculating to obtain a speed compensation value according to the first running speed and the initial speed. I.e. a third difference between the first operating speed and the initial speed is calculated. And calculating to obtain a speed compensation value according to the third difference and the initial moment. That is, the speed compensation value is (first running speed — initial speed) × initial torque. The moment output by the first anti-shaking mechanism is equal to a first amplitude compensation value + an initial moment + a rope length compensation value + a speed compensation value. In order to ensure that the lifting appliance swings in the preset amplitude interval, considering the running speed of the first anti-swing motor, under the condition that the initial moment, the first amplitude compensation value and the rope length compensation value are known, the lifting appliance needs to be pulled by a certain moment value so that the swinging amplitude of the lifting appliance is smaller than or equal to the preset amplitude threshold value.
If the first anti-shaking mechanism comprises a first sub anti-shaking mechanism and a second sub anti-shaking mechanism, the torque output by the first sub anti-shaking mechanism and the torque output by the second sub anti-shaking mechanism are equal to the first amplitude compensation value + the initial torque + the rope length compensation value + the speed compensation value. If the second anti-shaking mechanism comprises a third sub anti-shaking mechanism and a fourth sub anti-shaking mechanism, the torque output by the third sub anti-shaking mechanism and the torque output by the fourth sub anti-shaking mechanism are equal to the initial torque.
Fig. 4 is a schematic flow chart of a torque adjustment method for an output of a shaking prevention mechanism according to another exemplary embodiment of the present application. As shown in fig. 4, step 122 may include:
step 1223: and if the swing direction of the lifting appliance is the second direction, calculating to obtain a second amplitude compensation value according to the swing amplitude and the swing amplitude threshold value.
And determining that the lifting appliance is moved to the first anti-shaking mechanism by the second anti-shaking mechanism. And the swing amplitude is greater than the preset amplitude threshold, a fourth difference between the swing amplitude and the preset amplitude threshold may be calculated first. And calculating to obtain a second amplitude compensation value according to the fourth difference value and the initial moment. I.e. the second amplitude compensation value is equal to the product between the fourth difference and the initial torque. Firstly, determining the swing amplitude of the lifting appliance to exceed a preset amplitude threshold value, and then calculating a moment value to be compensated. That is to say, in order to ensure that the spreader swings within the preset amplitude interval, the spreader needs to increase how much moment value to pull the spreader on the basis of the initial moment so as to make the swing amplitude of the spreader less than or equal to the preset amplitude threshold value. Wherein the second direction indicates that the second anti-roll mechanism moves towards the first anti-roll mechanism.
Step 1224: and calculating to obtain the torque output by the second anti-shaking mechanism according to the second amplitude compensation value and the initial torque.
And the moment output by the second anti-shaking mechanism is equal to the second amplitude compensation value plus the initial moment, wherein the moment output by the second anti-shaking mechanism is used for driving the lifting appliance to move in the direction opposite to the second direction. And the moment output by the first anti-shaking mechanism is set as the initial moment, so that the swing amplitude of the lifting appliance is reduced, and the loading and unloading efficiency of the lifting appliance is improved.
In one embodiment, step 1224 may be implemented as: acquiring a second rope length of a second anti-swing mechanism connected with the lifting appliance; calculating a rope length compensation value of the second anti-swing mechanism according to the second rope length; and calculating to obtain the moment output by the second anti-shaking mechanism according to the second amplitude compensation value, the initial moment and the rope length compensation value of the second anti-shaking mechanism.
