Crane with anti-rolling function

Abstract

The application provides a crane with a roll reduction function, comprising a base, a rotating and translating support mechanism, a crane boom, a compensation mechanism, a lifting mechanism, a detection mechanism and a control system; the rotating and translating support mechanism is arranged on the base, the crane boom is arranged on the rotating and translating support mechanism, and the lifting mechanism is arranged at the top end of the crane boom through the compensation mechanism; the detection mechanism is used for detecting first roll information of the base and second roll information of goods hoisted by the lifting mechanism; the control system is used for determining a compensation shape of the compensation mechanism according to the first roll information and the second roll information, and controlling the compensation mechanism to change the shape to the compensation shape, so that the position of the goods hoisted by the lifting mechanism corresponds to a target position. By adopting the technical scheme of the application, the roll amplitude of the goods can be reduced, the goods can be accurately lowered to the target position, and the safety and hoisting precision of the crane hoisting operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of lifting equipment technology, specifically relating to a crane with anti-sway function. Background Technology

[0002] When transferring or resupplying goods between ships at sea, cranes are often used to lift cargo between the two vessels. Ships can roll and sway due to wind and waves, causing cargo to rock and affecting the safety, positioning accuracy, and efficiency of the lifting process. In severe cases, this can lead to cargo colliding with shipboard structures, other equipment, or even personnel, resulting in accidents.

[0003] Currently, some ships in my country are equipped with single-degree-of-freedom wave-compensating cranes. These products use hydraulic energy storage systems or electro-hydraulic servo control systems to passively or actively compensate for cargo heave, ensuring that cargo does not collide with the deck due to the vertical relative motion between the two ships. However, these single-degree-of-freedom wave-compensating cranes do not have the function of suppressing cargo swaying motion, cannot prevent cargo from colliding with shipboard equipment, personnel, or other goods, and cannot accurately lift cargo to the target location. Summary of the Invention

[0004] This invention provides a crane with anti-sway function to reduce the swaying amplitude of the crane during lifting, thereby ensuring the safety and accuracy of the lifting operation.

[0005] An embodiment of the present invention provides a crane with anti-sway function, which adopts the following technical solution:

[0006] A crane with anti-sway function includes a base, a rotating and translating support mechanism, a lifting boom, a compensation mechanism, a hoisting mechanism, a detection mechanism, and a control system. The rotating and translating support mechanism is mounted on the base, the lifting boom is mounted on the rotating and translating support mechanism, and the hoisting mechanism is mounted on the top of the lifting boom via the compensation mechanism. The detection mechanism is used to detect first sway information of the base and second sway information of the goods hoisted by the hoisting mechanism. The control system is used to determine the compensation shape of the compensation mechanism based on the first and second sway information, and control the compensation mechanism to change its shape to the compensation shape so that the position of the goods hoisted by the hoisting mechanism corresponds to the target position.

[0007] Optionally, the control system is also used to control the rotation and translation mechanism to drive the boom to rotate and translate on the base, and to control the extension and retraction of the boom so that the lifting mechanism can lift the goods to the target position.

[0008] Optionally, the rotary translation support mechanism includes a turntable and a translation slide, the translation slide being slidably mounted on the base, the turntable being rotatably mounted on the translation slide, and the lifting boom being mounted on the turntable.

[0009] Optionally, the lifting boom includes a telescopic lifting boom and a lifting mechanism. The bottom end of the telescopic lifting boom is hinged to a turntable, the lifting mechanism is mounted on the turntable, and the output end of the lifting mechanism is connected to the telescopic lifting boom.

[0010] Optionally, the compensation mechanism includes a support block, a telescopic bracket, two support members, and a telescopic drive member; the rear end of the support block is hinged to the top end of the lifting boom, the telescopic bracket includes two folding telescopic arms, each folding telescopic arm including a forearm and a rear arm hinged to each other, the rear end of the two rear arms is hinged to the front end of the support block, the front end of the two forearms is hinged, and the lifting mechanism is suspended at the front end of the two forearms; the two forearms are respectively hinged to the top end of the lifting boom via the telescopic drive member, and also hinged to the top of the lifting boom via a support rod, the telescopic drive member is used to drive the two forearms to rotate; the control system is used to change the shape of the compensation mechanism to the compensation shape by controlling the extension and retraction of the telescopic drive member.

[0011] Optionally, the telescopic drive includes a telescopic hydraulic cylinder or a telescopic pneumatic cylinder.

