CN113830674A

CN113830674A - Hook-stabilizing and goods-stabilizing control system and method

Info

Publication number: CN113830674A
Application number: CN202111197104.2A
Authority: CN
Inventors: 陆海波; 张合国; 周静宇; 杨朋举
Original assignee: Siebenhaar Shanghai Offshore Equipment Technology Co Ltd
Current assignee: Siebenhaar Shanghai Offshore Equipment Technology Co Ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2021-12-24

Abstract

The application provides a hook-stabilizing and goods-stabilizing control system and method, and relates to the technical field of electrical control systems. The system comprises: the device comprises a sliding locking mechanism, a sliding support, a sliding assembly, a sliding motor, a hook stabilizing winch, a hook stabilizing motor, a goods stabilizing winch, a goods stabilizing motor and a frequency converter; the device comprises a crane, a sliding locking mechanism, a sliding bracket, a lifting hook limiting area, a lifting hook limiting mechanism and a lifting hook limiting mechanism, wherein the sliding locking mechanism and the sliding bracket are arranged on a lifting arm of the crane in a sliding mode through a sliding assembly; the hook stabilizing winch and the hook stabilizing motor are fixedly arranged at the top of the suspension arm, and the cargo stabilizing winch and the cargo stabilizing motor are fixedly arranged at one end, close to the suspension arm, of the sliding locking mechanism; the hook stabilizing winch is also fixedly connected with the sliding locking structure through a steel rope; the sliding motor is a hoisting motor of the crane, the sliding assembly is electrically connected with the sliding motor, the stable hook winch is electrically connected with the stable hook motor, and the stable cargo winch is electrically connected with the stable cargo motor; the sliding motor, the hook stabilizing motor and the goods stabilizing motor are respectively connected with the frequency converter. Thereby realizing stable hook and stable goods in the hoisting process.

Description

Hook-stabilizing and goods-stabilizing control system and method

Technical Field

The invention relates to the technical field of electrical control systems, in particular to a hook-stabilizing and goods-stabilizing control system and method.

Background

The development and application of large and heavy hoisting equipment cannot be avoided from the development of an electrical control system of the equipment. Traditional hoist has the swing of different degrees at the hoisting object in-process, receives the influence of strong wind, rocks more acutely and unsafe, in addition, when hoist needs carry out aerial hoist and mount operation, and the amplitude of oscillation is uncontrolled, makes hoist and mount operation difficult heaviness, delays the operation progress.

Therefore, it is particularly important to develop an intelligent control system with the characteristics of safety, reliability, convenient operation, advanced technology, convenient maintenance, easy expansion, etc.

Disclosure of Invention

The invention aims to provide a stable hook and goods control system and method aiming at the defects in the prior art, so as to solve the problems that in the prior art, in the process of lifting goods by a crane, the goods are easily influenced by factors such as environment, weather and the like, the swing amplitude is large, and the lifting operation is difficult to operate and is unsafe.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

in a first aspect, an embodiment of the present application provides a stable hook and stable goods control system, which includes: the device comprises a sliding locking mechanism, a sliding support, a sliding assembly, a sliding motor, a hook stabilizing winch, a hook stabilizing motor, a goods stabilizing winch, a goods stabilizing motor and a frequency converter; the sliding locking mechanism and the sliding support are both arranged on a suspension arm of the crane in a sliding mode through the sliding assembly, and a hook limiting area is arranged on the sliding locking mechanism; the hook stabilizing winch and the hook stabilizing motor are fixedly arranged at the top of the suspension arm, and the cargo stabilizing winch and the cargo stabilizing motor are fixedly arranged at one end, close to the suspension arm, of the sliding locking mechanism; the hook stabilizing winch is also fixedly connected with the sliding locking structure through a steel rope;

the sliding motor is a hoisting motor of the crane, and the sliding assembly is electrically connected with the sliding motor so as to control the lifting of the lifting hook and the amplitude variation of the crane through the sliding motor, so that the lifting hook enters the lifting hook limiting area; the hook stabilizing winch is electrically connected with the hook stabilizing motor so as to control the hook stabilizing winch to pull the sliding locking mechanism to move along the extension direction of the suspension arm through a steel rope by the hook stabilizing motor; the goods stabilizing winch is electrically connected with the goods stabilizing motor so as to control the goods stabilizing winch to fix the goods on the lifting hook through a steel rope through the goods stabilizing motor;

the sliding motor, the hook stabilizing motor and the goods stabilizing motor are respectively connected with a frequency converter.

Optionally, the hook-stabilizing cargo-stabilizing control system further includes: the sliding rail is arranged on the bottom side of the extension direction of the suspension arm in parallel, and the sliding assembly is installed on the sliding rail so that the sliding locking mechanism and the sliding support move along the sliding rail.

Optionally, the hook-stabilizing cargo-stabilizing control system further includes: a first pulley block, wherein a first pulley in the first pulley block is fixedly arranged at one end, close to the lifting hook, of the lifting arm, and a second pulley in the first sliding group is fixedly arranged at one end, close to the lifting arm, of the sliding locking mechanism; and a steel rope on the hook-stabilizing winch is fixedly connected with the sliding locking structure through the second pulley and the first pulley in sequence.

Optionally, the hook-stabilizing cargo-stabilizing control system further includes: and two pulleys in the second sliding group are respectively arranged at two ends of the bottom of the bracket of the sliding bracket, and a steel rope of the goods stabilizing winch is connected with the pulleys in the second pulley block.