The first anti-shaking mechanism comprises a first steel wire rope, and the first anti-shaking mechanism is connected with the lifting appliance through the first steel wire rope. The second anti-shaking mechanism comprises a second steel wire rope, and the second anti-shaking mechanism is connected with the lifting appliance through the second steel wire rope. When the swing direction of the lifting appliance is the second direction, the first steel wire rope is taken up, the second steel wire rope is released, and the length of the second steel wire rope after releasing is larger than that of the first steel wire rope after taking up. And calculating the second rope length of the first steel wire rope after the rope is taken up through the position encoder. And calculating a rope length compensation value of the second anti-sway mechanism according to the second rope length and the average rope length, namely calculating a fifth difference value of the second rope length and the average rope length. And calculating the rope length compensation value of the second anti-swing mechanism according to the fifth difference value and the initial moment. The rope length compensation value of the second anti-sway mechanism is (second rope length-average rope length) × initial moment. And the average rope length is the average value of the rope length of the first steel wire rope and the rope length of the second steel wire rope detected when the hanger is in a static state. That is, the average rope length is (the rope length of the first wire rope + the rope length of the second wire rope)/2. Wherein the detected rope length of the first steel wire rope is approximately equal to the rope length of the second steel wire rope. And the torque output by the second anti-shaking mechanism is equal to the second amplitude compensation value + the initial torque + the rope length compensation value of the second anti-shaking mechanism. In order to ensure that the lifting appliance swings within the preset amplitude interval, considering the change of the rope length of the first steel wire rope after rope reeling, under the condition that the initial moment and the second amplitude compensation value are known, the moment value is required to be increased to pull the lifting appliance so that the swinging amplitude of the lifting appliance is smaller than or equal to the preset amplitude threshold value.
In one embodiment, the second anti-swing mechanism includes a second anti-swing motor, and step 1224 may be implemented by: acquiring a second running speed of a second anti-shaking motor; calculating to obtain a speed compensation value of the second anti-shaking mechanism according to the second running speed; and calculating to obtain the torque output by the second anti-shaking mechanism according to the second amplitude compensation value, the initial torque, the rope length compensation value of the second anti-shaking mechanism and the speed compensation value of the second anti-shaking mechanism.
When the lifting appliance is in a static state, the speed encoder can measure that the running speeds of the first anti-swing motor and the second anti-swing motor are equal and can be recorded as initial speeds. When the swing direction of the lifting appliance is the second direction, the running speed of the second anti-swing motor is greater than the initial speed, and the running speed of the first anti-swing motor is less than the initial speed. And if the running speed of the second anti-shaking motor is greater than the initial speed and the running speed of the first anti-shaking motor is less than the initial speed, obtaining the second running speed of the second anti-shaking motor. And calculating a speed compensation value of the second anti-shaking mechanism according to the second running speed and the initial speed, namely calculating a sixth difference value between the second running speed and the initial speed. And calculating to obtain a speed compensation value of the second anti-shaking mechanism according to the sixth difference value and the initial moment. That is, the speed compensation value of the second anti-roll mechanism is (second operating speed — initial speed) × initial torque. And the torque output by the second anti-shaking mechanism is equal to a second amplitude compensation value + the initial torque + the rope length compensation value of the second anti-shaking mechanism + the speed compensation value of the second anti-shaking mechanism. In order to ensure that the lifting appliance swings within the preset amplitude interval, considering the running speed of the second anti-swing motor, under the condition that the initial moment, the second amplitude compensation value and the rope length compensation value of the second anti-swing mechanism are known, the moment value is increased to pull the lifting appliance so that the swinging amplitude of the lifting appliance is smaller than or equal to the preset amplitude threshold value.
Fig. 5 is a schematic flow chart of a method for preventing a spreader from rolling according to another exemplary embodiment of the present application. As shown in fig. 5, the anti-rolling method of the spreader may further include:
step 140: and if the running state of the lifting appliance is a descending state, acquiring the torsion angle of the lifting appliance.
It is determined whether the operating state of the spreader is a descent state. If so, acquiring a corresponding torsion angle of the lifting appliance in a descending state. Because the lifting appliance is easy to twist due to unstable gravity center in the descending process, the twisting angle of the lifting appliance can be determined through the sensor, and the twisting of the lifting appliance is restrained through the twisting angle. When the operating state of the lifting appliance is a descending state, the swinging amplitude of the lifting appliance does not need to be obtained any more even if the lifting appliance is possible to swing, and only the torsion angle of the lifting appliance needs to be obtained, so that the torsion of the lifting appliance is inhibited.
Step 150: and if the torsion angle is larger than the preset torsion angle threshold value, calculating to obtain a torsion angle compensation value according to the torsion angle and the preset torsion angle threshold value.
If the torsion angle is greater than the preset torsion angle threshold, it indicates that the torsion angle of the lifting appliance is too large at this time, and is greater than the preset torsion angle threshold, for example, the preset torsion angle may be set to be 0.3 degrees. The torsion angle of the lifting appliance at this time is 0.5 degrees, and then 0.5 degrees is larger than 0.3 degrees, which indicates that the moment output by the anti-shaking mechanism needs to be adjusted to restrain the torsion of the lifting appliance. The torsion angle compensation value is (torsion angle-preset torsion angle threshold) x initial torque. That is, a seventh difference between the torsion angle and the preset torsion angle threshold value is calculated. And calculating to obtain a torsion angle compensation value according to the seventh difference value and the initial moment.
