CN114906737A - Lifting hook posture adjusting system and method and tower crane - Google Patents
Lifting hook posture adjusting system and method and tower crane Download PDFInfo
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- CN114906737A CN114906737A CN202210845046.8A CN202210845046A CN114906737A CN 114906737 A CN114906737 A CN 114906737A CN 202210845046 A CN202210845046 A CN 202210845046A CN 114906737 A CN114906737 A CN 114906737A
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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
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions 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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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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- Load-Engaging Elements For Cranes (AREA)
Abstract
The embodiment of the application provides a lifting hook posture adjusting system, a lifting hook posture adjusting method and a tower crane, and the system comprises: the device comprises a tilt angle sensor, a control unit, an adjusting unit and a power supply unit; the inclination angle sensor is arranged on a hook handle of the lifting hook and used for sending the measured inclination angle of the lifting hook to the control unit; the control unit is used for presetting an inclination angle threshold value, comparing the inclination angle of the lifting hook with the inclination angle threshold value, determining whether the posture of the lifting hook is in a normal state or not, and sending a corresponding control instruction to the adjusting unit according to a comparison result; the adjusting unit comprises a fan and/or an air injection device and is used for responding to a control instruction and blowing air and/or injecting air to the hook handle according to the inclination angle of the hook so as to adjust the posture of the hook; and the power supply unit is respectively connected with the control unit and the adjusting unit and is used for providing electric energy required by the control unit and the adjusting unit. The posture of lifting hook can be adjusted in real time, and safe operation of tower crane is guaranteed.
Description
Technical Field
The application belongs to the field of engineering machinery, and particularly relates to a lifting hook posture adjusting system and method and a tower crane.
Background
The crane is a multi-action hoisting machine for vertically lifting and horizontally carrying heavy objects within a certain range, the crane bears lifting load through an arm support and a steel wire rope and drives the load to do vertical or horizontal motion, the direction of the steel wire rope is changed through a pulley on the top end of the arm support by the crane, so that the steel wire rope can lift the goods upwards, and if the goods to be lifted are not positioned under the pulley in the lifting process of the crane, the steel wire rope lifting the goods forms an included angle with a vertical line penetrating through the pulley, the goods can not be lifted vertically, and then the goods drive the steel wire rope to swing back and forth, so that potential safety hazards are caused, and even major accidents are caused.
Also study in the aspect of the lifting hook swing control at present by scholars, usually can handle the lifting hook as simple pendulum, and the angle that the lifting hook sways is measured through measuring the contained angle of wire rope and vertical plane. From the perspective of theoretical research, the hook can be treated as a simple pendulum for simplicity of analysis. However, the actual steel wire rope is flexible and can deform under the action of wind load, and the lifting hook is processed into a simple pendulum to neglect the rotation of the lifting hook around the steel wire rope, so that the swinging amplitude of the lifting hook cannot be accurately reflected by measuring the included angle between the steel wire rope and a vertical plane.
Disclosure of Invention
The invention provides a lifting hook posture adjusting system and method and a tower crane, and aims to solve the problem that the posture of a lifting hook of the crane cannot be adjusted in real time in the prior art.
According to an embodiment of the present application, there is provided a hook attitude adjustment system, including: the device comprises a tilt angle sensor, a control unit, an adjusting unit and a power supply unit;
the inclination angle sensor is arranged on a hook handle of the lifting hook and used for sending the measured inclination angle of the lifting hook to the control unit;
the control unit is used for presetting an inclination angle threshold value, comparing the inclination angle of the lifting hook with the inclination angle threshold value, determining whether the posture of the lifting hook is in a normal state or not, and sending a corresponding control instruction to the adjusting unit according to a comparison result;
the adjusting unit comprises a fan and/or an air injection device and is used for responding to the control instruction and blowing air and/or injecting air to the hook handle according to the inclination angle of the lifting hook so as to adjust the posture of the lifting hook;
and the power supply unit is respectively connected with the control unit and the adjusting unit and is used for providing electric energy required by the control unit and the adjusting unit.
In some embodiments, the adjusting unit includes four fans, each fan is located on a first vertical plate parallel to the hook handle, the first vertical plates where the four fans are located are connected to each other to form a rectangular enclosure structure, and the hook handle is located at the center of the rectangular enclosure structure.
In some embodiments, the adjusting unit further comprises an air injection device, the air injection device comprises four nozzles and an air storage bottle connected with the nozzles, and the air injection directions of the four nozzles are in one-to-one correspondence with the directions of the four first vertical plates respectively.