[0012] Optionally, the support rod includes a lifting hydraulic cylinder, and the control system is used to change the shape of the compensation mechanism to a compensation shape by controlling the lifting of the lifting hydraulic cylinder.

[0013] Optionally, the detection mechanism includes an absolute encoder and a multi-axis attitude sensor assembly. The absolute encoder is used to acquire the position and speed information of the base, the rotation and translation support mechanism, the lifting boom, the compensation mechanism, and the hoisting mechanism. The multi-axis attitude sensor assembly is used to detect the first sway information and the second sway information.

[0014] The crane with anti-sway function in this embodiment of the invention uses a compensation mechanism between the crane's boom and hoisting mechanism. By detecting the swaying information of the base and the hoisted cargo, the compensation mechanism's compensation shape is calculated. By controlling the compensation mechanism to change its shape to the compensation shape, the position of the lifting point is adjusted. This reduces the displacement of the lifting point in all directions due to the base's swaying, reduces the cargo's swaying amplitude, and ensures that the hoisted cargo is positioned precisely at the target location. The crane in this embodiment of the invention achieves anti-sway function and is suitable for installation on ships to reduce the swaying amplitude of cargo during maritime replenishment operations, improving the safety, efficiency, and positioning accuracy of maritime replenishment operations. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a crane with anti-sway function according to an embodiment of the present invention;

[0017] Figure 2 This is a front view of a crane with anti-sway function according to an embodiment of the present invention;

[0018] Figure 3 This is a left view of a crane with anti-sway function according to an embodiment of the present invention;

[0019] Figure 4 This is a top view of a crane with anti-sway function according to an embodiment of the present invention.

[0020] Figure label:

[0021] 1. Compensation mechanism; 2. Lifting mechanism; 3. Base; 4. Lifting boom; 5. Control system; 6. Turntable; 7. Translation slide. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the basic embodiments disclosed below.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] like Figures 1 to 4 As shown, an embodiment of the present invention discloses a crane with anti-sway function, comprising a base, a rotary translation support mechanism, a lifting boom, a compensation mechanism, a hoisting mechanism, a detection mechanism, and a control system. The rotary translation support mechanism is mounted on the base, the lifting boom is mounted on the rotary translation support mechanism, and the hoisting mechanism is mounted on the top of the lifting boom via the compensation mechanism. The detection mechanism is used to detect first sway information of the base and second sway information of the goods hoisted by the hoisting mechanism. The control system is electrically connected to each mechanism and is used to determine the compensation shape of the compensation mechanism based on the first and second sway information, and control the compensation mechanism to change its shape to the compensation shape, so that the position of the goods hoisted by the hoisting mechanism corresponds to the target position.

[0025] According to an exemplary embodiment of the present invention, this crane is suitable for installation in locations prone to swaying, such as ships. By fixing the base to the ship for overall support, the crane boom can rotate and move on the base via a rotational translation support mechanism, facilitating the lifting of goods to a target location. In the crane with anti-sway function of this embodiment, a detection mechanism detects the swaying information of the base and the lifted goods. The control system performs inverse kinematics calculations based on the detected swaying information to determine the compensation shape of the compensation mechanism, and controls the compensation mechanism to change its shape to adjust the position of the goods lifting point. This reduces the displacement of the goods lifting point in all directions when the base sways, lowers the swaying amplitude of the goods, and thus ensures that the position of the lifted goods corresponds to the target position, allowing the goods to be accurately lowered to the target location.

[0026] The detection mechanism may include an absolute encoder and a multi-axis attitude sensor assembly. The absolute encoder may be installed at the tail of the servo motor of each actuator (including the rotation and translation support mechanism, the boom, the compensation mechanism, and the hoisting mechanism, etc.) in the crane to obtain the current position and speed information of the base and each actuator. The multi-axis attitude sensor assembly is used to detect the first sway information and the second sway information, which may specifically include information such as three-axis rotation angle, speed, and acceleration.