Step 160: and calculating to obtain the torque output by the anti-shaking mechanism according to the torsion angle compensation value.
And calculating to obtain the torque output by the anti-shaking mechanism through the torsion angle compensation value and the initial torque, and inhibiting the twisting of the lifting appliance through the torque output by the anti-shaking mechanism. The moment output by the anti-shaking mechanism is equal to the torsion angle compensation value plus the initial moment. That is, the torques output by the first and second anti-rocking mechanisms are set as the sum of the initial torque and the torsion angle compensation value, respectively.
And if the operating state of the lifting appliance is a lifting state, the moment output by the anti-shaking mechanism is the initial moment.
And if the operating state of the lifting appliance is that the lifting appliance and the container truck are in the alignment state, the torque output by the anti-shaking mechanism is a preset torque value. The preset torque value may be 2 × initial torque. If the anti-roll mechanism is 4, the corresponding pre-set torque value may be 4 × the initial torque.
Fig. 6 is a schematic structural diagram of an anti-rolling device of a spreader according to an exemplary embodiment of the present application. As shown in fig. 6, the swing prevention apparatus 20 of the spreader includes: the device comprises a running state acquisition module 201 for acquiring a running state of a lifting appliance, a swing amplitude acquisition module 202 for acquiring a swing amplitude of the lifting appliance if the running state of the lifting appliance is a swing state, wherein the swing state represents that the lifting appliance does horizontal motion, and an adjustment module 203 for adjusting a moment output by an anti-swing mechanism to enable the lifting appliance to swing within a preset amplitude interval if the swing amplitude is greater than a preset amplitude threshold value, wherein the anti-swing mechanism is used for controlling the swing of the lifting appliance, the anti-swing mechanism comprises a first anti-swing mechanism and a second anti-swing mechanism, the first anti-swing mechanism and the second anti-swing mechanism are arranged oppositely, the first anti-swing mechanism is connected with one side of the lifting appliance, which is far away from the first anti-swing mechanism, and the second anti-swing mechanism is connected with one side of the lifting appliance, which is far away from the second anti-swing mechanism.
The application provides a pair of anti-sway device of hoist, acquire module 201 through the running state, a running state for acquireing the hoist, swing amplitude acquires module 202, a swing amplitude for if the running state of hoist is the swing state, then acquire the swing amplitude of hoist, wherein, the swing state indicates that the hoist is horizontal motion, and adjustment module 203, a moment for adjusting anti-sway mechanism output if the swing amplitude is greater than preset amplitude threshold value, so that the hoist swings at preset amplitude interval, wherein, anti-sway mechanism is used for controlling the swing of hoist, anti-sway mechanism includes first anti-sway mechanism and second anti-sway mechanism, first anti-sway mechanism sets up with the second anti-sway mechanism is relative, first anti-sway mechanism is connected with the hoist on one side of keeping away from first anti-sway mechanism, second anti-sway mechanism is connected with the hoist on one side of keeping away from second anti-sway mechanism. The corresponding swing amplitude when the operating state of the lifting appliance is the swing state is obtained, and then the moment output by the anti-swing mechanism is adjusted according to the swing amplitude and the preset amplitude threshold value, so that the lifting appliance swings in the preset amplitude interval, the swing amplitude of the lifting appliance is effectively reduced, and the safety of operation and the loading and unloading efficiency are improved.
Fig. 7 is a schematic structural diagram of an anti-roll device of a spreader according to another exemplary embodiment of the present application. As shown in fig. 7, the adjusting module 203 may include: a swing direction acquiring unit 2031 configured to acquire a swing direction of the spreader; and an adjusting subunit 2032, configured to adjust the torque output by the anti-sway mechanism if the sway direction of the spreader satisfies a preset condition.
