WO2015113400A1 - 钢丝绳摇摆检测装置及起重机械 - Google Patents

钢丝绳摇摆检测装置及起重机械 Download PDF

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Publication number
WO2015113400A1
WO2015113400A1 PCT/CN2014/086476 CN2014086476W WO2015113400A1 WO 2015113400 A1 WO2015113400 A1 WO 2015113400A1 CN 2014086476 W CN2014086476 W CN 2014086476W WO 2015113400 A1 WO2015113400 A1 WO 2015113400A1
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Prior art keywords
wire rope
connecting rod
rotating body
rocker
axis direction
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PCT/CN2014/086476
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English (en)
French (fr)
Inventor
李映新
李卫华
刘茂枝
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珠海三一港口机械有限公司
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Publication of WO2015113400A1 publication Critical patent/WO2015113400A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the present invention relates to the field of construction machinery, and in particular to a wire rope swing detecting device and a lifting machine including the wire rope rocking detecting device.
  • hoisting machinery mainly includes mobile hoisting machinery, tower cranes, mast cranes, cable hoists and construction lifts.
  • a hoisting device In the hoisting machinery, a hoisting device is usually provided.
  • the hoisting device is usually provided with a hoisting mechanism, a wire rope and a spreader.
  • One end of the wire rope is wound around the hoisting mechanism, and the other end is connected with the sling; when lifting heavy objects, firstly, The hoisting mechanism releases the wire rope, the spreader descends and hooks the heavy object, and then the hoisting mechanism is wound into the wire rope, and the spreader rises, thereby driving the heavy object to rise.
  • Wire rope swing is still a worldwide problem. Although there are successful application cases in foreign countries, they are all blocked by domestic technology. There are no effective cases and methods in China. Therefore, the detection, control and prevention of sway is an urgent problem to be overcome.
  • the present invention proposes a wire rope sway detecting device and a hoisting machine to solve the problem of detecting the sway component of the hoist wire rope in the X-axis direction and the Y-axis direction.
  • the present invention provides a wire rope swing detecting device including a housing, a first rotating body, a second rotating body, a first sensor, a second sensor, and a rocker.
  • the rotating shaft of the first rotating body is mounted on the housing.
  • the rotating shaft of the second rotating body is mounted in the Y-axis direction of the housing, the first sensor is coupled to the first rotating body, the second sensor is coupled to the second rotating body, and the rocking rod drives the first rotating body and the second rotating body to rotate .
  • a first groove is opened in the X-axis direction on the first rotating body, and a second groove is opened in the Y-axis direction on the second rotating body, and the rocker passes through the first groove and the second groove.
  • one end of the rocker is connected to the second rotating body through a pin.
  • a first slot is defined in the X-axis direction of the first rotating body, and one end of the rocker passes through the first slot, and the rocker is connected to the second rotating body through the pin.
  • the wire rope swing detecting device provided by the invention swings the rocker in any direction and converts into the first rotating body and the second rotating body rotating motion, thereby solving the technical problem of detecting the rocking component of the X-axis direction and the Y-axis direction of the wire rope, and detecting The data has good real-time performance and high precision.
  • the present invention also provides a hoisting machine, including the above-described wire rope sway detecting device And the wire rope sleeve and the arm frame, the wire rope swing detecting device is mounted on the arm frame, the wire rope sleeve is connected with the rocker, and the wire rope sleeve is passed through the wire rope.
  • first connecting rod, the second connecting rod, the proximity switch baffle and the proximity switch are connected, and the first connecting rod is connected with the rocking rod, and the two ends of the second connecting rod are respectively connected with the first connecting rod and the wire rope sleeve, and are close to
  • the switch shutter is connected to the first connecting rod, and the proximity switch is mounted on the second connecting rod.
  • a third connecting rod and a fourth connecting rod are included, one end of the third connecting rod is hinged with the arm frame, the other end of the third connecting rod is hinged with the fourth connecting rod, and the fourth connecting rod is fixedly connected with the wire rope sleeve, the rocker One end is hinged to the fourth connecting rod.
  • the third connecting rod and the fourth connecting rod and the arm frame and the rocking rod constitute a quadrilateral parallel mechanism.
