CN210418993U - Crane with a movable crane - Google Patents
Crane with a movable crane Download PDFInfo
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- CN210418993U CN210418993U CN201921406148.XU CN201921406148U CN210418993U CN 210418993 U CN210418993 U CN 210418993U CN 201921406148 U CN201921406148 U CN 201921406148U CN 210418993 U CN210418993 U CN 210418993U
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Abstract
The utility model provides a crane relates to crane technical field. The crane comprises: the system comprises a suspension arm, a controller, an execution mechanism, a lifting hook and a plurality of first image acquisition devices, wherein a rope of a hoisting structure in the execution mechanism is connected with the lifting hook through a pulley at the tail end of the suspension arm, and the controller and the plurality of first image acquisition devices are arranged at the starting end of the suspension arm; the controller is electrically connected with the plurality of first image acquisition devices and is also electrically connected with the actuating mechanism. The first image acquisition equipment is arranged at the starting end of the suspension arm, the first image acquired by the first image acquisition equipment is acquired through the controller, the state of the lifting hook is determined, the first adjustment parameter is calculated, the relative position of the lifting hook and the lifted object is adjusted according to the first adjustment parameter, the lifting hook is perpendicular to the lifted object, the position of the lifting hook of the crane is more accurate, the safety performance of crane construction is improved, and the waste of manpower resources is reduced.
Description
Technical Field
The utility model relates to a hoist technical field particularly, relates to a hoist.
Background
A crane, also called a crown block, a gantry crane, or a crane, refers to a multi-action hoisting machine that vertically lifts and horizontally carries heavy objects within a certain range. With the continuous investment of construction, the engineering machinery is developed rapidly, and the crane is widely applied as an important part in the engineering machinery industry.
In the related art, when an object is lifted by a crane, an experienced operator is near the object and indicates to a driver, so that the driver operates the crane in a cab to move the position of a crane hook, so that the center of gravity of the crane hook is located right above the center of gravity of the object.
However, in the related art, an experienced operator indicates a driver to operate the crane, so that the problem that the position of a moving crane hook is not accurate enough and the problem that the crane hook is inclined to pull and is hung obliquely is likely to occur, certain potential safety hazards exist, and unnecessary human resources are wasted.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a crane to the not enough among the above-mentioned prior art, so that solve among the correlation technique, signal the driver through experienced operator, in order to control the crane, the position of the crane hook that can appear removing is accurate enough problem, the askew problem of hanging that draws to one side appears easily, has certain potential safety hazard, has also wasted the problem of unnecessary manpower resources simultaneously.
In order to achieve the above object, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a crane, the crane includes: the system comprises a suspension arm, a controller, an actuating mechanism, a lifting hook and a plurality of first image acquisition devices;
a rope of a hoisting structure in the execution mechanism is connected with the lifting hook through a pulley at the tail end of the suspension arm, and the controller and the first image acquisition devices are arranged at the starting end of the suspension arm; the controller is electrically connected with the plurality of first image acquisition devices, and the controller is also electrically connected with the actuating mechanism.
Furthermore, a plurality of second image acquisition devices are arranged at the tail end of the suspension arm;
the plurality of second image acquisition devices are connected with the controller.
Further, the crane further comprises: a position sensor;
the position sensor is arranged on the lifting hook and used for acquiring the relative position of the lifting hook and the lifting object.
Further, the position sensor is a tilt sensor.
Furthermore, the actuating mechanism comprises at least two of a hoisting mechanism, a luffing mechanism, a travelling mechanism and a slewing mechanism.
Further, the plurality of first image capturing devices and the plurality of second image capturing devices are all cameras.
Further, the crane further comprises: the handle is provided with a signal output end;
the signal output end is connected with the controller.
Further, the crane further comprises: at least two of the hoisting mechanism control valve, the luffing mechanism control valve, the traveling mechanism control valve and the slewing mechanism control valve;
the hoisting mechanism control valve is connected with the hoisting mechanism, the luffing mechanism control valve is connected with the luffing mechanism, the traveling mechanism control valve is connected with the traveling mechanism, and the slewing mechanism control valve is connected with the slewing mechanism.
Further, the crane further comprises: a display;
the display is connected with the controller.
Further, the crane further comprises: an electromagnetic valve;
the electromagnetic valve is respectively connected with the controller, the hoisting mechanism control valve, the luffing mechanism control valve, the travelling mechanism control valve and the slewing mechanism control valve.