In an embodiment, the adjusting subunit 2032 can be specifically configured to: if the swing direction of the lifting appliance is the first direction, calculating to obtain a first amplitude compensation value according to the swing amplitude and a preset amplitude threshold value; the first direction represents that the lifting appliance moves from the first anti-shaking mechanism to the second anti-shaking mechanism; calculating to obtain the torque output by the first anti-shaking mechanism according to the first amplitude compensation value and the initial torque; the moment output by the first anti-shaking mechanism is used for driving the lifting appliance to move along the direction opposite to the first direction.
In an embodiment, the adjusting subunit 2032 can be specifically configured to: acquiring a first rope length of a first anti-sway mechanism connecting lifting appliance; calculating a rope length compensation value according to the first rope length; and calculating to obtain the moment output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial moment and the rope length compensation value.
In an embodiment, the adjusting subunit 2032 can be specifically configured to: acquiring a first running speed of a first anti-shaking motor; calculating to obtain a speed compensation value according to the first running speed; and calculating to obtain the moment output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial moment, the rope length compensation value and the speed compensation value.
In an embodiment, the adjusting subunit 2032 can be specifically configured to: if the swing direction of the lifting appliance is the second direction, calculating to obtain a second amplitude compensation value according to the swing amplitude and the swing amplitude threshold value; the second direction represents that the second anti-shaking mechanism moves towards the first anti-shaking mechanism; calculating to obtain the torque output by the second anti-shaking mechanism according to the second amplitude compensation value and the initial torque; and the moment output by the second anti-shaking mechanism is used for enabling the lifting appliance to move in the direction opposite to the second direction.
In one embodiment, as shown in fig. 7, the anti-sway device 20 of the spreader further comprises: a torsion angle obtaining unit 204, configured to obtain a torsion angle of the spreader if the running state of the spreader is a descending state; a torsion angle compensation value calculating unit 205, configured to calculate a torsion angle compensation value according to the torsion angle and a preset torsion angle threshold value if the torsion angle is greater than the preset torsion angle threshold value; and an output torque calculation unit 206, configured to calculate, according to the torsion angle compensation value, a torque output by the anti-sway mechanism, where the torque output by the anti-sway mechanism is used to suppress torsion of the spreader.
Fig. 8 is a schematic structural diagram of an anti-roll system of a spreader according to an exemplary embodiment of the present application. As shown in fig. 8, the anti-swing system 30 of the spreader includes: anti-sway mechanism 31 and controller 32, anti-sway mechanism sets up on the hoist, anti-sway mechanism 31 includes first anti-sway mechanism 311 and second anti-sway mechanism 312, first anti-sway mechanism 311 sets up with second anti-sway mechanism 312 relatively, first anti-sway mechanism 311 is connected with one side that first anti-sway mechanism 311 was kept away from to the hoist, second anti-sway mechanism 312 is connected with one side that second anti-sway 312 mechanism was kept away from to the hoist, anti-sway mechanism 31 is used for controlling the swing of hoist, controller 33 is connected with anti-sway mechanism 31, controller 33 is used for: acquiring the running state of a lifting appliance; if the running state of the lifting appliance is the swinging state, acquiring the swinging amplitude of the lifting appliance; and if the swing amplitude is larger than the preset amplitude threshold value, adjusting the torque output by the anti-swing mechanism 31 to enable the lifting appliance to swing within the preset amplitude interval.
According to the anti-swing system of the lifting appliance, the corresponding swing amplitude when the running state of the lifting appliance is the swing state is obtained firstly, and then the moment output by the anti-swing mechanism is adjusted according to the swing amplitude and the preset amplitude threshold value so that the lifting appliance swings within the preset amplitude interval, so that the swing amplitude of the lifting appliance is effectively reduced, and the safety and the loading and unloading efficiency of operation are improved.
Fig. 9 is a schematic structural diagram of an anti-roll system of a spreader according to another exemplary embodiment of the present application. As shown in fig. 9, the first anti-shake mechanism 311 includes a first sub-anti-shake mechanism 3111 and a second sub-anti-shake mechanism 3112. The second anti-shake mechanism 312 includes a third sub-anti-shake mechanism 3113 and a fourth sub-anti-shake mechanism 3114. First sub-anti-sway mechanism 3111 and fourth anti-sway mechanism 3114 symmetry set up, and second sub-anti-sway mechanism 3112 and third sub-anti-sway mechanism 3113 symmetry set up. Each sub-anti-swing mechanism comprises a steel wire rope, an anti-swing motor, an anti-swing winding drum and a guide pulley. One end of each steel wire rope is fixedly connected with one corner of the lifting appliance, and the other end of each steel wire rope is wound on the anti-swing winding drum through the guide pulley.
