A crane online balance detection device and determination method

Abstract

A crane online balance detection device and determination method, wherein the detection device includes a gantry tilt warning mechanism and a power-off mechanism after the warning is invalid. The method forms a real-time tilt judgment of the gantry through the detection device, and forms a warning and a power-off action after the warning is invalid according to the real-time tilt judgment, so as to avoid major accidents such as the fall of suspended objects due to operating errors or after ignoring the first-level warning. The crane online balance detection device and determination method of the present invention monitors the online lifting status of the crane in real time, and sets automatic judgment, automatic warning and power-off protection for abnormalities generated during the lifting operation of large-scale lifting equipment; forms a judgment mechanism for abnormal situations occurring in the initial stage of the crane lifting, as well as an early warning and self-protection intervention mechanism; can effectively solve the plate hook top shaft problem caused by human judgment errors during the crane lifting, improve the lifting safety operation rate, and effectively avoid accidents of suspended objects falling.

Description

Technical Field

[0001] The invention belongs to the field of crane machinery and intelligent detection, and in particular relates to an online balance detection device and a determination method for a crane. Background Art

[0002] Large-tonnage bridge cranes generally have two sets of lifting mechanisms, that is, two hooks, the main hook and the auxiliary hook. Generally, there is no balancing mechanism for a single hook, only the main hook has a balancing mechanism.

[0003] The main hook is mainly used in the form of gantry hook, which is generally a large double hook with many multiples and slow lifting. The main hook is mainly used for heavy lifting. Most of the time, the crane's work is completed by the main hook. When the crane is working normally, the crane's main hook and the hoisted object (iron ladle, steel ladle) trunnion are the safe contact points and the only contact points. The crane is currently operated manually, and the cab is on the side of the hoisted object. The operator can only confirm whether the plate hook on one side is in the normal position through sight. Therefore, the operator alone cannot confirm the safety status of the double-sided main hook when hooking. In order to ensure the safety status of the main hook when hooking, it is currently carried out in a human-assisted confirmation manner, and the ground personnel cooperate to confirm the safety hook status of the main hook on both sides. Cranes are high-frequency and high-intensity operations in metallurgical operations, and almost all operations are hoisted with the main hook. This results in the phenomenon that ground personnel need to cooperate and assist in confirmation every time the hook is hooked, which directly affects the cost of personnel allocation, and there will inevitably be a certain error rate when manual intervention is confirmed. Once the main hook has an abnormality when hooking (top shaft, clamping flange, etc.), it will cause a serious production accident of high-altitude hanging objects falling.

[0004] The vast majority of metallurgical enterprises require crane operators and ground personnel to effectively confirm the status of the left and right hooks before each lifting when lifting molten iron or steel ladles, and observe whether the plate hook is in the center of the ear shaft of the molten iron or steel ladle. Avoid the occurrence of top shaft and flange jamming due to the plate hook hanging deviation, which may cause the lifting object to tilt or even fall due to the vibration caused by movement after lifting. For ground personnel, they must maintain a high sense of responsibility when automatic confirmation is not possible, and they need to rely on a large number of manpower to make multiple confirmations, which brings a certain degree of inconvenience to the driver and ground personnel, and also increases a lot of workload and manpower allocation.

[0005] The utility model application with application number: 202020640927.2 discloses "a crane counterweight detection device", which includes a main body, a height detection device, a first detection device, a second detection device and a gravity sensor; the gravity sensor is arranged at the bottom of the main body; a detection platform and a slide rail are arranged on the top of the main body, the slide rail extends along the length direction of the main body, the detection platform is located above the slide rail, and the detection platform is used to support the counterweight; the first detection device and the second detection device are both slidably connected to the slide rail, and the height detection device is telescopically arranged on the main body, and is used to contact the top surface of the counterweight to determine the height of the counterweight; the first detection device and the second detection device are both used to move to the detection position to detect the counterweight.