The utility model has the advantages that: the utility model provides a crane, this crane includes: the system comprises a suspension arm, a controller, an execution mechanism, a lifting hook and a plurality of first image acquisition devices, wherein a rope of a hoisting structure in the execution mechanism is connected with the lifting hook through a pulley at the tail end of the suspension arm, and the controller and the plurality of first image acquisition devices are arranged at the starting end of the suspension arm; the controller is electrically connected with the plurality of first image acquisition devices and is also electrically connected with the actuating mechanism. The first image acquisition equipment is arranged at the starting end of the suspension arm, the first image acquired by the first image acquisition equipment is acquired through the controller, the state of the lifting hook is determined, the first adjustment parameter is calculated, the relative position of the lifting hook and the lifted object is adjusted according to the first adjustment parameter, the lifting hook is perpendicular to the lifted object, the position of the lifting hook of the crane is more accurate, the safety performance of crane construction is improved, and the waste of manpower resources is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 schematic structural diagram of a crane according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a crane control method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a crane control method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a crane control method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a crane control method according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a crane control method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a crane according to an embodiment of the present invention.
Icon: 11-a boom; 12-a controller; 13-an actuator; 1301-a hoisting mechanism; 1302-a horn; 1303-running gear; 1304-a slewing mechanism; 14-a hook; 15-a first image acquisition device; 16-a second image acquisition device; 17-a position sensor; 21-hoisting mechanism control valve; 22-a luffing mechanism control valve; 23-a running gear control valve; 24-a swing mechanism control valve; 31-a solenoid valve; 41-display.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a crane according to an embodiment of the present invention, as shown in fig. 1, the crane includes: a boom 11, a controller 12, an actuator 13, a hook 14 and a plurality of first image capturing devices 15.
The rope of the hoisting mechanism 1301 in the actuator 13 is connected with the hook 14 through a pulley at the tail end of the boom 11, the controller 12 and the plurality of first image acquisition devices 15 are arranged at the starting end of the boom 11, the controller 12 is electrically connected with the plurality of first image acquisition devices 15, and the controller 12 is further electrically connected with the actuator.
When the crane lifts a lifted object, a first image of the lifting hook 14 and the lifted object, acquired by the plurality of first image acquisition devices 15 when the rope is in a tight state, is acquired through the controller 12, the first image is processed to obtain a first relative position of the lifting hook 14 and the lifted object, a first adjustment parameter of the executing mechanism 13 is calculated according to the first state and the first relative position of the executing mechanism 13, and the executing mechanism 13 is controlled to perform action adjustment according to the first adjustment parameter so as to adjust the relative position of the lifting hook 14 and the lifted object.
Fig. 2 is a schematic flow chart of a crane control method according to an embodiment of the present invention, as shown in fig. 2, the method includes:
s101, the controller 12 acquires a first image of the hook 14 and the hoisted object acquired by the first image acquisition devices 15 when the rope is in a tight state.
Wherein, first image acquisition equipment 15 sets up in the top of davit 11, and the hoist still includes: a handle provided with a signal output connected to the controller 12.
In one possible embodiment, the driver may operate the handle, the signal output end of the handle sends a stretching signal to the controller 12, the controller 12 may receive the stretching signal and make the rope in a tight state by controlling the winding mechanism 1301, the plurality of first image capturing devices 15 may capture a first image of the hook 14 and the hoisted object and send the first image to the controller 12, and the controller 12 may receive the first image.
It should be noted that the plurality of first image capturing devices 15 may be a plurality of cameras, and the first image capturing devices 15 are disposed at positions such that the lifting hook 14 and the lifted object are within the shooting range of the first image capturing devices 15.
In addition, the figure of first image acquisition equipment 15 can be two, also can be three, still can be for other figures, the embodiment of the utility model provides a do not specifically limit to this.
S102, the controller 12 processes the first image to obtain a first relative position between the hook 14 and the hoisted object.
The first image may be a plurality of images acquired by a plurality of first image acquisition devices 15.
In some embodiments, the controller 12 may receive a plurality of first images acquired by the plurality of first image acquiring devices 15, synthesize the plurality of first images to obtain synthesized first images, identify the lifting hook 14 and the hoisted object in the synthesized first images, and calculate the inclination angle of the lifting hook 14 and the plane where the hoisted object is located.
In the embodiment of the present invention, the first relative position between the hook 14 and the hoisted object may include: the direction in which the hook 14 is inclined, and the angle of inclination of the hook 14 to the plane in which the load is lifted.