  • the lifting device proposed by the invention adopts a steel wire rope sleeve to drive the first rotating body and the second rotating body to rotate, and the steel wire rope directly drives the rocking rod to swing.
  • the wire rope rocking action is decomposed into a rotation in the X-axis direction and a rotation motion in the Y-axis direction, the first sensor is used to detect the rotation angle, the angular velocity and the angular acceleration of the first rotating body, and the second sensor is used to detect the rotation angle of the second rotating body.
  • the angular velocity and angular acceleration solve the sway component detection of the hoisting machine wire rope in the X-axis direction and the Y-axis direction, and the detection data has good real-time performance and high precision.
  • the proximity switch can prevent the wire rope from swinging beyond the limit value and protect the wire rope swing detecting device, thus ensuring the safety of the lifting machine.
  • the third connecting rod and the fourth connecting rod are added, and the third connecting rod and the fourth connecting rod and the arm frame and the rocking rod mutually form a quadrilateral parallel mechanism, so that the wire rope The sleeve and rocker sway smoothly.
  • FIG. 1 is a schematic structural view of a wire rope swing detecting device according to a first embodiment of the present invention
  • Figure 2 is a plan view of Figure 1;
  • Figure 3 is a B-B view of Figure 2;
  • Figure 4 is a view of the A-A of Figure 2;
  • Figure 5 is a schematic view showing the installation structure of a crane wire rope swing detecting device according to a first embodiment of the present invention
  • Fig. 6 is a schematic view showing the installation structure of a hoisting machine wire rope sway detecting device according to a second embodiment of the present invention.
  • a wire rope swing detecting device includes a housing 7, a first rotating body 4, a second rotating body 3, a first sensor 8, and a second sensor 1.
  • the rocker 5, the rotating shaft of the first rotating body 4 is mounted in the X-axis direction of the housing 7, that is, the rotation axis of the first rotating body 4 is the X-axis, and the sliding between the first rotating body 4 and the housing 7 is provided.
  • the rotating shaft of the second rotating body 3 is mounted in the Y-axis direction of the housing 7, that is, the rotation axis of the second rotating body 3 is the Y-axis, and a sliding bearing or a rolling bearing is disposed between the second rotating body 3 and the housing 7.
  • the first sensor 8 is connected to the first swivel 4, and the second sensor 1 is connected to the second swivel 3.
  • a first groove 6 is opened in the X-axis direction on the first rotating body 4, and a second groove 2 is opened in the Y-axis direction on the second rotating body 3.
  • the first groove 6 and the second groove 2 may have a groove-shaped structure in one part, or two parts may be used, and the two parts are spaced apart from each other, and a gap formed by the two parts forms a groove-shaped structure.
  • the rocker 5 passes through the first groove 6 and the second groove 2.
  • the first sensor 8 and the second sensor 1 may employ a rotary encoder for detecting a rotation angle or an angular velocity or an angular acceleration.
  • one end of the rocker 5 is coupled to the second rotating body 3 via a pin 9, and the axis of the pin 9 is perpendicular to the axis of rotation of the second rotating body 3.
  • the rocker 5 can be ball-connected to the second rotating body 3, and the rocker 5 can also be connected to the second rotating body 3, and the rocker 5 has a free end at one end.
  • first groove 6 may be opened only in the X-axis direction of the first rotating body 4, and the second groove 2 may not be opened in the second rotating body 3.
  • One end of the rocker 5 passes through the first groove 6, and the rocker 5 is connected to the second rotating body 3 through the pin 9.
  • the wire rope swing detecting device of the first embodiment of the present invention operates as follows: if the rocker 5 swings about the X-axis direction, the rocker 5 will swing along the second slot 2, and the rocker 5 drives the first rotating body 4 to rotate, first The rotating body 4 drives the rotation of the rotating shaft of the first sensor 8, and the first sensor 8 detects the rocking angle, the angular velocity and the angular acceleration of the wire rope 12 in the X-axis direction.