[0006] This patent uses gravity sensors and slide rails as balance judgment, which is completely different from the balance judgment form of the crane gantry proposed in this patent. There are differences in the judgment mechanism and intervention protection means.

[0007] The invention application with application number: 202010331421.8 discloses "a balanced crane beam", which includes a main beam, a hanger is symmetrically and slidably installed on the main beam, a pulley and a delivery block are arranged on the hanger, and a threaded opening is provided on the surface of the delivery block, motors are fixedly connected to the two ends of the main beam, and the driving end of the motor is connected to a threaded rod, the motor is threadedly connected to the delivery block on the hanger through the threaded rod, and an extension rod is also fixedly connected to the two ends of the main beam, and the end of the extension rod is rotatably connected to a limit block, the limit block is fixedly connected to the extension rod through a fastening bolt, a mounting block is passed through the extension rod, a rectangular through opening is provided at the central position of the mounting block, a splicing block is provided on the through opening, a mounting hole is provided on the surface of the extension rod, and the mounting block is inserted in the mounting hole of the extension rod through the splicing block; when the present invention is used to mount goods, even if goods of different weights are mounted on both sides, the balance state can be restored through the adjustment of the beam, and it is more convenient, fast and efficient.

[0008] This patent utilizes a planar sliding hanger as the dominant balancing mechanism, which is completely different from the balance determination form of the crane gantry proposed in this patent, and there are differences in the determination mechanism and intervention protection means.

[0009] The invention application with application number: 201811388358.0 discloses "an efficient lifting ship balancing system and its working method", including a hull, a balancing water tank, a tuned balancing water tank, a lift fan, a self-balancing crane, a PLC control system and a ballast transmission device; the balancing water tank is arranged on the side of the ship on both sides of the hull, the tuned balancing water tank is arranged at the bow and stern inside the hull, the tuned balancing water tank includes a main water tank and an auxiliary water tank, the lift fan is respectively arranged on the decks around the hull, two sets of lifting rails are arranged on the deck, a self-balancing crane is arranged on the lifting rail, a fixed counterweight block and a variable counterweight water tank device are arranged on the balancing arm of the self-balancing crane, and the ballast transmission device is arranged at the bottom of the cabin.

[0010] This patent involves a ship system in a dynamic environment, where the balance is adjusted by a ballast transfer device. This is completely different from the balance determination form of the crane gantry proposed in this patent, and there are differences in the determination mechanism and intervention protection means.

[0011] Through searching, it is found that the above three patents disclosed or pending are different from the starting point and working concept of the present invention. Summary of the invention

[0012] In order to solve the above problems, the present invention provides a crane online balance detection device and determination method, and the technical solution thereof is as follows:

[0013] An online balance detection device for a crane, characterized in that:

[0014] It includes a gantry tilt warning mechanism, a power cut-off mechanism after the warning is invalid, and a forced self-protection mechanism.

[0015] A crane online balance detection device according to the present invention is characterized in that:

[0016] The gantry tilt warning mechanism includes a weighing sensor arranged on fixed pulleys on both sides of the gantry drum and a tilt determination mechanism that cooperates with the weighing sensor to perform calculation and determination.

[0017] A crane online balance detection device according to the present invention is characterized in that:

[0018] The power-off mechanism after the warning is invalid is specifically configured as follows:

[0019] A fixing bracket (1) and a drag ring bracket (2) are provided on the gantry body.

[0020] A drag ring (3) is provided on the drag ring bracket (2);

[0021] A horizontal rod (4) is provided between the fixed bracket (1) and the drag ring bracket (2);

[0022] The horizontal rod (4) is arranged to swing relative to the fixed bracket with the rotating shaft arranged on the fixed bracket (1) as a fulcrum.

[0023] During the swinging process, the horizontal rod (4) forms a motion in which one end thereof swings up and down inside the drag ring;

[0024] An upper contact point and a lower contact point are provided on the drag ring.

[0025] A crane online balance detection device according to the present invention is characterized in that:

[0026] The horizontal rod (4) is an elastic steel tube.