S103, the controller 12 calculates a first adjustment parameter of the actuator 13 according to the first state and the first relative position of the actuator 13.
The actuators 13 may be a plurality of actuators 13, and the first state of the corresponding actuator 13 may be detected by a detection mechanism.
In one possible embodiment, the detection mechanism may detect a first state of each actuator 13 and send the first state to the controller 12, and the controller 12 may receive the first state of each actuator 13 and calculate a first adjustment parameter for each actuator 13 based on the first state and the first relative position.
The first state may be state information such as speed information and position information of the actuator 13, and the first adjustment parameter may be a distance parameter, an angle parameter, a speed parameter, and the like of the actuator 13 that need to be adjusted.
In addition, the actuator 13 may be at least two of the winding mechanism 1301, the luffing mechanism 1302, the traveling mechanism 1303, and the swing mechanism 1304 of the crane.
S104, the controller 12 controls the actuating mechanism 13 to perform action adjustment according to the first adjustment parameter so as to adjust the relative position of the lifting hook 14 and the lifted object.
In some embodiments, the controller 12 may calculate a time parameter of each actuator 13 according to the first adjustment parameter of each actuator 13, determine at least one actuator 13 with the shortest time as the target actuator 13, and control the target actuator 13 to perform motion adjustment according to the first adjustment parameter corresponding to the target actuator 13, so as to adjust the relative position of the hook 14 and the hoisted object, so that the hook 14 is perpendicular to the hoisted object.
In the embodiment of the present invention, the control actuator 13 performs the action adjustment, which may include the distance adjustment of the control actuator 13, the angle adjustment of the control actuator 13, the speed adjustment of the control actuator 13, and the like, and the embodiment of the present invention does not specifically limit this.
To sum up, the utility model provides a crane, this crane includes: the system comprises a suspension arm, a controller, an execution mechanism, a lifting hook and a plurality of first image acquisition devices, wherein a rope of a hoisting structure in the execution mechanism is connected with the lifting hook through a pulley at the tail end of the suspension arm, and the controller and the plurality of first image acquisition devices are arranged at the starting end of the suspension arm; the controller is electrically connected with the plurality of first image acquisition devices and is also electrically connected with the actuating mechanism. The first image acquisition equipment is arranged at the starting end of the suspension arm, the first image acquired by the first image acquisition equipment is acquired through the controller, the state of the lifting hook is determined, the first adjustment parameter is calculated, the relative position of the lifting hook and the lifted object is adjusted according to the first adjustment parameter, the lifting hook is perpendicular to the lifted object, the position of the lifting hook of the crane is more accurate, the safety performance of crane construction is improved, and the waste of manpower resources is reduced.
Optionally, as shown in fig. 1, the end of the boom 11 is further provided with a plurality of second image capturing devices 16, the plurality of second image capturing devices 16 are connected to the controller 12, fig. 3 is a schematic structural diagram of a crane according to an embodiment of the present invention, and as shown in fig. 3, the method further includes:
s201, the controller 12 obtains a second image of the hook 14 and the hoisted object, which is acquired by the plurality of second image acquisition devices 16 when the rope is in a tight state.
The crane further comprises a handle, the handle is provided with a signal output end, and the signal output end of the handle is connected with the controller 12.
In one possible embodiment, the driver may operate the handle, the signal output end of the handle sends a stretching signal to the controller 12, the controller 12 may receive the stretching signal and make the rope in a tight state by controlling the winding mechanism 1301, the plurality of second image capturing devices 16 may capture a second image of the hook 14 and the hoisted object and send the second image to the controller 12, and the controller 12 may receive the second image.
It should be noted that the plurality of second image capturing devices 16 may be a plurality of cameras, and the second image capturing devices 16 are disposed at positions such that the lifting hook 14 and the lifted object are within the shooting range of the second image capturing devices 16.
In addition, the number of second image acquisition equipment 16 can be two, also can be three, still can be other figure, the embodiment of the utility model provides a do not specifically limit this.
In S201, the processing of the first image by the controller 12 to obtain the first relative position between the hook 14 and the hoisted object may include:
s202, the controller 12 processes the first image and the second image to obtain a first relative position.
The first image may be a plurality of images acquired by a plurality of first image acquisition devices 15, and the second image may be a plurality of images acquired by a plurality of second image acquisition devices 16.