Optionally, the hook stabilizing cargo stabilizing system further comprises: first hydraulic system, second hydraulic system and hydraulic power unit, the locking mechanical system that slides includes: the sliding block, the two rotating shafts and the two locking pieces are arranged on the sliding block; the hydraulic pump station is arranged in the machine room;

the sliding block is arranged on one side close to the suspension arm and is connected with the first hydraulic system so as to be hydraulically driven by the first hydraulic system to slide along the extending direction of the hook limiting area;

the two rotating shafts are arranged on two sides of the hook limiting area, connected with the second hydraulic system and respectively connected with the two locking pieces, so that the rotating shafts are driven by the hydraulic pressure of the second hydraulic system to drive the locking pieces to rotate towards the hook limiting area, and the hooks entering the hook limiting area are locked;

the first hydraulic system and the second hydraulic system are both hydraulically connected with the hydraulic pump station.

Optionally, the first hydraulic system comprises: the hydraulic proportional valve is fixedly connected with the sliding block, the pressure sensor is arranged on a hydraulic oil pipe between the first oil cylinder and the hydraulic pump station, and the displacement sensor is arranged on the sliding block.

Optionally, the second hydraulic system comprises: second hydro-cylinder, hydraulic pressure proportional valve and the detection switch that targets in place, the second hydro-cylinder sets up the both sides in the spacing region of lifting hook, just, the second hydro-cylinder with two rotation axis fixed connection, the hydraulic pressure proportional valve sets up the second hydro-cylinder with on the hydraulic pressure oil pipe between the hydraulic power unit, the detection switch that targets in place sets up preset position department in the spacing region of lifting hook.

Optionally, a camera is further disposed on the top of the boom and/or the locking platform.

In a second aspect, an embodiment of the present application provides a hook-stabilizing cargo-stabilizing control method, where the method is applied to the hook-stabilizing cargo-stabilizing control system described in any one of the first aspects, and the method includes:

the cargo stabilizing winch is characterized in that a sliding motor is used for controlling a lifting hook to lift cargos, and a frequency converter is used for controlling a cargo stabilizing motor, so that the length of a steel rope is shortened for the cargo stabilizing winch, and the cargos are stabilized;

when the lifting hook moves upwards to a first preset position, a frequency converter is used for controlling a sliding locking mechanism at the top of the lifting arm to move downwards under the traction of the hook stabilizing motor, and meanwhile, the frequency converter is used for carrying out follow-up control on the goods stabilizing motor so that the length of a steel rope of the goods stabilizing winch is synchronously shortened;

when the sliding locking mechanism reaches a second preset position, stopping controlling the hook stabilizing motor to enable the sliding locking mechanism to stop on the suspension arm;

controlling the goods stabilizing motor through a frequency converter, and pulling the lifting hook into a lifting hook limiting area of the sliding locking mechanism;

the sliding locking mechanism and the lifting hook are controlled to synchronously move by the sliding motor and the hook stabilizing motor until the preset height is reached.

Optionally, the sliding locking mechanism and the lifting hook are controlled by the sliding motor and the hook stabilizing motor to move synchronously until a preset height is reached, and the method further includes:

controlling the sliding block to move away from the suspension arm through a first hydraulic system;

when the pressure of the first hydraulic system is detected to reach a preset pressure value, controlling the first hydraulic system to enable the sliding block to stop moving;

when the in-place detection switch is detected to be switched on, the locking piece is controlled to buckle the lifting hook through the second hydraulic system so as to fix the lifting hook.

Compared with the prior art, the method has the following beneficial effects:

the embodiment of the application provides a steady goods control system of steady hook, and this system includes: the device comprises a sliding locking mechanism, a sliding support, a sliding assembly, a sliding motor, a hook stabilizing winch, a hook stabilizing motor, a goods stabilizing winch, a goods stabilizing motor and a frequency converter; the device comprises a crane, a sliding locking mechanism, a sliding bracket, a lifting hook limiting area, a lifting hook limiting mechanism and a lifting hook limiting mechanism, wherein the sliding locking mechanism and the sliding bracket are arranged on a lifting arm of the crane in a sliding mode through a sliding assembly; the hook stabilizing winch and the hook stabilizing motor are fixedly arranged at the top of the suspension arm, and the cargo stabilizing winch and the cargo stabilizing motor are fixedly arranged at one end, close to the suspension arm, of the sliding locking mechanism; the hook stabilizing winch is also fixedly connected with the sliding locking structure through a steel rope; the sliding motor is a hoisting motor of the crane, the sliding assembly is electrically connected with the sliding motor, the stable hook winch is electrically connected with the stable hook motor, and the stable cargo winch is electrically connected with the stable cargo motor; the sliding motor, the hook stabilizing motor and the goods stabilizing motor are respectively connected with the frequency converter. The system controls each motor through the frequency converter, so that the control process of the system is more stable, the electric energy is saved, the stability of the control system is improved, the lifting hook and the sliding locking mechanism can be accurately controlled to move, the lifting operation is more convenient and time-saving, and the construction cost is greatly reduced; the locking of the sliding locking mechanism to the lifting hook is realized, the sliding locking mechanism, the lifting hook and the goods on the lifting hook are taken as a whole, synchronous motion is realized, the goods are kept stable, the swing amplitude of the goods in the lifting process is greatly reduced, the lifting operation is convenient, the lifting safety is ensured, the severe offshore working environment can be overcome, the wind sensitivity of lifting equipment can be reduced, the possibility of lifting operation can be realized all the year round, the economic benefit is greatly improved, and the installation risk is further reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a control schematic diagram of a hook-stabilizing cargo-stabilizing control system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a hook-stabilizing cargo-stabilizing control system according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of another hook-stabilizing cargo-stabilizing control system provided in the embodiment of the present application;