[0027] When determining the compensation shape, the current spatial position of each actuator and the cargo sway parameters are determined based on data obtained from the absolute encoder and multi-axis attitude sensor. Specifically, the cargo sway parameters are obtained based on the first and second sway information, and the current spatial position of each actuator is determined based on its current position and speed information. A compensation mechanism plane is constructed, and the projection position of the cargo's center of gravity on the compensation mechanism plane is determined. If the cargo sway parameters are too large (exceeding the preset sway parameter threshold), the compensation behavior is determined to move the apex of the compensation mechanism (i.e., the lifting point of the hoisting mechanism) to the cargo's center of gravity position. If the cargo sway parameters are small and meet the requirements for stable lifting, no compensation is needed, and the shape of the compensation mechanism is not changed. Accordingly, during the lifting process, if the cargo sway parameters are too large, the shape of the compensation mechanism is changed to move its apex towards the cargo's center of gravity position, completing the sway reduction control. If the cargo sway parameters meet the requirements, the crane is controlled to move towards the target position, thereby ensuring that the cargo sway amplitude meets the requirements throughout the entire lifting cycle.

[0028] In one optional embodiment, the compensation mechanism includes a support block, a telescopic bracket, two support members, and two telescopic drive members. The rear end of the support block is hinged to the top of the lifting boom, and the front end of the support block is hinged to the telescopic bracket, providing support for the telescopic bracket. The telescopic bracket includes two folding telescopic arms, each comprising a front arm and a rear arm hinged to each other. The rear ends of the two rear arms are hinged to the front ends of the support block, and the front ends of the two front arms are hinged. The lifting mechanism is suspended at the front ends of the two front arms. Each front arm is hinged to the top of the lifting boom via a telescopic drive member, and each is also hinged to the top of the lifting boom via a support rod. Here, the telescopic drive members are used to drive the two front arms to rotate relative to their front end junction points. Since the front ends of the two rear arms are hinged and their rear ends are hinged to the rear ends of the two front arms respectively, the rotation of the two front arms will cause the two rear arms to move, which in turn can drive the lifting mechanism to move, that is, the lifting point of the hoisting goods to move. The control system can control the extension and retraction of the telescopic drive component to change the shape of the compensation mechanism, thereby changing the shape of the compensation mechanism to the compensation shape, and thus controlling the position of the hoisted goods to correspond to the target position.

[0029] Optionally, the telescopic drive components corresponding to the two forearms of the control system extend and retract synchronously to drive the lifting point to move back and forth; alternatively, they can extend and retract asynchronously to drive the two forearms to rotate at different angles, thereby enabling the lifting point to move left and right while moving back and forth, thus achieving movement of the lifting point in four degrees of freedom (forward, backward, left, and right). Specifically, the telescopic drive component may include a telescopic hydraulic cylinder or a telescopic pneumatic cylinder.

[0030] Furthermore, the support rod includes a lifting hydraulic cylinder. The control system can control the lifting hydraulic cylinder to perform lifting and retraction actions, driving the two front arms to move up and down, which in turn drives the two rear arms to move up and down, thus achieving control over the movement of the lifting point in two degrees of freedom (up and down). In conjunction with controlling the extension and retraction of the two telescopic drive components, control over the movement of the lifting point in six degrees of freedom can be achieved, compensating for cargo swaying in six degrees of freedom, thereby enabling precise lifting of the cargo to the target position.

[0031] In this embodiment of the invention, the front end is the end closer to the hoisting mechanism (or the end farther from the crane boom), and the rear end is the end farther from the hoisting mechanism (or the end closer to the crane boom).

[0032] In the crane with anti-sway function in this embodiment of the invention, before the control system controls the compensation mechanism to change shape, it first drives the crane boom to rotate and translate on the base by controlling the rotation and translation mechanism, and controls the extension and retraction of the crane boom to lift the goods to the target position.

[0033] The rotary translation support mechanism may include a turntable and a translation slide. The translation slide is slidably mounted on the base, and the turntable is rotatably mounted on the translation slide. The crane boom is mounted on the turntable. The control mechanism can control the movement of the translation slide and the rotation of the turntable by controlling the drive source (including but not limited to servo motors and hydraulic cylinders) of the turntable and the translation slide, thereby controlling the rotation and translation of the crane boom.

[0034] Furthermore, the crane boom includes a telescopic crane boom and a lifting mechanism. The bottom end of the telescopic crane boom is hinged to a turntable, and the lifting mechanism is mounted on the turntable. The output end of the lifting mechanism is connected to the telescopic crane boom. A hydraulic cylinder may be installed on the telescopic crane boom. The output end of the hydraulic cylinder is connected to the telescopic boom of the telescopic crane boom. The control mechanism can control the telescopic boom's extension and retraction by controlling the extension and retraction of the piston rod of the hydraulic cylinder, and control the lifting and tilting of the telescopic crane boom by controlling the extension and retraction of the output end of the lifting mechanism (including but not limited to the hydraulic cylinder).