In some embodiments, the controller 12 may receive a plurality of first images captured by the plurality of first image capturing devices 15 and synthesize the plurality of first images to obtain a synthesized first image, and the controller 12 may receive a plurality of second images captured by the plurality of second image capturing devices 16 and synthesize the plurality of second images to obtain a synthesized second image, identify the hook 14 and the hoisted object in the synthesized first image and the synthesized second image, and calculate the inclination angle of the hook 14 and the plane in which the hoisted object is located.
Alternatively, the plurality of first image capturing devices 15 and the plurality of second image capturing devices 16 are each a camera.
Optionally, the crane further comprises: position sensor 17, position sensor 17 are arranged on lifting hook 14, and position sensor 17 is used for gathering lifting hook 14 and the relative position who lifts by crane the thing, and position sensor 17 still is used for gathering lifting hook 14 and the second relative position who lifts by crane the thing after the action adjustment, and fig. 4 is the utility model discloses a structural schematic diagram of hoist that the embodiment provided, as shown in fig. 4, this method still includes:
s301, the controller 12 obtains a second relative position acquired by the position sensor.
Wherein, the second relative position of the hook 14 and the lifting object may include: the direction in which the hook 14 is inclined, and the angle of inclination of the hook 14 to the plane in which the load is lifted.
In a possible embodiment, after the controller 12 controls the actuator 13 to perform the motion adjustment according to the first adjustment parameter, the controller 12 may receive the second relative position acquired by the position sensor, and calculate the inclination direction of the hook 14 and the inclination angle of the hook 14 and the plane where the hoisted object is located according to the second relative position of the hook 14 and the hoisted object.
S302, the controller 12 calculates a second adjustment parameter of the actuator 13 according to the second state and the second relative position of the actuator 13.
The actuators 13 may be a plurality of actuators 13, the second state of the corresponding actuator 13 may be detected by the detection means, and the second state may be a state of the actuator 13 after the controller 12 controls the actuator 13 to perform the operation adjustment according to the first adjustment parameter.
In one possible embodiment, the detection mechanism may detect the second state of each actuator 13 and send the second state to the controller 12, and the controller 12 may receive the second state of each actuator 13 and calculate the second adjustment parameter of each actuator 13 based on the second state and the second relative position.
The second state may be state information such as speed information and position information of the actuator 13, and the second adjustment parameter may be a distance parameter, an angle parameter, a speed parameter, and the like of the actuator 13 that need to be adjusted.
And S303, controlling the actuating mechanism 13 to perform action adjustment again by the controller 12 according to the second adjustment parameter so as to adjust the relative position of the lifted object of the lifting hook 14 again.
In some embodiments, the controller 12 may calculate a time parameter of each actuator 13 according to the second adjustment parameter of each actuator 13, determine at least one actuator 13 with the shortest time as the target actuator 13, and control the target actuator 13 to perform motion adjustment according to the second adjustment parameter corresponding to the target actuator 13, so as to adjust the relative position of the hook 14 and the hoisted object, so that the hook 14 is perpendicular to the hoisted object.
In the embodiment of the present invention, the control actuator 13 performs the action adjustment, which may include the distance adjustment of the control actuator 13, the angle adjustment of the control actuator 13, the speed adjustment of the control actuator 13, and the like, and the embodiment of the present invention does not specifically limit this.
Optionally, the position sensor is a tilt sensor, and the second relative position may include: the angle of the hook 14 to the object being lifted, and the direction.
To sum up, the embodiment of the present invention provides an embodiment, the controller 12 obtains the second relative position that the position sensor collected, calculates the second adjustment parameter of the executing mechanism 13 according to the second state and the second relative position of the executing mechanism 13, and controls the executing mechanism 13 to perform the action adjustment again according to the second adjustment parameter, so as to adjust the relative position of the lifting hook 14 to lift the object. The relative position of the lifted object of the lifting hook 14 is adjusted again through the second relative position acquired by the sensor, so that the lifting hook 14 is perpendicular to the lifted object, and the position of the adjusted lifting hook 14 is more accurate.
Optionally, the executing mechanism 13 includes a plurality of executing mechanisms 13, fig. 5 is a schematic structural diagram of the crane according to an embodiment of the present invention, as shown in fig. 5, in the above S104, the controller 12 controls the first target executing mechanism to perform the action adjustment according to the first adjustment parameter of the first target executing mechanism, and may include:
s401, the controller 12 calculates a first adjustment time corresponding to each actuator 13 according to the first state of each actuator 13 and the first adjustment parameter of each actuator 13.