[0027] A crane online balance detection device according to the present invention is characterized in that:

[0028] The length of the horizontal rod (4) extending from the rotating shaft to the drag ring bracket is greater than the length extending from the rotating shaft to the opposite direction;

[0029] A weight is provided on a portion of the horizontal rod (4) which takes the rotating shaft as a starting point and extends in a direction opposite to the direction extending toward the drag ring bracket, and the center of the rotating shaft is used as a supporting point, so that the horizontal rod can be kept balanced in a horizontal position.

[0030] A crane online balance detection device according to the present invention is characterized in that:

[0031] The upper and lower contacts of the drag ring are equipped with magnetic delayed contact sensors.

[0032] The magnetic delayed contact sensor is used as a trigger signal for triggering power failure.

[0033] A crane online balance detection and determination method, characterized in that:

[0034] The crane online balance detection device is provided to form a real-time tilt judgment of the gantry, and a warning is generated based on the real-time tilt judgment and a power-off action is performed after the warning is invalid.

[0035] A crane online balance detection and determination method according to the present invention is characterized in that:

[0036] The step of generating a warning based on real-time tilt determination specifically includes the following steps:

[0037] S1: A first weighing sensor and a second weighing sensor are respectively arranged on the fixed pulleys on both sides of the gantry drum;

[0038] S2: the first and second weighing sensors respectively transmit the measured values ​​to the set tilt determination mechanism in real time;

[0039] S3: The tilt determination mechanism receives the real-time value of the weighing sensor and performs real-time safety monitoring and calculation;

[0040] S4: If the calculation result is unsafe, a warning message is activated; if it is safe, safety monitoring and calculation of the next real-time value are performed.

[0041] A crane online balance detection and determination method according to the present invention is characterized in that:

[0042] The power-off action after the warning is invalid is realized by a power-off mechanism after the warning is invalid, and the power-off mechanism after the warning is invalid includes:

[0043] The fixed bracket is installed on the gantry body.

[0044] A rotating shaft is arranged on a fixed bracket,

[0045] A horizontal rod (4) is formed to swing around the axis with the rotating axis as a fulcrum.

[0046] The horizontal rod swings around the axis when subjected to unbalanced force, and when it touches the upper contact or the lower contact, a trigger signal for cutting off the power supply is generated through a magnetic delayed contact sensor provided on the upper contact or the lower contact.

[0047] A crane online balance detection and determination method according to the present invention is characterized in that:

[0048] The tilt determination mechanism is provided with a safety threshold unit and a real-time numerical calculation unit;

[0049] The real-time security monitoring and calculation described in step S3 specifically includes the following steps:

[0050] S31: The real-time numerical calculation unit receives the real-time measurement value transmitted by the weighing sensor, and performs ratio calculation on the absolute value of the difference between the two real-time measurement values ​​and the value of the current calibration weight, and outputs the ratio calculation result;

[0051] S32: Send the ratio calculation result to the safety threshold unit for comparison with the set safety threshold;

[0052] S33: If the ratio calculation result falls within the set safety threshold range, the output is safe; if the ratio calculation result does not fall within the set safety threshold range, the output is unsafe.

[0053] A crane online balance detection and determination method according to the present invention is characterized in that:

[0054] A drag ring bracket and a drag ring arranged on the drag ring bracket are also provided on the gantry body;

[0055] The horizontal rod (4) is arranged between the fixed support (1) and the drag ring support (2), and during the swinging process, one end of the horizontal rod (4) swings up and down inside the drag ring;

[0056] The upper contact and the lower contact are arranged on the drag ring.