  • rocker 5 If the rocker 5 swings about the Y-axis direction, the rocker 5 will swing along the first slot 6, the rocker 5 drives the second rotating body 3 to rotate, and the second rotating body 3 drives the rotating shaft of the second sensor 1 to rotate, the second sensor 1
  • the rocking angle and angular velocity and angular acceleration of the wire rope 12 in the Y-axis direction are detected. If the rocker 5 swings in any other direction, the rocker 5 will drive the first rotating body 4 and the second rotating body 3 to rotate, so that the first sensor 8 and the second sensor 1
  • Rotational motion parameters (rotational motion parameters including angular and angular velocities and angular acceleration) are detected in the X-axis direction and the Y-axis direction, respectively.
  • the wire rope swing detecting device provided by the invention swings the rocker 5 in any direction and converts into the rotary motion of the first rotating body 4 and the second rotating body 3, thereby solving the swinging of the rocking rod 5 in any direction into the X-axis direction and
  • the technical problem of detecting the sway component in the Y-axis direction is that the detection data has good real-time performance and high precision.
  • the hoisting machine of the present invention comprises a boom 10 and the above-mentioned wire rope sway detecting device 18, and the wire rope sway detecting device 18 is mounted on the boom 10, and the pulley 10 is mounted with a pulley 11 on the pulley 11
  • the wire rope 12 is covered with a wire rope sleeve 13.
  • the wire rope sleeve 13 is connected to the rocker 5 via a torque limiter.
  • the wire rope sleeve 13 can be replaced by a central hole in the center of the square block.
  • the first connecting rod 16 is connected to the rocking rod 5, and the two ends of the second connecting rod 14 are respectively connected with the first connecting rod 16 and the wire rope sleeve 13, and the proximity switch shutter 17 is connected with the first connecting rod 16, and the proximity switch 15 is installed at The second connecting rod 14 is on the second connecting rod 14.