[0035] In practical applications, the crane with anti-sway function according to embodiments of the present invention may also include other equipment or components to realize the actual installation, application, and other functions of the crane with anti-sway function. For example, the crane with anti-sway function also includes a power supply component and a power equipment. The power supply component is electrically connected to each electric component in the crane with anti-sway function for power supply. The power equipment may include generator sets and hydraulic pump stations, etc., to provide power support for each drive mechanism. As another example, the control system may integrate signal processing circuits, controllers, processors, etc.

[0036] The crane with anti-sway function in this embodiment of the invention uses a compensation mechanism between the crane's boom and hoisting mechanism. By detecting the swaying information of the base and the hoisted cargo, the compensation mechanism's compensation shape is calculated. By controlling the compensation mechanism to change its shape to the compensation shape, the position of the lifting point is adjusted. This reduces the displacement of the lifting point in all directions due to the base's swaying, reduces the cargo's swaying amplitude, and ensures that the hoisted cargo is positioned precisely at the target location. The crane in this embodiment of the invention achieves anti-sway function and is suitable for installation on ships to reduce the swaying amplitude of cargo during maritime replenishment operations, improving the safety, efficiency, and positioning accuracy of maritime replenishment operations.

[0037] It should be noted that, depending on the implementation needs, the various components described in the embodiments of the present invention can be split into more components, or two or more components or parts of components can be combined into new components to achieve the purpose of the embodiments of the present invention.

[0038] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A crane with anti-sway function, characterized in that, It includes a base, a rotating and translating support mechanism, a lifting boom, a compensation mechanism, a hoisting mechanism, a detection mechanism, and a control system; the rotating and translating support mechanism is mounted on the base, the lifting boom is mounted on the rotating and translating support mechanism, and the hoisting mechanism is mounted on the top of the lifting boom through the compensation mechanism; The detection mechanism is used to detect the first sway information of the base and the second sway information of the goods hoisted by the lifting mechanism; The control system is used to determine the compensation shape of the compensation mechanism based on the first sway information and the second sway information, and control the compensation mechanism to change its shape to the compensation shape so that the position of the goods lifted by the lifting mechanism corresponds to the target position. The compensation mechanism includes a support block, a telescopic bracket, two support components, and a telescopic drive component; The rear end of the support block is hinged to the top end of the lifting boom. The telescopic support includes two folding telescopic arms. The two folding telescopic arms include a front arm and a rear arm that are hinged to each other. The rear end of the two rear arms is hinged to the front end of the support block. The front end of the two front arms is hinged. The lifting mechanism is suspended at the front end of the two front arms. The two forearms are respectively hinged to the top of the crane boom via telescopic drive components and also hinged to the top of the crane boom via support rods. The telescopic drive components are used to drive the two forearms to rotate. The control system is used to change the shape of the compensation mechanism to a compensation shape by controlling the extension and retraction of the telescopic drive component. The detection mechanism includes an absolute encoder and a multi-axis attitude sensor assembly. The absolute encoder is used to acquire the position and speed information of the base, the rotary translation support mechanism, the lifting boom, the compensation mechanism and the hoisting mechanism. The multi-axis attitude sensor assembly is used to detect the first sway information and the second sway information.

2. A crane with anti-sway function according to claim 1, characterized in that, The control system is also used to control the rotation and translation support mechanism to drive the crane boom to rotate and translate on the base, and to control the extension and retraction of the crane boom so that the lifting mechanism can lift the goods to the target position.

3. A crane with anti-sway function according to claim 2, characterized in that, The rotating and translating support mechanism includes a turntable and a translating slide. The translating slide is translatably mounted on the base, the turntable is rotatably mounted on the translating slide, and the lifting boom is mounted on the turntable.

4. A crane with anti-sway function according to claim 3, characterized in that, The crane boom includes a telescopic boom and a lifting mechanism. The bottom end of the telescopic boom is hinged to a turntable, and the lifting mechanism is mounted on the turntable. The output end of the lifting mechanism is connected to the telescopic boom.

5. A crane with anti-sway function according to claim 1, characterized in that, The telescopic drive component includes a telescopic hydraulic cylinder or a telescopic air cylinder.

6. A crane with anti-sway function according to claim 1, characterized in that, The support rod includes a lifting hydraulic cylinder, and the control system is used to change the shape of the compensation mechanism to a compensation shape by controlling the lifting of the lifting hydraulic cylinder.

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