Wherein the first state may include: the speed of each actuator 13, the first adjustment parameter, may include: the distance, angle and speed of adjustment of each actuator 13.
In one possible embodiment, the control may calculate the first adjustment time for each actuator 13 based on the collected speed of each actuator 13, and the distance, angle, adjustment speed, etc. of each actuator 13.
For example, if the distance that one actuator 13 needs to be adjusted is a + B, the speed of the actuator 13 is V1, the adjustment speed is V2, and if the actuator 13 is operated at the speed V1 in the front distance B, the time required is T1 — B/V1, and if the actuator 13 is operated at the speed V2 in the rear distance C, the time required is T2 — C/V2, the adjustment time of the actuator 13 may be T1+ T2.
S402, the controller 12 determines, from among the plurality of actuators 13, the actuator 13 having the shortest first adjustment time as the first target actuator.
In some embodiments, after obtaining the first adjustment time corresponding to the actuator 13, the controller 12 sorts the first adjustment time of the actuator 13 according to the time duration, and acquires the actuator 13 with the shortest first adjustment time as the first target actuator.
S403, the controller 12 controls the first target actuator to perform the operation adjustment according to the first adjustment parameter of the first target actuator.
In the embodiment of the present invention, after the controller 12 determines the first target actuator, the first target actuator may be controlled to perform the action adjustment according to the corresponding parameters such as the adjustment distance, the angle, the direction, the speed, and the like of the first target actuator, and the first adjustment parameter.
The operation adjustment of the first target actuator may be performed for one actuator 13, or may be performed for both actuators 13 at the same time.
Optionally, the executing mechanism 13 includes a plurality of executing mechanisms 13, fig. 6 is a schematic structural diagram of the crane according to an embodiment of the present invention, as shown in fig. 6, in the above step S303, the controller 12 controls the executing mechanism 13 to perform the action adjustment again according to the second adjustment parameter, so as to adjust the relative position of the lifting hook 14 lifting the object again, which may include:
s501, the controller 12 calculates a second adjustment time corresponding to each actuator 13 according to the second state of each actuator 13 and the second adjustment parameter of each actuator 13.
Wherein the second state may include: the speed of each actuator 13, the second adjustment parameter, may include: the distance, angle and speed of adjustment of each actuator 13.
In one possible embodiment, the control may calculate the second adjustment time for each actuator 13 based on the collected speed of each actuator 13, and the distance, angle, adjustment speed, etc. of each actuator 13.
For example, if the distance that one actuator 13 needs to be adjusted is a + B, the speed of the actuator 13 is V1, the adjustment speed is V2, and if the actuator 13 is operated at the speed V1 in the front distance B, the time required is T1 — B/V1, and if the actuator 13 is operated at the speed V2 in the rear distance C, the time required is T2 — C/V2, the adjustment time of the actuator 13 may be T1+ T2.
S502, the controller 12 determines, from among the plurality of actuators 13, the actuator 13 having the shortest second adjustment time as the second target actuator.
In some embodiments, after obtaining the second adjustment time corresponding to the actuator 13, the controller 12 sorts the second adjustment times of the actuators 13 according to the time duration, and acquires the actuator 13 with the shortest second adjustment time as the second target actuator.
S503, the controller 12 controls the second target actuator to perform the operation adjustment according to the second adjustment parameter of the second target actuator.
In the embodiment of the present invention, after the controller 12 determines the second target actuator, the second target actuator may be controlled to perform the action adjustment according to the corresponding parameters such as the adjustment distance, the angle, the direction, the speed, and the like of the second target actuator, and the second adjustment parameter.
The operation adjustment of the second target actuator may be performed for one actuator 13, or may be performed for both actuators 13 at the same time.
Optionally, fig. 7 is a schematic structural diagram of a crane according to an embodiment of the present invention, as shown in fig. 7, the multiple actuators 13 include at least two of a hoisting mechanism 1301, a luffing mechanism 1302, a traveling mechanism 1303, and a slewing mechanism 1304.
Optionally, the crane may further include a hoisting mechanism control valve 21, a luffing mechanism control valve 22, a traveling mechanism control valve 23, and a slewing mechanism control valve 24.