In some embodiments, the air injection device is located above the fan, the first vertical plate is provided with an air injection device support frame, the air injection device support frame comprises four second vertical plates, the second vertical plates are provided with support transverse plates, and the nozzles are arranged on the support transverse plates.
In some embodiments, the tilt sensor comprises a 6-axis sensor for monitoring acceleration and angular displacement of the hoist handle in the X, Y and Z axes.
In some embodiments, the power supply unit includes the master gear, the master gear with the pulley fixed connection of lifting hook, the master gear passes through the transmission and crosses the bridge gear and links to each other with the acceleration rate generator, the output of acceleration rate generator links to each other with three-phase full-bridge rectifier filter's input, three-phase full-bridge rectifier filter's output links to each other with energy storage module, energy storage module's output links to each other with two at least way power shunting module, each way power shunting module with the control unit with the adjustment unit links to each other respectively.
In some embodiments, each of the power splitting modules includes a DC-DC power module, and the DC-DC power module is configured to convert the voltage output by the energy storage module into a preset voltage value.
According to an embodiment of the present application, there is provided a method for adjusting a posture of a hook, using the above system for adjusting a posture of a hook, including:
acquiring a lifting hook inclination angle of an inclination angle sensor arranged on a hook handle of a lifting hook, and sending the measured lifting hook inclination angle to a control unit;
comparing the inclination angle of the lifting hook with a preset inclination angle threshold, determining whether the posture of the lifting hook is in a normal state according to a comparison result, and sending a corresponding control instruction to the adjusting unit according to the comparison result;
and responding to the control instruction, and blowing and/or spraying air to the hook handle according to the inclination angle of the hook so as to adjust the posture of the hook.
In some embodiments, the comparing the inclination angle of the hook with a preset inclination threshold and determining whether the posture of the hook is in a normal state according to the comparison result includes:
carrying out difference or differential operation on the inclination angle of the lifting hook;
comparing the operation result with the inclination angle threshold value,
if the operation result is smaller than or equal to the inclination angle threshold, the posture of the lifting hook is in a normal state;
and if the operation result is larger than the inclination angle threshold value, the posture of the lifting hook is in an abnormal state.
According to the embodiment of the application, the tower crane comprises the lifting hook posture adjusting system.
By adopting the lifting hook attitude adjusting system and method and the tower crane in the embodiment of the application, the measured lifting hook inclination angle is sent to the control unit through the inclination angle sensor; the inclination angle threshold is preset through the control unit, the inclination angle of the lifting hook is compared with the inclination angle threshold, whether the posture of the lifting hook is in a normal state or not is determined, and a corresponding control instruction is sent to the adjusting unit; responding to a control instruction through an adjusting unit, and blowing or spraying air to a hook handle of the lifting hook according to the inclination angle of the lifting hook so as to adjust the posture of the lifting hook; the power supply unit is respectively connected with the control unit and the adjusting unit to provide electric energy required by the control unit and the adjusting unit. Therefore, the state of the lifting hook can be monitored in real time, and a foundation is provided for the later research and development of the anti-swing technology of the tower crane lifting hook; whether the hoisted object is hoisted stably can be determined according to the state of the lifting hook, and a tower crane operator can adjust the moving speed and the hoisting speed of the hoisted object according to the state of the lifting hook.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of a view-oriented hook attitude adjustment system provided in one embodiment;
FIG. 2 is a schematic view of another view-oriented hook attitude adjustment system provided in one embodiment;
FIG. 3 is a flow diagram of a method of hook attitude adjustment provided in one embodiment;
FIG. 4 is another flow diagram of a method of hook attitude adjustment provided in one embodiment;
FIG. 5 is a block diagram of a computer device in one embodiment;
description of reference numerals: 01. a hook; 21. a fan; 22. a first vertical plate; 30. an air injection device; 31. a nozzle; 32. a gas ejector tube; 33. a gas cylinder.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of the present invention and are described in detail below with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
In some embodiments, as shown in fig. 1 and 2, in some embodiments, a hook attitude adjustment system may include: the device comprises a tilt angle sensor, a control unit, an adjusting unit and a power supply unit;
the inclination angle sensor is arranged on a hook handle of the lifting hook 01 and used for sending the measured inclination angle of the lifting hook 01 to the control unit;
the control unit is used for presetting an inclination angle threshold, comparing the inclination angle of the lifting hook with the inclination angle threshold, determining whether the posture of the lifting hook 01 is in a normal state or not according to the comparison result, and sending a corresponding control instruction to the adjusting unit according to the comparison result;
the adjusting unit comprises a fan 21 and/or an air injection device 30 and is used for responding to a control instruction and blowing air and/or injecting air to the handle of the lifting hook 01 according to the inclination angle of the lifting hook so as to adjust the posture of the lifting hook 01;
and the power supply unit is respectively connected with the control unit and the adjusting unit and is used for providing electric energy required by the control unit and the adjusting unit.