  • the hoisting machine wire rope 12 swing detection process if the hoisting machinery is doing the movement of the amplitude, rotation, walking, etc., the hoisting wire rope will swing.
  • the rocking of the wire rope 12 causes the rocker 5 to sway, and the rocker 5 swings to rotate the first rotating body 4 and the second rotating body 3, so that the first sensor 8 and the second sensor 1 respectively detect the X-axis direction and the Y-axis.
  • Rotational motion parameters in the direction include angular and angular velocities and angular acceleration.
  • the present invention prefers another hoisting machine, which is described in FIG.
  • the difference between the hoisting machinery is that one end of the third connecting rod 19 is hinged with the arm frame 10, the other end of the third connecting rod 19 is hinged with the fourth connecting rod 20, and the fourth connecting rod 20 is fixedly connected with the wire rope sleeve 13 and the end of the rocking rod 5 It is hinged with the fourth connecting rod 20.
  • the third connecting rod 19 and the fourth connecting rod 20, and the boom 10 and the rocker 5 constitute a quadrilateral parallel mechanism.
  • the wire rope sleeve 13 and the rocker 5 are swayed smoothly, and the rocker 5 can follow the wire rope 12 in real time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

一种钢丝绳摇摆检测装置，包括壳体（7）、第一转体（4）、第二转体（3）、第一传感器（8）、第二传感器（1）、摇杆（5），第一转体（4）安装在壳体（7）的X轴方向上，第二转体（3）安装在壳体（7）的Y轴方向上，第一传感器（8）与第一转体（4）连接，第二传感器（1）与第二转体（3）连接，摇杆（5）带动第一转体（4）和第二转体（3）旋转，采用第一转体（4）和第二转体（3）将摇杆（5）摇摆动作分解为X轴方向上的旋转和Y轴方向上旋转动作，采用第一传感器（8）检测第一转体（4）的旋转角度和角速度及角加速度，采用第二传感器（1）检测第二转体（3）的旋转角度和角速度及角加速度，起重机械钢丝绳带动摇杆摇摆，解决了起重机械钢丝绳在X轴方向和Y轴方向摇摆分量检测，检测数据实时性好，精度高，同时提供一种具有该钢丝绳摇摆检测装置的起重机械。

Description

钢丝绳摇摆检测装置及起重机械
本申请要求于2014年1月28日提交中国专利局、申请号为201410042728.0、发明名称为“钢丝绳摇摆检测装置及起重机械”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及工程机械领域，具体涉及钢丝绳摇摆检测装置及包括该钢丝绳摇摆检测装置的起重机械。
背景技术
起重机械作为起重设备已广泛应用于各种工程建设中，它对减轻劳动强度、节省人力、降低建设成本、提高施工质量、加快建设速度，实现工程施工的机械化作业起着十分重要的作用。目前，起重机械主要包括移动式起重机械、塔式起重机械、桅杆式起重机械、缆索式起重机械以及施工升降机等。