The Controller adopts Siemens 1516 high performance PLC (Programmable Logic Controller), which is a digital operation electronic system specially designed for application in industrial environment, and has high operation speed and communication rate. The drive adopts an ABB frequency converter (mainly used for controlling and adjusting the speed of a three-phase alternating current asynchronous motor) and adopts a closed-loop vector control mode. The anti-shaking motor is a three-in-one motor. The anti-shaking motor is driven by a frequency converter and is controlled by closed-loop vector moment. And a multi-turn absolute value encoder is arranged at the tail end of the anti-swing steel wire rope drum, and the rope outlet length of the anti-swing steel wire rope is detected in real time. The PLC is used for collecting key parameters such as lifting height, load weight, speed of a lifting mechanism, speed of a trolley mechanism, speed of a cart mechanism and the like. And monitoring state parameters such as the swing amplitude, the torsion angle and the like of the lifting appliance through a lifting appliance attitude detection system (ARCK sensor).
The anti-shaking and anti-twisting system controlled by the full closed-loop torque has the functions of intelligent detection and control, and can calculate and output given torque and speed of the anti-shaking frequency converter by acquiring and identifying working conditions (lifting load signals, lifting tool opening and closing lock signals, steel wire rope outlet speed, steel wire rope paying-off length, lifting, speed signals of a cart and a trolley and the like) through the PLC control system, acquire actual output torque of the frequency converter through a Profibus (process field bus) bus, enable the anti-shaking steel wire rope to achieve the optimal anti-shaking tension and realize real-time control of the anti-shaking and anti-twisting process.
The application provides a hoisting device, includes: the hoisting equipment body comprises a lifting appliance and the lifting appliance anti-swing system, wherein the lifting appliance anti-swing system is arranged on the lifting appliance.
The hoisting equipment body comprises a trolley platform, wherein an anti-shaking platform is arranged below the trolley platform and used for supporting an anti-shaking mechanism.
The application provides a hoisting equipment, through obtaining the swing range that corresponds when the running state of hoist is the swing state earlier, then according to swing range and preset range threshold value, the moment of adjustment anti-sway mechanism output makes the hoist swing in the range of presetting range to effectively reduce the hoist amplitude of oscillation, improve the security and the handling efficiency of operation.
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 10. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 10 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 10, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the anti-roll method of the spreader of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 10, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method of preventing sway of a spreader, comprising:
acquiring the running state of the lifting appliance;
if the operating state of the lifting appliance is a swinging state, acquiring the swinging amplitude of the lifting appliance; wherein the swing state represents that the spreader makes horizontal motion; and
if the swing amplitude is larger than a preset amplitude threshold value, adjusting the torque output by the anti-shaking mechanism to enable the lifting appliance to swing within a preset amplitude interval; wherein, the anti-sway mechanism is used for controlling the swing of hoist, the anti-sway mechanism include first anti-sway mechanism with the anti-sway mechanism of second, first anti-sway mechanism with the anti-sway mechanism of second sets up relatively, first anti-sway mechanism with the hoist is kept away from one side of first anti-sway mechanism is connected, the anti-sway mechanism of second with the hoist is kept away from one side of second anti-sway mechanism is connected.
2. The method for preventing the lifting appliance from shaking according to claim 1, wherein the adjusting the moment output by the shaking prevention mechanism comprises:
acquiring the swinging direction of the lifting appliance; and
and if the swinging direction of the lifting appliance meets the preset condition, adjusting the torque output by the anti-shaking mechanism.
3. The method for preventing the lifting appliance from swinging according to claim 2, wherein if the swinging direction of the lifting appliance meets a preset condition, the adjusting the torque output by the anti-swinging mechanism comprises:
if the swinging direction of the lifting appliance is a first direction, calculating to obtain a first amplitude compensation value according to the swinging amplitude and the preset amplitude threshold value; wherein the first direction represents movement of the spreader from the first anti-roll mechanism to the second anti-roll mechanism;
calculating to obtain the torque output by the first anti-shaking mechanism according to the first amplitude compensation value and the initial torque; the moment output by the first anti-shaking mechanism is used for driving the lifting appliance to move along the direction opposite to the first direction.