[0057] The invention discloses an online balance detection device and judgment method for a crane, which monitors the online lifting status of the crane in real time, and sets automatic identification, automatic warning and power-off protection for abnormalities generated during the lifting operation of current large-scale lifting equipment; it forms a judgment, early warning and self-protection intervention mechanism for abnormal situations occurring in the initial stage of the crane lifting operation; in actual production, it can effectively solve the problem of hook top shaft caused by human judgment errors during the crane lifting operation, thereby improving the safe operation rate of the lifting operation, and effectively avoiding accidents of the suspended objects falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the structure of the power-off mechanism after the warning is invalid according to the present invention;

[0059] Figure 2 It is a schematic diagram of the installation of a weighing sensor in the gantry tilt warning mechanism of the present invention;

[0060] Figure 3 It is a schematic diagram of a step of forming a warning according to real-time tilt determination in a crane online balance detection and determination method of the present invention;

[0061] Figure 4 Schematic diagram of the calculation principle in an embodiment of the present invention.

[0062] In the figure,

[0063] 1-Fix the bracket;

[0064] 2-Drag ring bracket;

[0065] 3-Drag ring;

[0066] 4-Horizontal rod. DETAILED DESCRIPTION

[0067] Below, a crane online balance detection device and determination method of the present invention are further described in detail according to the accompanying drawings and specific implementation methods of the specification.

[0068] like Figure 1 , 2 A crane online balance detection device is shown.

[0069] The utility model comprises a gantry tilt warning mechanism and a power-cutting forced self-protection mechanism after the warning is invalid.

[0070] in,

[0071] The gantry tilt warning mechanism includes a weighing sensor arranged on fixed pulleys on both sides of the gantry drum and a tilt determination mechanism that cooperates with the weighing sensor to perform calculation and determination.

[0072] in,

[0073] The power-off mechanism after the warning is invalid is specifically configured as follows:

[0074] A fixing bracket (1) and a drag ring bracket (2) are provided on the gantry body.

[0075] A drag ring (3) is provided on the drag ring bracket (2);

[0076] A horizontal rod (4) is provided between the fixed bracket (1) and the drag ring bracket (2);

[0077] The horizontal rod (4) is arranged to swing relative to the fixed bracket with the rotating shaft arranged on the fixed bracket (1) as a fulcrum.

[0078] During the swinging process, the horizontal rod (4) forms a motion in which one end thereof swings up and down inside the drag ring;

[0079] An upper contact point and a lower contact point are provided on the drag ring.

[0080] in,

[0081] The horizontal rod (4) is an elastic steel tube.

[0082] in,

[0083] The length of the horizontal rod (4) extending from the rotating shaft to the drag ring bracket is greater than the length extending from the rotating shaft to the opposite direction;

[0084] A weight is provided on a portion of the horizontal rod (4) which takes the rotating shaft as a starting point and extends in a direction opposite to the direction extending toward the drag ring bracket, and the center of the rotating shaft is used as a supporting point, so that the horizontal rod can be kept balanced in a horizontal position.

[0085] in,

[0086] The upper and lower contacts of the drag ring are equipped with magnetic delayed contact sensors.

[0087] The magnetic delayed contact sensor is used as a trigger signal for triggering power failure.

[0088] A crane online balance detection and judgment method forms a real-time tilt judgment on a gantry through an online balance detection device of the crane, and generates a warning and a power-off action after the warning is invalid according to the real-time tilt judgment.

[0089] in,

[0090] The warning is generated based on the real-time tilt determination, such as Figure 3 As shown, the specific steps include:

[0091] S1: A first weighing sensor and a second weighing sensor are respectively arranged on the fixed pulleys on both sides of the gantry drum;

[0092] S2: the first and second weighing sensors respectively transmit the measured values ​​to the set tilt determination mechanism in real time;

[0093] S3: The tilt determination mechanism receives the real-time value of the weighing sensor and performs real-time safety monitoring and calculation;

[0094] S4: If the calculation result is unsafe, a warning message is activated; if it is safe, safety monitoring and calculation of the next real-time value are performed.

[0095] in,

[0096] The power-off action after the warning is invalid is realized by a power-off mechanism after the warning is invalid, and the power-off mechanism after the warning is invalid includes:

[0097] The fixed bracket is arranged on the gantry body.

[0098] A rotating shaft is arranged on a fixed bracket,

[0099] A horizontal rod (4) is formed to swing around the axis with the rotating axis as a fulcrum.