在起重机械上，通常设置有起升装置，起升装置通常设置有卷扬机构、钢丝绳和吊具，钢丝绳的一端缠绕在卷扬机构上，另一端与吊具连接；起吊重物时，首先，卷扬机构放出钢丝绳，吊具下降并勾住重物，然后，卷扬机构卷入钢丝绳，吊具上升，进而带动重物升起。随着起重机械向大型化发展，起升高度也随之增加，导致作业过程中钢丝绳的伸缩长度和操作手的视距增大；起吊过程中，不可避免地会存在重物摇摆的问题，随着起 升高度的增加，重物摇摆的问题更为明显，最终导致操作人员需要花更多的时间和精力才能保证准确地、安全地将重物放置在预定的位置上。
钢丝绳摇摆目前依然是一个世界性难题，国外虽有成功应用案例，但是均对国内技术封锁，国内目前未见行之有效的案例和方法。因此对于摇摆的检测、控制和预防是急需攻克的难题。
发明内容
有鉴于此，本发明提出钢丝绳摇摆检测装置和起重机械，以解决起重机械钢丝绳在X轴方向和Y轴方向摇摆分量检测问题。
一方面，本发明提出了钢丝绳摇摆检测装置，包括壳体、第一转体、第二转体、第一传感器、第二传感器、摇杆，第一转体的旋转轴安装在壳体上，第二转体的旋转轴安装在壳体的Y轴方向上，第一传感器与第一转体连接，第二传感器与第二转体连接，摇杆带动第一转体和第二转体旋转。
进一步地，在第一转体上沿X轴方向上开设有第一槽，在第二转体上沿Y轴方向上开设有第二槽，摇杆穿过第一槽和第二槽。
进一步地，摇杆一端通过销轴与第二转体连接。
进一步地，在第一转体沿X轴方向上开设有第一槽，摇杆一端穿过第一槽，摇杆通过销轴与第二转体连接。
本发明提供的钢丝绳摇摆检测装置，摇杆的任意方向摆动运动，转化为第一转体和第二转体旋转运动，解决了检测钢丝绳的X轴方向和Y轴方向摇摆分量的技术难题，检测数据实时性好，精度高。
另一方面，本发明还提出起重机械，包括上述的钢丝绳摇摆检测装置 和钢丝绳套筒和臂架，钢丝绳摇摆检测装置安装在臂架上，钢丝绳套筒与摇杆相连，钢丝绳套筒内穿过有钢丝绳。
进一步地，包括第一连接杆、第二连接杆、接近开关挡板、接近开关，第一连接杆与摇杆连接，第二连接杆两端分别与第一连接杆和钢丝绳套筒连接，接近开关挡板与第一连接杆连接，接近开关安装在第二连接杆上。
进一步地，包括第三连接杆和第四连接杆，第三连接杆一端与臂架铰接，第三连接杆另一端与第四连接杆铰接，第四连接杆与钢丝绳套筒固定连接，摇杆一端与第四连接杆铰接。
进一步地，第三连接杆和第四连接杆和臂架及摇杆相互构成四边形平行机构。
本发明提出的起重机械，采用钢丝绳套筒带动第一转体和第二转体旋转，钢丝绳直接带动摇杆摆动。将钢丝绳摇摆动作分解为X轴方向上的旋转和Y轴方向上旋转动作，采用第一传感器检测第一转体的旋转角度和角速度及角加速度，采用第二传感器检测第二转体的旋转角度和角速度及角加速度，解决了起重机械钢丝绳在X轴方向和Y轴方向摇摆分量检测，检测数据实时性好，精度高。采用接近开关，可以防止钢丝绳摇摆超过限定值时，起到保护钢丝绳摇摆检测装置的作用，确保了起重机械作业安全。为了确保钢丝绳套筒与摇杆之间的连接可靠性，增加了第三连接杆和第四连接杆，第三连接杆和第四连接杆和臂架及摇杆相互构成四边形平行机构，使得钢丝绳套筒和摇杆摇摆平稳。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明第一实施例的钢丝绳摇摆检测装置结构示意图；
图2为图1的俯视图；
图3为图2的B-B视图；
图4为图2的A-A视图；
图5为本发明第一实施例的起重机械钢丝绳摇摆检测装置安装结构示意图；
图6为本发明第二实施例的起重机械钢丝绳摇摆检测装置安装结构示意图。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面结合附图1至6对本发明的具体实施例进行详细说明。
如图1和图2所示，本发明优选的第一实施例的钢丝绳摇摆检测装置，包括壳体7、第一转体4、第二转体3、第一传感器8、第二传感器1、摇杆5，第一转体4旋转轴安装在壳体7的X轴方向上，也就是第一转体4的旋转轴线为X轴，第一转体4与壳体7之间设置有滑动轴承或滚动轴承， 第二转体3旋转轴安装在壳体7的Y轴方向上，也就是第二转体3的旋转轴线为Y轴，第二转体3与壳体7之间设置有滑动轴承或滚动轴承。第一传感器8与第一转体4连接，第二传感器1与第二转体3连接。在第一转体4上沿X轴方向上开设有第一槽6，在第二转体3上沿Y轴方向上开设有第二槽2。第一槽6和第二槽2可以是在一个零件中开设槽形结构，也可以是采用两个零件，两个零件相互隔开，两个零件形成的间隙来形成槽形结构。摇杆5穿过第一槽6和第二槽2。第一传感器8和第二传感器1可以采用旋转编码器，用于检测旋转角度或角速度或角加速度。
如图3和图4所示，摇杆5一端通过销轴9与第二转体3连接，销轴9的轴线与第二转体3旋转轴线垂直。摇杆5可以与第二转体3球接，摇杆5也可以不与第二转体3连接，摇杆5一端为自由端。
另外，还可以仅在第一转体4沿X轴方向上开设有第一槽6，不在第二转体3上开设第二槽2。摇杆5一端穿过第一槽6，摇杆5通过销轴9与第二转体3连接。但是需要确保摇杆5能绕销轴9摆动。