fig. 4 is a schematic diagram of a hook stabilizing and cargo stabilizing system in a hook stabilizing and cargo stabilizing control system according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a slip locking mechanism in a hook stabilizing and cargo stabilizing control system according to an embodiment of the present disclosure;

fig. 6 is a schematic flow chart of a hook-stabilizing cargo-stabilizing control method according to an embodiment of the present application;

fig. 7A is a schematic diagram of a movement track of a hook according to an embodiment of the present disclosure;

fig. 7B is a schematic diagram of a moving track of the sliding support according to the embodiment of the present application;

fig. 7C is a schematic diagram of a moving track of the hook approaching the sliding support according to the embodiment of the present application;

fig. 8 is a schematic flowchart of a method for locking a hook in a method for controlling stable hook and stable goods according to an embodiment of the present disclosure;

fig. 9 is a schematic view of a hook-stabilizing cargo-stabilizing control device according to an embodiment of the present application;

fig. 10 is a schematic diagram of a control device according to an embodiment of the present application.

Icon: 100-a boom; 110-a slide rail; 120-a first steel cord; 121-a second steel cord; 130-frequency converter; 140-a slip motor; 150-a control device; 200-stable hook winch; 210-stable hook motor; 300-a slip locking mechanism; 310-locking platform, 320-stabilizing winch; 321-a cargo stabilizing motor; 330-a slide block; 340-a first cylinder; 350-a second oil cylinder; 360-rotation axis; 370-a locking member; 380-a sliding support; 390-hook limit area; 410-a first pulley block; 411-a first pulley; 412-a second pulley; 420-a second pulley block; 500-a glide assembly; 600-a hydraulic pump station; 610-a first hydraulic system; 611-hydraulic proportional valve; 612-a pressure sensor; 613-displacement sensor; 620-a second hydraulic system; 621-in-place detection switch; 900-stable hook goods stabilizing control device; 901-slip motor control means; 902-cargo-stabilizing motor control means; 903-stable hook motor control device; 904-hydraulic system control; 1001-processor; 1002-memory.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the products of the present invention are usually put into use, the description is only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The crane can face severe weather conditions such as strong wind and the like under working environments such as the sea, so that goods can swing in the hoisting process, and even if no wind power influence exists, the hoisted goods can swing in different degrees during transverse movement. Violent cargo swing is not only unfavorable for lifting operation, but also influences lifting safety. In order to reduce the swing amplitude of the lifted goods in the lifting process, in the scheme of the application, a hook-stabilizing and goods-stabilizing control system is provided, and the system realizes stable lifting of the goods in the lifting process, reduces the swing of the lifted goods, safely and reliably performs lifting operation through a sliding locking mechanism 300, a sliding support 380, a sliding assembly 500, a sliding motor 140, a hook-stabilizing winch 200, a hook-stabilizing motor 210, a goods-stabilizing winch 320, a goods-stabilizing motor 321, a frequency converter 130 and the like, and the system is explained in detail below.

The embodiment of the application provides a stable-hook goods control system, fig. 1 is a control schematic diagram of the stable-hook goods control system provided by the embodiment of the application, and fig. 2 is a structural schematic diagram of the stable-hook goods control system provided by the embodiment of the application. As shown in fig. 1 and 2, the system includes: the device comprises a sliding locking mechanism 300, a sliding support 380, a sliding assembly 500, a sliding motor 140, a hook stabilizing winch 200, a hook stabilizing motor 210, a cargo stabilizing winch 320, a cargo stabilizing motor 321 and a frequency converter 130.

The sliding locking mechanism 300 and the sliding support 380 are both fixedly connected with the sliding assembly 500, the sliding assembly 500 can slide on the boom 100 of the crane, and the sliding locking mechanism 300 and the sliding support 380 are slidably arranged on the boom 100 of the crane through the sliding assembly 500 and can slide on the boom 100 along the direction of the boom 100. Be provided with the spacing region 390 of lifting hook on the locking mechanical system 300 that slides, this region is used for preventing the lifting hook, and when the lifting hook reachd this region, locking mechanical system 300 locking lifting hook slides for the lifting hook is a whole with locking mechanical system 300 that slides, and the joint movement reduces the goods on lifting hook and the lifting hook and rocks.

Steady hook winch 200 and steady hook motor 210 interconnect, steady hook motor 210 passes through signal line connection converter 130, and converter 130 accessible control is steady hook motor 210 controls the rotation of steady hook winch 200, and simultaneously, steady hook motor 210 passes through the switch board in the power cord connection electric room, and the switch board passes through the power cord and supplies power for steady hook motor 210. The hook-stabilizing winch 200 and the hook-stabilizing motor 210 are fixedly arranged at the top of the boom 100, meanwhile, the hook-stabilizing winch 200 is fixedly connected with the sliding locking mechanism 300 through the first steel rope 120, the length of the first steel rope 120 can be shortened/increased through the rotation of the hook-stabilizing winch 200, and the sliding locking mechanism 300 is pulled to move on the whole boom 100.