[0100] The horizontal rod swings around the axis when subjected to unbalanced force, and when it touches the upper contact or the lower contact, a trigger signal for cutting off the power supply is generated through a magnetic delayed contact sensor provided on the upper contact or the lower contact.

[0101] In order to prevent the impact on the gantry during lifting in actual operation, which may cause the horizontal rod to contact the support ring, a delayed contact sensor is installed in the mechanism. The main purpose is to prevent the data of the horizontal rod from being inaccurate.

[0102] in,

[0103] The tilt determination mechanism is provided with a safety threshold unit and a real-time numerical calculation unit;

[0104] The real-time security monitoring and calculation described in step S3 specifically includes the following steps:

[0105] S31: The real-time numerical calculation unit receives the real-time measurement value transmitted by the weighing sensor, and performs ratio calculation on the absolute value of the difference between the two real-time measurement values ​​and the value of the current calibration weight, and outputs the ratio calculation result;

[0106] S32: Send the ratio calculation result to the safety threshold unit for comparison with the set safety threshold;

[0107] S33: If the ratio calculation falls within the set safety threshold range, the output is safe; if the ratio calculation result does not fall within the set safety threshold range, the output is unsafe. This is instantaneous data and will be used as a primary warning mechanism.

[0108] Among them,

[0109] A drag ring support and a drag ring provided on the drag ring support are further provided on the gantry body;

[0110] The horizontal rod (4) is provided between the fixed support (1) and the drag ring support (2), and during the swinging process, an action is formed in which one end of the horizontal rod swings up and down inside the drag ring;

[0111] The upper contact and the lower contact are provided on the drag ring.

[0112] Working principle and embodiments

[0113] In this embodiment, a warning mechanism for gantry tilt and a power cut-off mechanism after ineffective warning are respectively established through the set gantry tilt warning mechanism and the power cut-off mechanism after ineffective warning. The gantry tilt warning mechanism includes load cells (as shown in Figure 2 ) provided on the fixed pulleys on both sides of the gantry drum and a tilt determination mechanism for calculating and determining in cooperation with the load cells. A safety threshold unit and a real-time numerical calculation unit are provided in the tilt determination mechanism; the safety threshold setting principle is as follows:

[0114] As shown in Figure 4 , assuming that in the balanced state, the gantry is in the horizontal position AB line, the center of gravity position is G, the forces on both sides of the plate hook are F1 and F2 respectively, F1*AG = F2*BG, AG = BG, F1 = F2.

[0115] Set (F1 - F2)% ≤ |a|, a ≤ 0.5. In actual use, the amount of a requires an allowable error.

[0116] Assume that there is a height difference after the plate hook has a top shaft, and the gantry is in the tilted position AC line. Find the center of gravity position with the ACD triangle. The center of gravity position is the intersection point H of the center lines of the three sides of the ACD. The forces on both sides of the plate hook are F1' and F2' respectively, F1'*AH = F2'*BH. Because AH < BH, so F1' > F2'.

[0117] Therefore, it is judged that when there is a height deviation between the two side plate hooks, the force on the side of the lower position (the top shaft plate hook) will increase, while the force on the other side of the higher position (the inner plate hook of the trunnion) will decrease, thus breaking the balance of the two side plate hooks.

[0118] To apply this algorithm to a real situation:

[0119] Knowing the top axis on one side of the plate hook, it causes the plate hook on one side to drop X=AD, and the center of gravity is H.

[0120] Pythagorean Theorem: AD2+DC2=AC2

[0121] F1'*AH=F2'*BH; F1' / F2'=BH / AH; F1'=(F2'*BH) / AH

[0122] Assume: F2'=6, BH=3, AH=2, then F1'=9

[0123] Therefore, the relationship between F1' and F2' is the relationship between BH and AH.

[0124] Take a 10-meter-long bridge crane gantry as an example, the calibrated weight (molten iron ladle) is 300 tons, and the weight on the left and right sides is 150 tons each in a balanced state. The distance between the hook head and the steel lining is 50CM, and the relative error of the hook is within 2% according to the standard.