In one application scenario, the hook 01 device comprises a hook head and a hook handle, and the hook handle of the hook 01 is rotatably assembled on a cross beam of the hook 01.
Optionally, the adjusting unit includes four fans 21, each fan 21 is located on a first vertical plate 22 parallel to the hook handle, the first vertical plates 22 where the four fans 21 are located are connected to each other to form a rectangular enclosure structure, and the hook handle is located at the center of the rectangular enclosure structure.
Further, the adjusting unit further comprises an air injection device 30, the air injection device 30 comprises four nozzles 31 and an air storage bottle 33 connected with the nozzles 31, and the air injection directions of the four nozzles 31 are in one-to-one correspondence with the directions of the four first vertical plates 22.
The gas bomb 33 is connected to the nozzle 31 through the gas injection pipe 32, and supplies high-pressure gas to the nozzle 31.
The air injection device 30 is located above the fan 21, the air injection device 30 support frame is arranged on the first vertical plate 22, the air injection device 30 support frame comprises four second vertical plates, a support transverse plate is arranged on each second vertical plate, and the nozzles 31 are arranged on the support transverse plate.
The second riser also forms the rectangle and encloses fender structure, and the rectangle that first riser 22 formed encloses fender structure and the rectangle that the second riser formed encloses fender structure and communicates with each other, and the incomplete concatenation has the interval between support diaphragm and the second riser.
The fan 21 is an electric turbine, and generates thrust and tension by rotating forward and backward at a high speed. The air injection device 30 can control the air valve and the horn nozzle 31 which are arranged in 4 directions in the center to generate force for offsetting swing, the force is generated by calculating sensing parameters and a calculation model, control parameters are output to adjust the correspondingly generated force, the posture of the lifting hook 01 is corrected in real time, and stability enhancement and accurate positioning of the lifting hook 01 are realized. The quasi-parameters are control parameters of a stability augmentation target consisting of 3 power assemblies provided by the tower crane, whether actual movement is within a preset range value or not is judged, if yes, the device is not needed to participate in correction, theoretically, the device does not need to be long in working time and accurate in positioning, and can be used for hoisting operation requiring high precision.
In some embodiments, the tilt sensor comprises a 6-axis sensor, the 6-axis sensor for monitoring acceleration and angular displacement of the hook 01X-axis, Y-axis, and Z-axis.
The inclination angle sensor is divided into an X-axis inclination angle sensor, a Y-axis inclination angle sensor and a Z-axis inclination angle sensor, the inclination angles of the lifting hook 01 in three axes in the three-dimensional direction are respectively monitored, and the type of the 6-axis sensor can be MPU 6050. The protection grade of tilt sensor's shell is IP65, can dustproof waterproof anticollision, avoids inside electronic components impaired.
In some embodiments, the power supply unit comprises a main gear, the main gear is fixedly connected with a pulley of the lifting hook, the main gear is connected with the speed-increasing generator through a transmission carrier gear, an output end of the speed-increasing generator is connected with an input end of a three-phase full-bridge rectifier filter, an output end of the three-phase full-bridge rectifier filter is connected with the energy storage module, an output end of the energy storage module is connected with at least two power supply shunting modules, and each power supply shunting module is respectively connected with the control unit and the adjusting unit.
Each power supply shunting module comprises a DC-DC power supply module, and the DC-DC power supply module is used for converting the voltage output by the energy storage module into a preset voltage value.
The power supply unit further comprises a charge-discharge protection module, the charge-discharge protection module is connected between the three-phase full-bridge rectifier filter and the energy storage module, and the at least two power shunt modules are connected to the output end of the charge-discharge protection module in parallel.
The DC-DC power supply module is used for converting the voltage output by the energy storage module into a preset voltage value.
Wherein, the lithium cell group that can charge and discharge perhaps cooperates the energy storage together with super capacitor, can realize the effect of storage and buffer current.
The power supply unit further comprises a charge-discharge protection module, the charge-discharge protection module is connected between the three-phase full-bridge rectifier filter and the energy storage module, and the at least two paths of power shunt modules are connected in parallel at the output end of the charge-discharge protection module.
The charge and discharge protection module can be an existing charge and discharge protection circuit, and circuit breakdown caused by charge and discharge of a rear energy storage module is avoided.