Steady goods winch 320 and steady goods motor 321 interconnect, steady goods motor 321 passes through signal line connection converter 130, and converter 130 accessible control is steady goods motor 321 controls the rotation of steady goods winch 320, and simultaneously, steady goods motor 321 passes through the switch board in the power cord connection electric room, and the switch board passes through the power cord and supplies power for steady goods motor 321. Steady goods winch 320 and steady goods motor 321 are fixed the setting jointly and are close to the one end of davit 100 on sliding locking mechanism, steady goods motor 321 is connected or is connected with fixed anchor clamps through the goods on second steel cable 121 and the lifting hook, the rotation through steady goods winch 320 can shorten/increase the length of second steel cable 121, real time control pulls the goods and moves to the inboard or the outside along locking platform 310 extending direction, and then fixes the goods on the lifting hook, reduce rocking of goods. Optionally, two sets of goods stabilizing winches 320 and goods stabilizing motors 321 are symmetrically arranged on two sides of the sliding locking mechanism, and the goods can be simultaneously fixed from two sides through the second steel rope 121, so that the balance is kept.

The sliding motor 140 is a hoisting motor of the crane, the sliding motor 140 is connected with the frequency converter 130 through a signal line, the sliding assembly 500 is electrically connected with the sliding motor 140, the frequency converter 130 can control the lifting of the lifting hook and the amplitude of the crane through controlling the sliding motor 140, meanwhile, the sliding motor 140 is connected with a power distribution cabinet in an electric room through a power line, and the power distribution cabinet supplies power for the sliding motor 140 through the power line. The change in the lifting height of the hook, and the amplitude of the crane (horizontal distance from the center of the hook to the center axis of rotation of the crane) can be controlled to precisely control the hook to enter the hook limit area 390.

Slip motor 140, steady hook motor 210 and steady goods motor 321 in this system pass through signal line connection converter 130 respectively, and converter 130 is arranged in the frequency conversion cabinet in electric room, and converter 130 still passes through the signal line and is connected with controlgear 150, and simultaneously, converter 130 passes through the switch board in the power cord connection electric room, and the switch board passes through the power cord and supplies power for converter 130. Relevant parameters and operating conditions of each motor are connected to a control device 150 in a control room through a PLC (Programmable Logic Controller) in a communication manner, and the control device 150 controls and monitors the motor in real time. Stepless speed regulation can be carried out on each motor through the frequency converter 130, so that the rotating speed of the motor is uniformly and smoothly changed, the lifting hook is stably controlled and accurately positioned, constant tension control is realized through the frequency converter 130, and the stability of the system is improved.

To sum up, the steady goods control system of steady hook that this application provided, control each motor through controlling the converter, the electric energy has been saved, and control system's stability has been improved, can control the lifting hook accurately, the locking mechanical system that slides removes, it fixes the lifting hook through the locking mechanical system that slides, steady hook, the function of steady goods has been realized, make the operation of lifting by crane convenient more save time, the safety of lifting by crane has been guaranteed, can overcome abominable marine operational environment with this, can reduce the wind sensitivity of the equipment of lifting by crane, it is possible to make the operation of can all be hoisted throughout the year, economic benefits is greatly improved, and the risk of installation has further been reduced.

On the basis of fig. 1, an embodiment of the present application further provides another hook-stabilizing cargo-stabilizing control system, and fig. 3 is a schematic structural diagram of the another hook-stabilizing cargo-stabilizing control system provided in the embodiment of the present application. As shown in fig. 3, the system further includes: a slide rail 110.

The slide rail 110 is composed of two parallel guide rails and is fixedly disposed at the bottom side of the extending direction of the boom 100 in parallel, the sliding assembly 500 is mounted on the slide rail 110, the sliding assembly 500 can slide on the slide rail 110, as can be seen from the above, the sliding locking mechanism 300 and the sliding support 380 are fixedly connected to the sliding assembly 500, so that the sliding locking mechanism 300 and the sliding support 380 can move along the slide rail 110, i.e. along the extending direction of the boom 100.

With continued reference to FIG. 3 above, the system further comprises: a first pulley block 410.

The first pulley block 410 comprises a first pulley 411 and a second pulley 412, wherein the first pulley 411 is fixedly arranged at one end of the boom 100 close to the hook, and the second pulley 412 is fixedly arranged at one end of the slip locking mechanism 300 close to the boom 100. The first steel rope 120 on the hook-stabilizing winch 200 passes through the second pulley 412 and the first pulley 411 in sequence and is fixedly connected with the sliding locking mechanism 300. Through the winding mode of the first steel rope 120, the movable pulley saves labor and reduces the pulling force borne by the first steel rope 120.

With continued reference to FIG. 3 above, the system further comprises: a second pulley block 420. The second sliding group 420 may include two pulleys, which are respectively disposed at two ends of the bottom of the sliding support 380, and the second steel rope 121 of the cargo-stabilizing winch 320 is connected to the cargo on the hook through the pulleys in the second pulley block 420. The bottom end of the sliding support 380 has a certain distance from the cargo-stabilizing winch 320 above the sliding support, and the two pulleys in the second sliding set 420 are fixed pulleys, so that the second steel rope 121 fixes the cargo more conveniently and safely by changing the direction of the second steel rope 121.

On the basis of fig. 1, an embodiment of the present application further provides a structure of a hook stabilizing and cargo stabilizing system and a sliding locking mechanism 300 in the hook stabilizing and cargo stabilizing control system, fig. 4 is a schematic view of the hook stabilizing and cargo stabilizing system in the hook stabilizing and cargo stabilizing control system provided by the embodiment of the present application, and fig. 5 is a schematic view of the sliding locking mechanism in the hook stabilizing and cargo stabilizing control system provided by the embodiment of the present application. As shown in fig. 4, the hook stabilizing cargo system includes: 610 a first hydraulic system, 620 a second hydraulic system and 600 hydraulic pump stations; as shown in fig. 5, the slide lock mechanism 300 includes: a slider 330, two rotation shafts 360, two locking members 370.