本发明的第一实施例的钢丝绳摇摆检测装置工作过程如下：如果摇杆5绕X轴方向摆动，摇杆5会沿第二槽2摆动，摇杆5带动第一转体4旋转，第一转体4带动第一传感器8的转轴旋转，第一传感器8检测X轴方向上的钢丝绳12摇摆角度和角速度及角加速度。如果摇杆5绕Y轴方向摆动，摇杆5会沿第一槽6摆动，摇杆5带动第二转体3旋转，第二转体3带动第二传感器1的转轴旋转，第二传感器1检测Y轴方向上的钢丝绳12摇摆角度和角速度及角加速度。如果摇杆5绕其它任意方向摆动，摇杆5会带动第一转体4和第二转体3旋转，从而第一传感器8和第二传感器1 分别会检测到在X轴方向和Y轴方向上旋转运动参数(旋转运动参数包括角度和角速度及角加速度)。本发明提供的钢丝绳摇摆检测装置，摇杆5的任意方向摆动运动，转化为第一转体4和第二转体3旋转运动，解决了将摇杆5在任意方向摆动转换成X轴方向和Y轴方向摇摆分量进行检测的技术难题，检测数据实时性好，精度高。
如图5所示，本发明优选起重机械，包括臂架10和上述的钢丝绳摇摆检测装置18，钢丝绳摇摆检测装置18安装在臂架10上，臂架10上安装有滑轮11，滑轮11上绕有起升钢丝绳12，钢丝绳12套有钢丝绳套筒13。钢丝绳套筒13通过力矩限制器与摇杆5连接。钢丝绳套筒13可以在方形块中心开设中心孔代替。
第一连接杆16与摇杆5连接，第二连接杆14两端分别与第一连接杆16和钢丝绳套筒13连接，接近开关挡板17与第一连接杆16连接，接近开关15安装在第二连接杆14上。
起重机械钢丝绳12摇摆检测过程，如果起重机械在做变幅、回转、行走等动作时，会产生起升钢丝绳的摆动。钢丝绳12的摇摆从而带动摇杆5摇摆，摇杆5摇摆带动第一转体4和第二转体3旋转，从而第一传感器8和第二传感器1分别会检测到在X轴方向和Y轴方向上旋转运动参数(旋转运动参数包括角度和角速度及角加速度)。从而为控制钢丝绳12摇摆提供检测依据。如果钢丝绳12摇摆超过限定值时，接近开关会接通，从而向控制器发出停机报警信号，起到保护钢丝绳摇摆检测装置的作用，确保了起重机械作业安全。
如图6所示，本发明优选另一种起重机械，该起重机械与图5所述的 起重机械不同在于：第三连接杆19一端与臂架10铰接，第三连接杆19另一端与第四连接杆20铰接，第四连接杆20与钢丝绳套筒13固定连接，摇杆5一端与第四连接杆20铰接。第三连接杆19和第四连接杆20和臂架10及摇杆5相互构成四边形平行机构。使得钢丝绳套筒13和摇杆5摇摆平稳，摇杆5能实时跟随钢丝绳12摇摆。
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 钢丝绳摇摆检测装置，其特征在于，包括壳体(7)、第一转体(4)、第二转体(3)、第一传感器(8)、第二传感器(1)、摇杆(5)，第一转体(4)的旋转轴安装在壳体(7)的X轴方向上，第二转体(3)的旋转轴安装在壳体(7)的Y轴方向上，第一传感器(8)与第一转体(4)连接，第二传感器(1)与第二转体(3)连接，摇杆(5)带动第一转体(4)和第二转体(3)旋转。
  2. 根据权利要求1所述的钢丝绳摇摆检测装置，其特征在于，在第一转体(4)上沿X轴方向上开设有第一槽(6)，在第二转体(3)上沿Y轴方向上开设有第二槽(2)，摇杆(5)穿过第一槽(6)和第二槽(2)。
  3. 根据权利要求2所述的钢丝绳摇摆检测装置，其特征在于，摇杆(5)一端通过销轴(9)与第二转体(3)连接。
  4. 根据权利要求1所述的钢丝绳摇摆检测装置，其特征在于，在第一转体(4)沿X轴方向上开设有第一槽(6)，摇杆(5)一端穿过第一槽(6)，摇杆(5)通过销轴(9)与第二转体(3)连接。
  5. 起重机械，其特征在于，包括如权利要求1至4任意一项所述的钢丝绳摇摆检测装置(18)和钢丝绳套筒(13)和臂架(10)，钢丝绳摇摆检测装置(18)安装在臂架(10)上，钢丝绳套筒(13)与摇杆(5)相连，钢丝绳套筒(13)内穿过有钢丝绳(12)。
  6. 根据权利要求5所述的起重机械，其特征在于，包括第一连接杆(16)、第二连接杆(14)、接近开关挡板(17)、接近开关(15)，第一连接杆(16)与摇杆(5)连接，第二连接杆(14)两端分别与第一连接杆(16)和钢丝绳套筒(13)连接，接近开关挡板(17)与第一连接杆(16)连接，接近开关(15)安装在第二连接杆(14)上。
  7. 根据权利要求5所述的起重机械，其特征在于，包括第三连接杆(19)和第四连接杆(20)，第三连接杆(19)一端与臂架(10)铰接，第三连接杆(19)另一端与第四连接杆(20)铰接，第四连接杆(20)与钢丝绳套筒(13)固定连接，摇杆(5)一端与第四连接杆(20)铰接。
  8. 根据权利要求7所述的起重机械，其特征在于，第三连接杆(19)和第四连接杆(20)和臂架(10)及摇杆(5)相互构成四边形平行机构。
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