The main gear is arranged on the outer side of the pulley on the lifting hook, the outer diameter of the main gear is close to that of the pulley, the main gear is fixedly connected with the pulley, when the pulley rotates, the main gear is driven to rotate together, the main gear is connected to the speed-increasing generator through the transmission carrier gear, the generator is driven to rotate through the rotation of the wheel disc to generate three-phase alternating-current low voltage with the voltage of 0-50v, the three-phase full-bridge rectification and filtering are performed to obtain the direct-current 50v voltage, and then the power supply is converted to form isolated power supply voltages such as 50v, 24v, 12v, 5v and 3.3v, a lithium battery pack capable of being charged and discharged is connected behind the power supply or is matched with a super capacitor to store energy, and the effects of storing and buffering current can be achieved. These voltages are used by circuits such as control units and regulating units.
As shown in fig. 3 and 4, a method for adjusting the attitude of a hook includes:
step 101, acquiring a hook inclination angle of an inclination angle sensor arranged on a hook handle of a hook, and sending the measured hook inclination angle to a control unit;
wherein, install inclination sensor on the lifting hook for gather lifting hook inclination signal. The inclination angle sensor can adopt a wireless inclination angle sensor, the collected lifting hook inclination angle signal is directly output in a wireless transmission mode, the use is convenient, and the complex operation caused by wiring is avoided.
102, comparing the inclination angle of the lifting hook with a preset inclination angle threshold, determining whether the posture of the lifting hook is in a normal state or not according to a comparison result, and sending a corresponding control instruction to an adjusting unit according to the comparison result;
the control unit is preset with a dip threshold value, which may be a positive number.
And 103, responding to the control instruction, and blowing and/or spraying air to the hook handle according to the inclination angle of the hook to adjust the posture of the hook.
The control unit can accurately judge whether the lifting hook swings or not by identifying the swinging characteristics of the lifting hook.
In some embodiments, the step 102 may include:
carrying out difference or differential operation on the inclination angle of the lifting hook;
comparing the operation result with the inclination angle threshold value,
if the operation result is less than or equal to the inclination angle threshold, the posture of the lifting hook is in a normal state;
and if the operation result is greater than the inclination angle threshold value, the posture of the lifting hook is in an abnormal state.
In some embodiments, controlling the hook attitude adjustment system to adjust the attitude of the hook according to the inclination angle of the hook includes:
and applying thrust to the lifting hook through air injection and/or air blowing according to the inclination angle of the lifting hook, so that the posture of the lifting hook is adjusted to be in a normal state.
Wherein, the fan and the air jet system that can the adjustment direction of installation on the lifting hook, the angular transducer data control wind-force wind direction of cooperation real-time transmission, centimetre level ground difference GPS, triaxial acceleration, triaxial gyroscope, triaxial geomagnetic angle (0.1 degree), offset the swinging force of lifting hook, realize increasing steady and lifting hook accurate positioning.
The lifting hook is provided with a tilt angle sensor. And after the inclination angle sensor is calibrated, starting hanging operation. After the suspension operation starts, the inclination angle sensor detects the swing angle and the speed direction of the current lifting hook in real time. If the swing angle is larger than the inclination angle threshold, the fan and the air injection device are controlled to blow air or inject air in the direction opposite to the swing speed, and the swing force of the lifting hook is offset. The corresponding relation can be adjusted by adjusting the rotating speed and the opening degree of the nozzle valve through calculating the direct proportional relation between the wind power of blast air or jet air and the swing angle.
In some embodiments, a display unit is further provided;
and the control unit also sends an audible and visual alarm signal to the display unit when the posture of the lifting hook is not in a normal state.
The control unit sends an audible and visual alarm signal to the touch display screen and switches the control mode to synchronous control based on coding feedback.
In some embodiments, a tower crane includes a hook attitude adjustment system as in the above embodiments.