The hydraulic pump station 600 is arranged in a machine room, is connected with the control equipment 150 through a signal line, can be controlled by two sets of motors, is also connected with a power distribution cabinet in an electric room through a power line, supplies power to the power supply of the hydraulic pump station 600 through a corresponding power distribution cabinet, controls the hydraulic pump station 600 through electric signal control of the control equipment 150 in a control room, and correspondingly controls the hydraulic pump station 600. The first hydraulic system 610 and the second hydraulic system 620 are both hydraulically connected to the hydraulic pump station 600 through hydraulic oil pipes, and the hydraulic pump station 600 can change the flow, pressure, direction and the like of hydraulic oil in the hydraulic oil pipes, so as to provide the hydraulic oil to the first hydraulic system 610 and the second hydraulic system 620.

The slider 330 is arranged on one side close to the boom 100, and the first hydraulic system 610 is systematically connected with the slider 330. The first hydraulic system 610 can be controlled to hydraulically drive the sliding block 330 to slide on the locking platform 310 along the extension direction of the hook limiting region 390.

Two rotating shafts 360 are arranged at two sides of the hook limit area 390 and are positioned at the upper side of the sliding block 330 and fixedly connected with the sliding block 330, one ends of the two rotating shafts 360 are connected with the second hydraulic system 620, and the other ends of the two rotating shafts 360 are respectively fixedly connected with two locking pieces 370.

When the first hydraulic system 610 hydraulically drives the sliding block 330 to slide on the locking platform 310 along the extension direction of the hook limiting region 390, the two rotating shafts 360 and the two locking members 370 also move along with the movement of the sliding block 330.

When the sliding block 330 stops moving, the second hydraulic system 620 can hydraulically drive the two rotating shafts 360 to rotate and drive the locking members 370 to rotate towards the hook limiting region 390 until the two locking members 370 are horizontally opposite, and the distance between the two locking members 370 after the rotation is far less than the transverse width of the hook, so that the two locking members 370 cross the center of the hook to lock the hook entering the hook limiting region 390, and the hook and the whole sliding locking mechanism 300 are integrated. After the lifting task is completed, the second hydraulic system 620 can also hydraulically drive the two rotating shafts 360 to rotate in opposite directions, and drive the locking pieces 370 to rotate in opposite directions towards the hook limiting areas 390, so as to release the hooks. Illustratively, the locking member 370 is a rod or a bar-like strip.

With continued reference to FIG. 4 above, the first hydraulic system 610 includes: a first cylinder 340. The first oil cylinder 340 is fixedly connected with the sliding block 330, the first oil cylinder 340 is hydraulically connected with the hydraulic pump station 600 through a hydraulic oil pipe, the hydraulic pump station 600 converts hydraulic energy into mechanical energy by controlling hydraulic oil in the first oil cylinder 340 in the first hydraulic system 610, and then the sliding block 330 is hydraulically driven to slide on the locking platform 310 along the extending direction of the hook limiting area 390.

With continued reference to FIG. 4 above, the first hydraulic system 610 further includes: a hydraulic proportional valve 611, a pressure sensor 612 and a displacement sensor 613.

The hydraulic proportional valve 611 is arranged on a hydraulic oil pipe between the first oil cylinder 340 and the hydraulic pump station 600, the hydraulic proportional valve 611 is connected with the control equipment 150 through a signal line and is controlled by the control equipment 150, the hydraulic proportional valve 611 is also connected with a power distribution cabinet in the electric room through a power line, and the power distribution cabinet supplies power to the hydraulic proportional valve 611 through the power line. The control device 150 can control the hydraulic proportional valve 611, so as to remotely control the pressure, flow rate or flow direction of the hydraulic oil in the first oil cylinder 340 through the hydraulic oil pipe, thereby achieving precise control of the movement of the slider 330.

The pressure sensor 612 is arranged on a hydraulic oil pipe between the first oil cylinder 340 and the hydraulic pump station 600, the pressure sensor 612 is connected with the control equipment 150 through a signal line and can feed back a pressure signal to the control equipment 150, the pressure sensor 612 is also connected with a power distribution cabinet in an electric room through a power line, and the power distribution cabinet supplies power to the pressure sensor 612 through the power line. During the control process, it may be determined whether the sliding block 330 moves to a preset position according to the pressure value detected by the pressure sensor 612, and if the sliding block 330 moves to the preset position, the control device 150 may control the sliding block 330 to stop moving through the first hydraulic system 610. For example, when the detected pressure value detected by the pressure sensor 612 reaches a preset critical pressure value, it is determined that the sliding block 330 moves to a preset position corresponding to the critical pressure value, and the control device 150 controls the sliding block 330 to stop moving through the first hydraulic system 610. Besides, it can also determine whether the slider 330 has abnormal movement according to the pressure value detected by the pressure sensor 612, and if so, an alarm signal can be sent out. For example, if the pressure value detected by the pressure sensor 612 has changed and the slider 330 has not moved, it is determined that the slider 330 has moved abnormally.