4. The method for preventing the lifting appliance from shaking according to claim 3, wherein the step of calculating the moment output by the first anti-shaking mechanism according to the first amplitude compensation value and the initial moment comprises:
acquiring a first rope length of the first anti-shaking mechanism connected with the lifting appliance;
calculating a rope length compensation value according to the first rope length; and
and calculating to obtain the moment output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial moment and the rope length compensation value.
5. The method for preventing the lifting appliance from swinging according to claim 4, wherein the first anti-swinging mechanism comprises a first anti-swinging motor, and wherein the calculating the torque output by the first anti-swinging mechanism according to the first amplitude compensation value, the initial torque and the rope length compensation value comprises:
acquiring a first running speed of the first anti-shaking motor;
calculating to obtain a speed compensation value according to the first running speed; and
and calculating to obtain the torque output by the first anti-shaking mechanism according to the first amplitude compensation value, the initial torque, the rope length compensation value and the speed compensation value.
6. The method for preventing the lifting appliance from swinging according to claim 2, wherein if the swinging direction of the lifting appliance meets a preset condition, the adjusting the torque output by the anti-swinging mechanism comprises:
if the swing direction of the lifting appliance is a second direction, calculating to obtain a second amplitude compensation value according to the swing amplitude and the swing amplitude threshold value; wherein the second direction represents movement from the second anti-roll mechanism to the first anti-roll mechanism;
calculating to obtain the torque output by the second anti-shaking mechanism according to the second amplitude compensation value and the initial torque; and the moment output by the second anti-shaking mechanism is used for driving the lifting appliance to move in the direction opposite to the second direction.
7. The anti-sway method of spreader according to claim 1, further comprising:
if the operating state of the lifting appliance is a descending state, acquiring a torsion angle of the lifting appliance;
if the torsion angle is larger than a preset torsion angle threshold value, calculating to obtain a torsion angle compensation value according to the torsion angle and the preset torsion angle threshold value; and
calculating to obtain the torque output by the anti-shaking mechanism according to the torsion angle compensation value; and the moment output by the anti-shaking mechanism is used for inhibiting the torsion of the lifting appliance.
8. An anti-sway device of a spreader, comprising:
the operating state acquisition module is used for acquiring the operating state of the lifting appliance;
the swing amplitude acquisition module is used for acquiring the swing amplitude of the lifting appliance if the running state of the lifting appliance is a swing state; wherein the swing state represents that the spreader makes horizontal motion; and
the adjusting module is used for adjusting the torque output by the anti-shaking mechanism to enable the lifting appliance to swing within a preset amplitude interval if the swing amplitude is larger than a preset amplitude threshold value; wherein, the anti-sway mechanism is used for controlling the swing of hoist, the anti-sway mechanism include first anti-sway mechanism with the anti-sway mechanism of second, first anti-sway mechanism with the anti-sway mechanism of second sets up relatively, first anti-sway mechanism with the hoist is kept away from one side of first anti-sway mechanism is connected, the anti-sway mechanism of second with the hoist is kept away from one side of second anti-sway mechanism is connected.
9. An anti-swing system of a lifting appliance is characterized by comprising
The anti-shaking mechanism is arranged on the lifting appliance and comprises a first anti-shaking mechanism and a second anti-shaking mechanism, the first anti-shaking mechanism and the second anti-shaking mechanism are oppositely arranged, the first anti-shaking mechanism is connected with one side, away from the lifting appliance, of the first anti-shaking mechanism, the second anti-shaking mechanism is connected with the other side, away from the lifting appliance, of the second anti-shaking mechanism, and the anti-shaking mechanism is used for controlling the swinging of the lifting appliance; and
a controller connected to the anti-sway mechanism, the controller being configured to:
acquiring the running state of the lifting appliance;
if the operating state of the lifting appliance is a swinging state, acquiring the swinging amplitude of the lifting appliance; wherein the swing state represents that the spreader makes horizontal motion; and
and if the swing amplitude is larger than a preset amplitude threshold value, adjusting the torque output by the anti-shaking mechanism to enable the lifting appliance to swing within a preset amplitude interval.
10. A hoisting device, comprising:
a hoisting device body comprising a spreader; and
the spreader anti-swing system of claim 9, disposed on the spreader.
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