In one embodiment, as shown in FIG. 5, a computer apparatus is presented that includes a processor, a non-volatile storage medium, a memory, and a network interface connected by a device bus. The non-volatile storage medium of the computer device stores an operating device, a knowledge base and computer readable instructions, the knowledge base can store control information sequences, and when the computer readable instructions are executed by the processor, the processor can realize the lifting hook posture adjusting method. The processor of the computer device is used for providing calculation and control capability and supporting the operation of the whole computer device. The memory of the computer device may have computer readable instructions stored therein that, when executed by the processor, may cause the processor to perform a method of hook attitude adjustment. The network interface of the computer device is used for connecting and communicating with the terminal. Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The processor, when executing the computer program, implements the steps of:
acquiring a lifting hook inclination angle of an inclination angle sensor arranged on a hook handle of a lifting hook, and sending the measured lifting hook inclination angle to a control unit;
comparing the inclination angle of the lifting hook with a preset inclination angle threshold, determining whether the posture of the lifting hook is in a normal state according to a comparison result, and sending a corresponding control instruction to an adjusting unit according to the comparison result;
and responding to the control instruction, and blowing and/or jetting air to the hook handle according to the inclination angle of the hook so as to adjust the posture of the hook.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, module, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (modules), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A hook attitude adjustment system, comprising: the device comprises a tilt angle sensor, a control unit, an adjusting unit and a power supply unit;
the inclination angle sensor is arranged on a hook handle of the lifting hook and used for sending the measured inclination angle of the lifting hook to the control unit;
the control unit is used for presetting an inclination angle threshold value, comparing the inclination angle of the lifting hook with the inclination angle threshold value, determining whether the posture of the lifting hook is in a normal state or not, and sending a corresponding control instruction to the adjusting unit according to a comparison result;
the adjusting unit comprises a fan and/or an air injection device and is used for responding to the control instruction and blowing air and/or injecting air to the hook handle according to the inclination angle of the lifting hook so as to adjust the posture of the lifting hook;
and the power supply unit is respectively connected with the control unit and the adjusting unit and is used for providing electric energy required by the control unit and the adjusting unit.
2. The system for adjusting the attitude of a lifting hook according to claim 1, wherein the adjusting unit comprises four fans, each fan is respectively disposed on a first vertical plate parallel to the hook handle, the first vertical plates on which the four fans are respectively disposed are connected with each other to form a rectangular enclosure structure, and the hook handle is disposed at the center of the rectangular enclosure structure.
3. The lifting hook attitude adjusting system as claimed in claim 2, wherein the adjusting unit further comprises an air injection device, the air injection device comprises four nozzles and an air storage bottle connected with the nozzles, and the air injection directions of the four nozzles respectively correspond to the directions of the four first vertical plates one by one.
4. The lifting hook attitude adjusting system according to claim 2, wherein the air jet device is located above the fan, the first vertical plate is provided with an air jet device support frame, the air jet device support frame comprises four second vertical plates, the second vertical plates are provided with support transverse plates, and the nozzles are arranged on the support transverse plates.
5. The hook attitude adjustment system of claim 1, wherein the tilt sensor comprises a 6-axis sensor for monitoring acceleration and angular displacement of the lifting handle in the X, Y and Z axes.
6. The system as claimed in claim 1, wherein the power supply unit comprises a main gear, the main gear is fixedly connected to the pulley of the hook, the main gear is connected to the speed-increasing generator through a transmission carrier gear, an output end of the speed-increasing generator is connected to an input end of a three-phase full-bridge rectifier filter, an output end of the three-phase full-bridge rectifier filter is connected to the energy storage module, an output end of the energy storage module is connected to at least two power shunting modules, and each power shunting module is respectively connected to the control unit and the adjustment unit.
7. A hook attitude adjustment system according to claim 5, wherein each of the power splitting modules comprises a DC-DC power supply module for converting the voltage output by the energy storage module to a preset voltage value.
8. A method for adjusting the attitude of a lifting hook, using the system for adjusting the attitude of a lifting hook according to any one of claims 1 to 7, comprising:
acquiring a lifting hook inclination angle of an inclination angle sensor arranged on a hook handle of a lifting hook, and sending the measured lifting hook inclination angle to a control unit;
comparing the inclination angle of the lifting hook with a preset inclination angle threshold, determining whether the posture of the lifting hook is in a normal state according to a comparison result, and sending a corresponding control instruction to the adjusting unit according to the comparison result;
and responding to the control instruction, and blowing and/or spraying air to the hook handle according to the inclination angle of the hook so as to adjust the posture of the hook.
9. A hook attitude adjustment method as claimed in claim 8, wherein the comparing the inclination angle of the hook with a preset inclination threshold and determining whether the attitude of the hook is in a normal state according to the comparison result comprises:
carrying out difference or differential operation on the inclination angle of the lifting hook;
comparing the operation result with the inclination angle threshold value,
if the operation result is smaller than or equal to the inclination angle threshold, the posture of the lifting hook is in a normal state;
and if the operation result is larger than the inclination angle threshold value, the posture of the lifting hook is in an abnormal state.
10. A tower crane is characterized in that: comprising a hook attitude adjustment system according to any one of claims 1 to 7.
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