The displacement sensor 613 is disposed on the slider 330, and the displacement sensor 613 is connected to the control device 150 through a control signal line, so as to feed back displacement information to the control device 150. In the control process, the control device 150 may determine the moving distance of the slider 330 according to the displacement information detected by the displacement sensor 613, determine whether the slider 330 moves to the preset position according to the pressure value detected by the pressure sensor 612 and the moving distance of the slider 330, and if the slider 330 moves to the preset position, the control device 150 may control the slider 330 to stop moving through the first hydraulic system 610. For example, when the detected pressure value detected by the pressure sensor 612 reaches a preset threshold pressure value, and the moving distance detected by the displacement sensor 613 reaches a preset distance threshold value, it may be determined that the slider 330 moves to the preset position, and the slider 330 is controlled to stop moving.

With continued reference to fig. 4 above, the second hydraulic system 620 includes: and a second cylinder 350. The second oil cylinder 350 is disposed on two sides of the hook limiting region 390, and the second oil cylinder 350 is fixedly connected to the two rotating shafts 360, that is, the second oil cylinder 350 spans the hook limiting region 390 and is fixedly connected to the two rotating shafts 360, and the second oil cylinder 350 is further hydraulically connected to the hydraulic pump station 600 through a hydraulic oil pipe. The hydraulic pump station 600 converts hydraulic energy into mechanical energy by controlling hydraulic oil in the second oil cylinder 350 in the second hydraulic system 620, and then hydraulically drives the two rotating shafts 360 to rotate.

With continued reference to fig. 4 above, the second hydraulic system 620 further includes: a hydraulic proportional valve 611 and an in-position detection switch 621. The hydraulic proportional valve 611 is arranged on a hydraulic oil pipe between the second oil cylinder 350 and the hydraulic pump station 600, the hydraulic proportional valve 611 is further connected with the control device 150 through a signal line and is controlled by the control device 150, the hydraulic proportional valve 611 is further connected with a power distribution cabinet in the electric room through a power line, and the power distribution cabinet supplies power to the hydraulic proportional valve 611 through the power line. After the sliding of the slider 330 is stopped, the control device 150 may further control the rotation of the rotation shaft 360 by controlling the hydraulic proportional valve 611, thereby remotely controlling the pressure, flow rate or direction of the oil flow in the second cylinder 350.

The in-place detection switch 621 is disposed at a preset position in the hook limiting area 390, and the in-place detection switch 621 is further connected to the control device 150 through a control signal line, and can feed back an in-place detection signal to the control device 150 and can also be controlled by the control device 150. When the hook reaches the position of the in-place detection switch 621, the in-place detection switch 621 is turned on, and the second hydraulic system 620 is triggered to drive the rotating shaft 360 to rotate and drive the locking member 370 to rotate, so that the hook is locked.

In conclusion, the steady goods control system of surely hooking that this application provided, through slider, rotation axis and the locking piece among first hydraulic system, the control of second hydraulic system slip locking mechanical system, accomplish the accurate locking to the lifting hook. The system can set main technical parameters of each device through the control device, can display the running state of each device on the display device (such as a display screen) of a control room in real time, and monitors each technical index of each device in real time, and meanwhile, the operability, maintainability and expandability of the system are greatly improved, the data transmission is more efficient, the anti-interference capability is stronger, and the control is more centralized; in addition, after the locking of the lifting hook is completed, the hydraulic system can further precisely adjust the extending position of the lifting hook on the locking platform towards the inner side or the outer side, and further adjust the precise position of the goods to be placed. Thereby the maneuverability of system control is improved, the control is more accurate, the function of stably hooking and stabilizing goods is realized, and the crane can also stably, efficiently and accurately operate under the operation of strong wind.

Furthermore, in the hook-stabilizing and goods-stabilizing control system, the top of the suspension arm and/or the locking platform are/is also provided with a camera, so that the whole control process can be monitored in real time in a control room through the camera, and the operation and the control are convenient. Alternatively, a camera may be disposed on the top of the boom 100 and may also be disposed on the locking platform 310.

The embodiment of the application also provides a control method based on the hook-stabilizing cargo-stabilizing control system. The concrete implementation process of the hook-stabilizing cargo-stabilizing control method is described in the following with reference to the accompanying drawings. The hook-stabilizing and goods-stabilizing control method provided by the embodiment of the application is executed by control equipment, and the control equipment can be arranged on a control console in a control room. The specific product form of the control device can be a device with a function of calculating and processing large-scale project control data, such as a desktop computer and a notebook computer. Fig. 6 is a schematic flow diagram of a method for controlling stable hook and stable goods provided by an embodiment of the present application, fig. 7A is a schematic diagram of a movement trajectory of a lifting hook provided by the embodiment of the present application, fig. 7B is a schematic diagram of a movement trajectory of a sliding support provided by the embodiment of the present application, and fig. 7C is a schematic diagram of a movement trajectory of a lifting hook close to a sliding support provided by the embodiment of the present application.

As shown in fig. 6, the hook-stabilizing cargo-stabilizing control method includes:

s101, controlling a lifting hook to lift the goods through a sliding motor, and controlling a goods stabilizing motor through a frequency converter to enable a goods stabilizing winch to shorten the length of a steel rope so as to stabilize the goods.

Before the goods are hoisted, the goods are fixedly connected by using a steel rope in a goods stabilizing winch. As shown in fig. 7A, the hook and the load on the hook can be moved in the vertical direction. When the sliding motor controls the lifting hook to lift the goods, the length of the original steel rope is not enough to stabilize the goods along with the increase of the height of the goods. Therefore, the goods stabilizing winch needs to be controlled in real time according to the hoisting height of the goods to shorten the length of the steel rope, so that the goods are always in a stable state.