[0125] When the top axis occurred on one side (left), the gantry tilted, and the height difference between the left and right plate hooks was 50CM. The weight of the left side (top axis) was measured to be 159 tons, and the weight of the right side was 141 tons.

[0126] At this time, the left and right plate hooks differ by +-6% compared with the balanced state. This 6% is determined based on the ratio of the difference between 159 and 141 to the sum of 159 and 141. In the top axis case, the total difference between the left and right plate hooks is 12%, plus the relative error of 2%, it can be concluded that the maximum phase difference in the top axis case is +-14% in the balanced state.

[0127] In this embodiment, the protection interval of the safety threshold is set to +-(10% - 14%). Because there is a relative error of 2%, and the above-mentioned +-14% falls within this interval, no unsafe warning is issued.

[0128] In the above, when the top axis appears on one side of the plate hook, a safer protection value can be selected as half of the maximum difference between the left and right values, that is, half of 14% is 7%. The purpose of taking this value is to be within a safe range. When the left and right plate hook values ​​differ by 7%, it can be determined as a top axis phenomenon and safety intervention measures can be taken.

[0129] The power cut-off mechanism after the warning is invalid means that after the warning is passed, if it is still ignored, the a value continues to increase, and the second mechanism intervenes to make a judgment, thereby forcibly cutting off the power supply. Figure 1As shown, it includes a fixed bracket (1) and a drag ring bracket (2) arranged on the gantry body, and a drag ring (3) is arranged on the drag ring bracket (2); a horizontal rod (4) is arranged between the fixed bracket (1) and the drag ring bracket (2); the horizontal rod (4) is arranged with a rotating shaft arranged on the fixed bracket (1) as a fulcrum in a manner that it can swing relative to the fixed bracket, and the horizontal rod (4) forms an action of swinging one end thereof up and down inside the drag ring during the swinging process; an upper contact point and a lower contact point are arranged on the drag ring; the horizontal rod (4) is an elastic steel pipe. The length of the horizontal rod (4) extending from the rotating shaft as the starting point to the drag ring bracket is greater than the length extending from the rotating shaft as the starting point to the opposite direction; and a weight is arranged on the portion of the horizontal rod (4) extending from the rotating shaft as the starting point to the direction opposite to the direction extending to the drag ring bracket. A magnetic suction type delayed contact sensor is respectively arranged on the upper contact point and the lower contact point of the drag ring, and the magnetic suction type contact sensor serves as a trigger signal for triggering power failure. When the gantry is tilted (taking the tilted state as an example), the first-level warning mode is activated first; after the first-level warning is activated, if the warning is still not cancelled within the set time, the power-off mechanism after the warning is invalid is activated. After the gantry tilts, the bracket and support ring fixed on the gantry body will change position as the gantry tilts. However, since the horizontal rod is adjusted to have equal relative weight at both ends, the horizontal rod will always be in a horizontal state. The horizontal rod is made of elastic steel pipe material, and weights are added inside the short side to adjust the weight to balance the horizontal rod. The rotating shaft (i.e. the above-mentioned rotating shaft) is used as the connecting fulcrum, and the left and right weights on both sides of the fulcrum are kept in a state of balance. When the left and right hooks are in an abnormal state (here interpreted as the top axis on one side), the gantry will tilt, and the horizontal rod will remain in a horizontal state, and the relative contact position will contact the upper and lower ends of the support ring supported by the fixed bracket (the bracket and the support ring change position as the gantry tilts), and the magnetic delayed contact sensor on the contact will conduct the circuit, which will serve as a trigger signal for forced self-protection power failure. This is a delayed data judgment, which will serve as a secondary intervention power failure self-protection mechanism. Thus, the secondary judgment of the balance of the gantry can be realized online.

