An anti-sway device for a slewing hoisting equipment spreader and its control method

Abstract

The invention relates to the field of engineering machinery and particularly relates to a lifting appliance anti-swaying device of a rotary crane and a control method of the anti-swaying device. An anti-swaying control module is additionally arranged on the basis of a control system of the rotary crane; a light band sensor capable of continuously measuring the coordinate of a lifting appliance in a light plane in real time, a rotary mechanism photoelectric encoder for detecting the rotating speed of a rotary mechanism, a pitching mechanism photoelectric encoder for detecting the pitching speed of a pitching mechanism and a jib approaching switch and a jib position switch for detecting the specific operation height of a jib are simultaneously adopted; the spatial coordinate of a steel wire rope connected with the lifting appliance in the light plane during swaying is measured in real time through the light band sensor and then coordinate information is transmitted to the anti-swaying control module of the control system for analysis and comparison; by changing parameters of a frequency converter to control the speed, the swaying angle of the lifting appliance can be reduced to the range of a set value; the problem that the lifting appliance sways at a large amplitude during the operation of the rotary crane is solved and stable and reliable operation of the lifting appliance is guaranteed.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to an anti-sway device and a control method for a slewing lifting equipment spreader. [0002] technical background [0003] There are many kinds of lifting equipment, such as rotary, tire, gantry, bridge lifting equipment, etc. They generally have main mechanisms such as pitching, slewing and walking, and they mainly rely on the wire rope of the driving motor to drive the pitching mechanism. The cargo handling and slewing mechanism realize the reloading of the cargo. [0004] With the development of large-scale and high-efficiency lifting equipment, the pitching, slewing, and walking speed or height of the lifting equipment have also increased accordingly. Due to the increase in pitching height, the length of the wire rope and the sight distance of the operator have continued to increase. The increase in pitch and slewing speed makes the spreader (cargo) swing greatly during op...

AI Technical Summary

Problems solved by technology

However, this anti-sway control method has a blind area in the measurement of the wire rope position, poor anti-sway reliability, and insufficient real-time detection and control capabilities. It cannot realize PID self-tuning and fuzzy control during the operation process, and cannot know the real-time speed of slewing and pitching.

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