S102, when the lifting hook moves upwards to a first preset position, the frequency converter controls the sliding locking mechanism at the top of the suspension arm to move downwards under the traction of the stable hook winch, and meanwhile, the frequency converter performs following control on the stable goods motor to enable the stable goods winch to synchronously shorten the length of the steel rope.

The first preset position can be determined according to the amplitude of the crane or the inclination angle of the suspension arm and the vertical distance between the limiting area of the lifting hook in the sliding locking mechanism and the suspension arm, and the lifting hook can be locked at the first preset position.

As shown in fig. 7B, the sliding locking mechanism can move along the extending direction of the boom, when the sliding locking mechanism is at the top of the boom, the frequency converter controls the sliding locking mechanism at the top of the boom to move downwards under the traction of the hook-stabilizing winch; when the sliding locking mechanism is arranged at the bottom of the suspension arm, the frequency converter controls the sliding locking mechanism at the bottom of the suspension arm to move upwards under the traction of the hook-stabilizing winch.

In the moving process of the sliding locking mechanism, the frequency converter performs following control on the goods stabilizing motor, and the length of a steel rope of the goods stabilizing winch is controlled along with the position of the sliding locking mechanism, so that goods are kept stable.

And S103, when the sliding locking mechanism reaches a second preset position, stopping controlling the hook stabilizing motor to enable the sliding locking mechanism to stop on the suspension arm.

The second preset position can be determined according to the amplitude of the crane or the inclination angle of the suspension arm and the vertical distance between the limiting area of the lifting hook in the sliding locking mechanism and the suspension arm, the second preset position is positioned on the moving track of the sliding locking mechanism parallel to the suspension arm, and the sliding locking mechanism can complete the locking of the lifting hook at the first preset position.

And S104, controlling a goods stabilizing motor through a frequency converter, and pulling the lifting hook into a lifting hook limiting area of the sliding locking mechanism.

The lifting hook moves up to a first preset position, and after the locking mechanism reaches a second preset position, the goods stabilizing motor is controlled through the frequency converter, and meanwhile, the amplitude change of the crane can also be controlled, and the lifting hook and the crane act together, and as shown in fig. 7C, the lifting hook is pulled into a lifting hook limiting area of the sliding locking mechanism.

After the lifting hook enters the lifting hook limiting area of the sliding locking mechanism, the sliding locking mechanism completes locking operation on the lifting hook, so that the sliding locking mechanism and the lifting hook are integrated.

And S105, controlling the synchronous motion of the sliding locking mechanism and the lifting hook by the sliding motor and the hook stabilizing motor until the preset height is reached.

After the sliding locking mechanism locks the lifting hook, the sliding motor is synchronously controlled through the frequency converter to move the lifting hook and the hook stabilizing motor to move the sliding locking mechanism, so that the sliding locking mechanism and the lifting hook synchronously move until goods on the lifting hook reach a preset height, and the hook stabilizing and goods stabilizing control is completed.

In summary, according to the hook-stabilizing and goods-stabilizing control method provided by the application, the frequency converter is used for controlling the sliding motor, the hook-stabilizing motor and the goods-stabilizing motor, so that the sliding locking mechanism and the lifting hook are controlled to move to the preset position, the locking operation of the sliding locking mechanism on the lifting hook is completed, and the sliding locking mechanism and the lifting hook synchronously move. Thereby realize that the in-process swing of goods on lifting hook and the lifting hook at the removal is less, guaranteed the safety of the process of lifting by crane, simultaneously, through converter control motor, the simple operation, the system operation is stable.

On the basis of fig. 6, an embodiment of the present application further provides a method for locking a hook in a method for controlling stable hook and goods, and fig. 8 is a schematic flow chart of the method for locking the hook in the method for controlling stable hook and goods provided by the embodiment of the present application, and as shown in fig. 8, before a slip locking mechanism and the hook are controlled by a slip motor and a stable hook motor to synchronously move until a preset height is reached, the method further includes:

s201, controlling the sliding block to move away from the suspension arm through a first hydraulic system.

The sliding block is controlled to move away from the suspension arm through a first oil tank in the first hydraulic system, and along with the movement of the sliding block, a rotating shaft carried on the sliding block and a locking piece connected with the rotating shaft move.

S202, when the pressure of the first hydraulic system is detected to reach a preset pressure value, the first hydraulic system is controlled to enable the sliding block to stop moving.

For example, the preset pressure value is set by actual parameters of each time of stable hook and goods control when the control slide moves to the limit area of the hook. And after the sliding block stops moving, the in-place detection switch is controlled to be switched on at the same time.

And S203, when the in-place detection switch is detected to be switched on, controlling the locking piece to buckle the hook through the second hydraulic system so as to fix the hook.

When the switch-on of the in-place detection switch is detected, the rotating shaft is controlled to rotate through a second oil cylinder in the second hydraulic system, the locking piece is driven to rotate, and then the lifting hook is buckled, so that the lifting hook and the sliding locking mechanism are integrated.

In summary, the method for locking the lifting hook in the method for controlling stable hook and stable goods provided by the embodiment of the application completes locking of the lifting hook by controlling the first hydraulic system and the second hydraulic system. Thereby enabling the hook to move synchronously with the slip lock mechanism.

The following describes a device, an apparatus, a storage medium, and the like for executing the hook-stabilizing cargo-stabilizing control provided by the present application, and specific implementation procedures and technical effects thereof are referred to above and will not be described again below.