[0130] The invention discloses an online balance detection device and judgment method for a crane, which monitors the online lifting status of the crane in real time, and sets automatic identification, automatic warning and power-off protection for abnormalities generated during the lifting operation of current large-scale lifting equipment; it forms a judgment, early warning and self-protection intervention mechanism for abnormal situations occurring in the initial stage of the crane lifting operation; in actual production, it can effectively solve the problem of hook top shaft caused by human judgment errors during the crane lifting operation, thereby improving the safe operation rate of the lifting operation, and effectively avoiding accidents of the suspended objects falling.

Claims

1. A crane online balance detection device, characterized in that: It includes a gantry tilt warning mechanism and a power cut-off mechanism when the warning is invalid. The gantry tilt warning mechanism includes a weighing sensor disposed on the fixed pulleys on both sides of the gantry drum and a tilt determination mechanism that cooperates with the weighing sensor to perform calculation and determination. The power-off mechanism after the warning is invalid is specifically configured as follows: A fixing bracket (1) and a drag ring bracket (2) are provided on the gantry body. A drag ring (3) is provided on the drag ring bracket (2); A horizontal rod (4) is provided between the fixed bracket (1) and the drag ring bracket (2); The horizontal rod (4) is arranged to swing relative to the fixed bracket, with the rotating shaft arranged on the fixed bracket (1) as a fulcrum. During the swinging process, the horizontal rod (4) forms a movement in which one end thereof swings up and down inside the drag ring; There are upper and lower contacts on the drag ring. The horizontal rod (4) is an elastic steel tube; The length of the horizontal rod (4) extending from the rotating shaft as the starting point to the drag ring bracket is greater than the length extending from the rotating shaft as the starting point to the opposite direction; A weight is provided on a portion of the horizontal rod (4) with the rotation axis as the starting point and extending in the opposite direction to the direction extending toward the drag ring bracket, with the center of the rotation axis as the support point, so that the horizontal rod can be kept balanced in a horizontal position; The upper and lower contacts of the drag ring are equipped with magnetic delayed contact sensors. The magnetic delayed contact sensor is used as a trigger signal for triggering power failure.

2. A crane online balance detection and determination method, characterized in that: Using the crane online balance detection device as claimed in claim 1, the crane online balance detection device is set to form a real-time tilt judgment of the gantry, and a warning is formed according to the real-time tilt judgment, and the power supply is cut off after the warning is invalid. The step of generating a warning based on real-time tilt determination specifically includes the following steps: S1: A first weighing sensor and a second weighing sensor are respectively arranged on the fixed pulleys on both sides of the gantry drum; S2: the first and second weighing sensors respectively transmit the measured values ​​to the set tilt determination mechanism in real time; S3: The tilt determination mechanism receives the real-time value of the weighing sensor and performs real-time safety monitoring and calculation; S4: If the calculation result is unsafe, a warning message is activated; If it is safe, the next real-time value will be monitored and calculated. The power-cutting action after the warning is invalid is realized by the power-cutting mechanism after the warning is invalid. The gantry tilts, and the horizontal rod remains in a horizontal state. The relative contact position will contact the upper and lower ends of the support ring supported by the fixed bracket. The magnetic delayed contact sensor on the contact will conduct the circuit, which will serve as a trigger signal for forced self-protection power off. This is a delayed data judgment, which serves as a secondary intervention power-off self-protection mechanism.

3. A crane online balance detection and determination method according to claim 2, characterized in that: The tilt determination mechanism is provided with a safety threshold unit and a real-time numerical calculation unit; The real-time security monitoring and calculation described in step S3 specifically includes the following steps: S31: The real-time numerical calculation unit receives the real-time measurement value transmitted by the weighing sensor, and performs ratio calculation on the absolute value of the difference between the two real-time measurement values ​​and the value of the current calibration weight, and outputs the ratio calculation result; S32: Send the ratio calculation result to the safety threshold unit for comparison with the set safety threshold; S33: If the ratio calculation result falls within the set safety threshold range, the output is safe; if the ratio calculation result does not fall within the set safety threshold range, the output is unsafe.

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