The hoisting mechanism control valve 21 is connected with the hoisting mechanism 1301, the luffing mechanism control valve 22 is connected with the luffing mechanism 1302, the travelling mechanism control valve 23 is connected with the travelling mechanism 1303, and the slewing mechanism control valve 24 is connected with the slewing mechanism 1304.
In one possible embodiment, the controller 12 may control at least two of the winding mechanism 1301, the luffing mechanism 1302, the traveling mechanism 1303, and the swing mechanism 1304 by controlling at least two of the winding mechanism control valve 21, the luffing mechanism control valve 22, the traveling mechanism control valve 23, and the swing mechanism control valve 24.
Optionally, as shown in fig. 7, in an embodiment of the present invention, the crane may further include an electromagnetic valve 31, and the electromagnetic valve 31 is connected to the controller 12, the hoisting mechanism control valve 21, the luffing mechanism control valve 22, the traveling mechanism control valve 23, and the slewing mechanism control valve 24, respectively.
The controller 12 may control the corresponding actuator 13 through the solenoid valve 31 and the control valve of the actuator 13.
As shown in fig. 7, optionally, the crane may further include a display 41, and the display 41 is connected to the controller 12.
Wherein, display 41 can show the first state or the second state of each actuating mechanism 13, and display 41 can respond to user's operation and obtain the switch instruction to send this switch instruction to controller 12, controller 12 can open or close according to this switch instruction, the embodiment of the utility model discloses the function that the crane control method that the embodiment figure 2-figure 6 provided corresponds.
The embodiment of the utility model provides a hoist can realize in 5 seconds, realizes that 14 vertical lifting of lifting hook hang the thing, realizes can be to 14 adjustment efficiency of lifting hook, and easy and simple to handle, can set up on display 41 and whether start crane control function.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A crane, characterized in that the crane comprises: the system comprises a suspension arm, a controller, an actuating mechanism, a lifting hook and a plurality of first image acquisition devices;
a rope of a hoisting structure in the execution mechanism is connected with the lifting hook through a pulley at the tail end of the suspension arm, and the controller and the first image acquisition devices are arranged at the starting end of the suspension arm; the controller is electrically connected with the plurality of first image acquisition devices, and the controller is also electrically connected with the actuating mechanism.
2. The crane according to claim 1, wherein the tip of the boom is further provided with a plurality of second image capturing devices;
the plurality of second image acquisition devices are connected with the controller.
3. The crane of claim 1, further comprising: a position sensor;
the position sensor is arranged on the lifting hook and used for acquiring the relative position of the lifting hook and a lifted object.
4. A crane as claimed in claim 3, wherein the position sensor is a tilt sensor.
5. The crane as claimed in claim 1, wherein the actuator comprises at least two of a hoisting mechanism, a luffing mechanism, a traveling mechanism, and a slewing mechanism.
6. The crane as claimed in claim 2, wherein each of the plurality of first image capturing devices and the plurality of second image capturing devices is a camera.
7. The crane as claimed in claim 1, wherein the crane further comprises: the handle is provided with a signal output end;
the signal output end is connected with the controller.
8. The crane as claimed in claim 5, wherein the crane further comprises:
at least two of the hoisting mechanism control valve, the luffing mechanism control valve, the traveling mechanism control valve and the slewing mechanism control valve;
the hoisting mechanism control valve is connected with the hoisting mechanism, the luffing mechanism control valve is connected with the luffing mechanism, the traveling mechanism control valve is connected with the traveling mechanism, and the slewing mechanism control valve is connected with the slewing mechanism.
9. The crane as claimed in claim 1, wherein the crane further comprises:
a display;
the display is connected with the controller.
10. The crane as claimed in claim 8, wherein the crane further comprises:
an electromagnetic valve;
the electromagnetic valve is respectively connected with the controller, the hoisting mechanism control valve, the luffing mechanism control valve, the travelling mechanism control valve and the slewing mechanism control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921406148.XU CN210418993U (en) | 2019-08-27 | 2019-08-27 | Crane with a movable crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921406148.XU CN210418993U (en) | 2019-08-27 | 2019-08-27 | Crane with a movable crane |
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| CN210418993U true CN210418993U (en) | 2020-04-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110407103A (en) * | 2019-08-27 | 2019-11-05 | 浙江三一装备有限公司 | Crane control method, device and crane |
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- 2019-08-27 CN CN201921406148.XU patent/CN210418993U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110407103A (en) * | 2019-08-27 | 2019-11-05 | 浙江三一装备有限公司 | Crane control method, device and crane |
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