Fig. 9 is a schematic diagram of a hook-stabilizing cargo-stabilizing control device according to an embodiment of the present application, and as shown in fig. 9, the hook-stabilizing cargo-stabilizing control device 900 may include:

the sliding motor control device 901 is used for controlling the lifting hook to lift the goods by the sliding motor; the synchronous movement of the sliding locking mechanism and the lifting hook is controlled by the sliding motor and the hook stabilizing motor until the preset height is reached.

A goods stabilizing motor control device 902, which is used for enabling the goods stabilizing winch to shorten the length of the steel rope so as to stabilize the goods; the frequency converter is used for carrying out follow-up control on the goods stabilizing motor so that the goods stabilizing winch can synchronously shorten the length of the steel rope; controlling a goods stabilizing motor through a frequency converter, and pulling a lifting hook into a lifting hook limiting area of the sliding locking mechanism;

a hook stabilizing motor control device 903, which is used for controlling a sliding locking mechanism at the top of the suspension arm to move downwards under the traction of the hook stabilizing motor through a frequency converter when the lifting hook moves upwards to a first preset position; when the sliding locking mechanism reaches a second preset position, stopping controlling the hook stabilizing motor to enable the sliding locking mechanism to stop on the suspension arm; the synchronous movement of the sliding locking mechanism and the lifting hook is controlled by the sliding motor and the hook stabilizing motor until the preset height is reached.

A hydraulic system control device 904 for controlling the slider to move away from the boom by means of a first hydraulic system; when the pressure of the first hydraulic system is detected to reach a preset pressure value, controlling the first hydraulic system to enable the sliding block to stop moving; when the in-place detection switch is detected to be switched on, the locking piece is controlled to buckle the lifting hook through the second hydraulic system so as to fix the lifting hook.

These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

Fig. 10 is a schematic diagram of a control device provided in an embodiment of the present application, where the control device may be integrated into a device or a chip of the device, and the device may be a device having a function of calculating and processing large-scale engineering control data.

The control device 150 includes: a processor 1001 and a memory 1002. The processor 1001 and the memory 1002 are connected by a bus.

The memory 1002 is used for storing programs, and the processor 1001 calls the programs stored in the memory 1002 to execute the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.

Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A steady hook steady goods control system which characterized in that includes: the device comprises a sliding locking mechanism, a sliding support, a sliding assembly, a sliding motor, a hook stabilizing winch, a hook stabilizing motor, a goods stabilizing winch, a goods stabilizing motor and a frequency converter; the sliding locking mechanism and the sliding support are both arranged on a suspension arm of the crane in a sliding mode through the sliding assembly, and a hook limiting area is arranged on the sliding locking mechanism; the hook stabilizing winch and the hook stabilizing motor are fixedly arranged at the top of the suspension arm, and the cargo stabilizing winch and the cargo stabilizing motor are fixedly arranged at one end, close to the suspension arm, of the sliding locking mechanism; the hook stabilizing winch is also fixedly connected with the sliding locking mechanism through a steel rope;

2. The system of claim 1, wherein the hook stabilizing cargo control system further comprises: the sliding rail is arranged on the bottom side of the extension direction of the suspension arm in parallel, and the sliding assembly is installed on the sliding rail so that the sliding locking mechanism and the sliding support move along the sliding rail.

3. The system of claim 1, wherein the hook stabilizing cargo control system further comprises: a first pulley block, wherein a first pulley in the first pulley block is fixedly arranged at one end, close to the lifting hook, of the lifting arm, and a second pulley in the first pulley block is fixedly arranged at one end, close to the lifting arm, of the sliding locking mechanism; and a steel rope on the hook-stabilizing winch is fixedly connected with the sliding locking mechanism through the second pulley and the first pulley in sequence.

4. The system of claim 1, wherein the hook stabilizing cargo control system further comprises: and two pulleys in the second pulley block are respectively arranged at two ends of the bottom of the support of the sliding support, and a steel rope of the goods stabilizing winch is connected with the pulleys in the second pulley block.

5. The system of claim 1, wherein the hook stabilizing cargo securing system further comprises: first hydraulic system, second hydraulic system and hydraulic power unit, the locking mechanical system that slides includes: the sliding block, the two rotating shafts and the two locking pieces are arranged on the sliding block; the hydraulic pump station is arranged in the machine room;

6. The system of claim 5, wherein the first hydraulic system comprises: the hydraulic proportional valve is fixedly connected with the sliding block, the pressure sensor is arranged on a hydraulic oil pipe between the first oil cylinder and the hydraulic pump station, and the displacement sensor is arranged on the sliding block.

7. The system of claim 5, wherein the second hydraulic system comprises: second hydro-cylinder, hydraulic pressure proportional valve and the detection switch that targets in place, the second hydro-cylinder sets up the both sides in the spacing region of lifting hook, just, the second hydro-cylinder with two rotation axis fixed connection, the hydraulic pressure proportional valve sets up the second hydro-cylinder with on the hydraulic pressure oil pipe between the hydraulic power unit, the detection switch that targets in place sets up preset position department in the spacing region of lifting hook.

8. The system of claim 1, wherein a camera is further disposed on the top of the boom and/or the locking platform.

9. A hook stability and cargo stability control method, which is applied to the hook stability and cargo stability control system of any one of the claims 5 to 7, the method comprising:

10. The method of claim 9, wherein the slip locking mechanism and the hook are controlled by the slip motor and the hook stabilizing motor to move synchronously until a preset height is reached, and the method further comprises: