Positioning anti-swing control device and control method for bridge crane

Abstract

The application relates to a bridge crane positioning anti-swing control device and a control method, and relates to the technical field of crane anti-swing, which comprises a slide, a support, a trolley, a lifting rope, a lifting hook and an anti-swing mechanism, the support is slidably arranged on the slide, the trolley is slidably arranged on the support, the anti-swing mechanism comprises a guide rod cross beam, the guide rod is arranged on the support, the cross beam is slidably arranged on the guide rod, a first through hole is formed in the cross beam, one end of the lifting rope is in transmission connection with the trolley, the other end of the lifting rope passes through the first through hole, penetrates through the cross beam and is connected with the lifting hook; when the support drives the heavy object to move, the lifting rope penetrates through the cross beam through the first through hole, the cross beam moves to be close to the lifting hook, the swing length of the steel wire rope is reduced, the probability that the steel wire rope shakes when the heavy object is lifted is reduced, the probability that the heavy object bumps other objects due to shaking is reduced, and the probability that an accident occurs due to the shaking of the heavy object is reduced.

Description

Technical Field

[0001] This application discloses a positioning anti-sway control device and control method for a bridge crane, relating to the technical field of crane anti-sway. Background Technology

[0002] In today's fast-paced economy, the handling of goods is becoming more and more frequent, and the requirements for cranes are getting higher and higher. Cranes are developing towards automation, intelligence and efficiency, but the most widely used type of crane is still the traditional crane.

[0003] Currently, Chinese invention patent application CN212050212U, published on December 1, 2020, discloses an anti-sway device for a single-girder crane, including a positioning component, a lifting mechanism, and a single-girder component. The single-girder component includes a connecting beam, with fixed foot plates at both ends and a sliding rail on its lower surface. The lifting mechanism's trolley is slidably connected to the sliding rail. The positioning component's connecting seat is bolted to one side of the lifting trolley. A connecting short tube facilitates the up-and-down sliding of the upper end of the telescopic rod, making the sliding smoother. A connecting block positions the telescopic rod, and the telescopic rod allows for easy up-and-down movement of the connecting hook.

[0004] Regarding the aforementioned technology, the inventors believe that when a crane lifts a heavy object, the object has not yet moved while the crane is moving, which may cause the telescopic rod to deform. When the object moves to the placement area, it will move forward due to inertia, which will increase the probability of the telescopic rod deforming. Once the telescopic rod is deformed, it is difficult for it to retract, which will increase the probability of the object swaying. Summary of the Invention

[0005] To reduce the probability of heavy objects swaying when a crane lifts them, this invention provides a positioning anti-sway control device and control method for a bridge crane.

[0006] Firstly, this application provides a positioning and anti-sway control device for a bridge crane, which adopts the following technical solution:

[0007] A bridge crane positioning and anti-sway control device includes a slide rail, a support, a trolley, a lifting rope, a hook, and an anti-sway mechanism. The support is slidably mounted on the slide rail, and the trolley is slidably mounted on the support.

[0008] The anti-sway mechanism includes a guide rod, a crossbeam, a sliding plate, pulleys, a first drive assembly, and a second drive assembly. The guide rod is mounted on a bracket, and the crossbeam is slidably mounted on the guide rod. A first through hole is provided on the crossbeam. One end of the suspension rope is connected to the trolley via a transmission. The pulleys are mounted on the sliding plate, and two sets of pulleys are provided. A second through hole is provided on the sliding plate. The suspension rope passes through the second through hole and the first through hole and is connected to the hook, with the rope positioned in the pulley groove. The first drive assembly is used to drive the sliding plate to slide on the crossbeam, and the second drive assembly is used to drive the sliding plate to slide on the first drive assembly.

[0009] By adopting the above technical solution, when lifting a heavy object, the object is hung on the hook by a wire rope. The trolley lifts the object by the wire rope. At this time, the crossbeam moves on the guide rod, causing the crossbeam to move towards the hook. Then, the support moves the crossbeam and the object along the slide, moving the object to the designated area and placing it there. Because the lifting rope passes through the first through hole through the crossbeam when the support moves the object, and the crossbeam moves closer to the hook, the swing length of the wire rope is reduced, thus reducing the probability of the wire rope swaying when lifting the object, and consequently reducing the impact of the object swaying. This reduces the probability of collisions with other objects, thus decreasing the probability of accidents caused by the swaying of heavy objects. When the trolley lifts a heavy object and needs to move it along the length of the support, the trolley gains acceleration first, while the object on the hook does not. At this time, the lifting rope will tilt, and the first drive component will drive the sliding plate to move along the direction of the trolley's movement. The sliding plate drives the pulley to move, causing the pulley to push the lifting rope. The pulley gives the lifting rope an instantaneous thrust, giving the object lifted by the rope an acceleration. When the trolley's running speed stabilizes, the thrust of the first drive component on the sliding plate is removed, allowing the sliding plate to move at a constant speed with the lifting rope. When the object reaches the designated position... When the load is in place, due to the inertia of the object, the first drive assembly applies a tension force to the hoisting rope and a counter-tension force to the load, causing the load to accelerate in the opposite direction. As the trolley moves the load on the support, the first drive assembly applies a pushing or pulling force to the hoisting rope, reducing the load's inertia and thus decreasing the probability of swaying. When the trolley needs to move the load along the length of the slide, the support accelerates first, but the load on the hook has not yet accelerated. At this point, the hoisting rope tilts, and the second drive assembly drives the sliding plate to move along the direction of the support's movement. The sliding plate then drives the pulleys. The movement causes the pulley to push the suspension rope, which in turn provides an instantaneous thrust to the rope, giving the suspended weight an acceleration. Once the support's operating speed stabilizes, the second drive assembly removes its thrust on the sliding plate, allowing the sliding plate to move at a constant speed along with the suspension rope. When the weight reaches the designated position, due to its inertia, the second drive assembly applies a tension force to the suspension rope and a counter-tension force to the weight, giving it an acceleration in the opposite direction. As the support moves the weight on the track, the second drive assembly reduces the weight's inertia by applying a thrust or tension force to the suspension rope, thereby reducing the probability of the weight swaying.

[0010] Optionally, the first drive component includes a servo motor and a first slide rail, and the second drive component includes a second slide rail and an electric push cylinder. The first slide rail is mounted on the crossbeam, the second slide rail is mounted on the first slide rail, the servo motor is mounted on the second slide rail, the output end of the servo motor is connected to the crossbeam via a drive, the slide plate is slidably mounted on the second slide rail, and the electric push cylinder is mounted on the second slide rail, the output end of the electric push cylinder is connected to the slide plate via a drive.

[0011] By adopting the above technical solution, when the trolley needs to move along the length of the support while lifting a heavy object, the servo motor drives the second slide rail to move in the direction of the trolley's movement. The second slide rail drives the slide plate and pulley to move, causing the pulley to push the lifting rope. The pulley gives the lifting rope an instantaneous thrust, giving the heavy object lifted by the rope an acceleration. When the trolley's running speed stabilizes, the servo motor's thrust on the second slide rail is removed, allowing the slide plate to move at a constant speed with the lifting rope. When the heavy object reaches the designated position, due to the object's inertia, the servo motor applies a pulling force to the second slide rail, causing the slide plate and pulley to apply a pulling force in the opposite direction to the heavy object, giving the heavy object an acceleration in the opposite direction. As the trolley drives the heavy object to move on the support, the servo motor reduces the inertia of the heavy object by applying a pushing or pulling force to the lifting rope, thereby reducing the weight of the heavy object. The probability of swaying: When the trolley lifts a heavy object and the support needs to move along the length of the slide, the electric pusher cylinder drives the slide plate to move in the direction of the support's movement. The slide plate and pulley receive a thrust, causing the pulley to push the suspension rope. The pulley gives the suspension rope an instantaneous thrust, causing the heavy object lifted by the rope to accelerate. When the support's running speed on the slide is stable, the electric pusher cylinder's thrust on the slide plate is removed, allowing the slide plate to move at a constant speed with the suspension rope. When the heavy object reaches the designated position, due to the object's inertia, the electric pusher cylinder gives the slide plate a pull, causing the slide plate and pulley to give the heavy object on the suspension rope a pull in the opposite direction, causing the heavy object to accelerate in the opposite direction. As the support drives the heavy object to move on the slide, the electric pusher cylinder reduces the inertia of the heavy object by applying a thrust or pull force to the suspension rope, thereby reducing the probability of the heavy object swaying.

[0012] Optionally, the anti-sway mechanism further includes a support base, a first cylinder, a second cylinder, a first limiting block, and a second limiting block. The support base is rotatably mounted on the side of the trolley near the crossbeam. The first cylinder and the second cylinder are both mounted on the support base. The first limiting block is mounted on the output end of the first cylinder, and the second limiting block is mounted on the output end of the second cylinder. Both the first limiting block and the second limiting block abut against the suspension rope.

[0013] By adopting the above technical solution, in the initial state, the first cylinder pushes the first limit block, causing the first limit block to contact the suspension rope and giving the suspension rope a thrust. The second cylinder pushes the second limit block, causing the second limit block to contact the suspension rope and giving the suspension rope a thrust, making the suspension rope S-shaped. When the servo motor pushes the slide plate, and the slide plate pushes the suspension rope through the pulley, the load suspended by the suspension rope will move upward a certain distance when the pulley pushes the suspension rope. When the pulley pushes the suspension rope, the first and second cylinders remove the thrust on the suspension rope, causing the suspension rope to extend under the action of the load, thereby reducing the height difference of the load when the pulley pushes the suspension rope; thus reducing the probability of the load vibrating vertically, and thus reducing the probability of the trolley being damaged under the action of the load.

[0014] Optionally, the servo motor is connected to the vehicle's electrical signal.

[0015] By adopting the above technical solution, the servo motor is connected to the trolley via electrical signals. When the trolley moves on the support, the servo motor can react quickly and apply pushing or pulling force to the suspension rope, thereby reducing the probability of the suspension rope swaying due to the servo motor's untimely response.

[0016] Optionally, a monitoring mechanism is also included, which includes a first laser emitter and a second laser emitter. The first laser emitter is slidably disposed on one side of the crossbeam in the direction of movement, and the second laser emitter is slidably disposed on the bottom surface of the crossbeam.

[0017] By employing the above calculation scheme, when the trolley lifts a heavy object and moves along the slide, the first laser sensor illuminates the direction of the support's movement, and the first laser emitter slides from one end of the crossbeam to the other. When the first laser sensor illuminates an obstacle on the movement path, the first laser emitter records the distance between the two sides of the obstacle and the slide. The second laser emitter scans the length of the heavy object. If the measured gap between the obstacles is greater than the length of the heavy object, the trolley moves the heavy object upward, and the crossbeam moves the first laser emitter upward. When the first laser emitter no longer illuminates an obstacle, it determines the height of the obstacle, the trolley stops moving the heavy object upward, and the support moves the heavy object from the gap between the obstacles to the designated placement area. Because the gap between the obstacles is measured in advance, and the height of the obstacles and the length of the heavy object are determined, the probability of the heavy object rising above the obstacles is reduced, thereby reducing the safety hazards when moving the heavy object and the probability of the crossbeam colliding with the obstacles.

[0018] Optionally, the first laser emitter and the second laser emitter are connected to the vehicle's electrical signals, and the first laser emitter and the second laser emitter are also connected to the servo motor's electrical signals.

[0019] By adopting the above technical solution, when the first laser emitter detects a gap between obstacles that allows the heavy object to pass through, the first and second laser sensors transmit signals to the trolley and servo motor. The trolley then moves the heavy object to the middle of the gap facing the obstacles. Afterward, the support carries the heavy object through the gap to the designated placement area. Since both the first and second laser emitters are electrically connected to the trolley and servo motor, when an obstacle is detected on the movement path, signals can be transmitted to the trolley and servo motor in a timely manner, thus preventing the heavy object from being raised and reducing the risk associated with raising the heavy object.

[0020] Optionally, the monitoring mechanism further includes a laser rangefinder and a tension sensor. The laser rangefinder is mounted on the bottom surface of the crossbeam, and the tension sensor is mounted on the hook. The tension sensor is electrically connected to the laser rangefinder, and the laser rangefinder is electrically connected to the trolley.

[0021] By adopting the above technical solution, when the trolley lifts a heavy object, the tension sensor records the weight of the object. When the tension sensor reading stabilizes, the tension sensor transmits a signal to the laser rangefinder. The laser rangefinder detects the distance between the crossbeam and the ground. When the first laser emitter detects that there are many obstacles on the path of the heavy object and the gap between the obstacles is insufficient for the heavy object to pass through, the first laser emitter transmits a signal to the trolley. The trolley drives the heavy object to rise. The height the heavy object rises is the distance measured by the laser rangefinder plus the height of the obstacles. When the support carries the heavy object over the obstacles, the trolley drives the heavy object to descend, allowing the heavy object to move along the bottom surface. Due to the setting of the laser rangefinder and the tension sensor, the heavy object can move over obstacles to the designated placement area.

[0022] Optionally, it also includes a control system, the control system comprising:

[0023] Main control module;

[0024] The calculation module has its input end connected to the output end of the laser rangefinder and its output end connected to the input end of the main control module. It is used to calculate the distance between the bottom of the load on the hook and the crossbeam and transmit the calculated distance to the main control module.

[0025] The first laser emitter, whose output end is electrically connected to the input end of the computing module, is used to detect whether there are obstacles in the movement path when the hook lifts the heavy object, and to measure the gap distance next to the obstacle;

[0026] The second laser emitter, whose output end is electrically connected to the input end of the technology module, is used to detect the length of the load lifted by the hook and transmit the detection result to the calculation module.

[0027] The tension sensor, whose output is connected to the main control module's electrical signal, is used to calculate the weight of the object lifted by the hook.

[0028] By adopting the above technical solution, the monitoring system can automatically detect whether there are obstacles in the movement path of the heavy object when the trolley lifts the heavy object, and automatically transfer the heavy object to the placement area through the system, thereby reducing the use of manual labor.

[0029] Secondly, the control method for a bridge crane provided in this application adopts the following technical solution:

[0030] A control method for a bridge crane includes the following steps;

[0031] S1: Lift the heavy object using a trolley;

[0032] S2: The first laser emitter moves on the crossbeam and illuminates whether there are any obstacles in the path of the heavy object. If there are no obstacles in the path of the heavy object, the trolley moves the heavy object to the designated placement area.

[0033] S3: If the first laser emitter illuminates an obstacle on the path of the heavy object, the first laser emitter detects whether the gap between the obstacles is large enough for the heavy object to pass through. If the gap between the obstacles is large enough for the heavy object to pass through, the trolley moves the heavy object to the middle of the gap between the obstacles. Then the support moves the heavy object through the gap to the designated placement area.

[0034] S4: If the gap between the obstacles is not large enough for the heavy object to pass through, the first laser transmitter will transmit a signal to the trolley, and the trolley will drive the heavy object to rise. The height of the heavy object is the distance measured by the laser rangefinder plus the height of the obstacle. When the support carries the heavy object over the obstacle, the trolley will drive the heavy object to descend, so that the heavy object moves along the bottom surface.

[0035] By sampling the above technical solution, when transferring heavy objects by crane, the heavy objects are lifted by a trolley; the first laser emitter moves on the crossbeam to illuminate whether there are obstacles in the path of the heavy object. If there are no obstacles in the path of the heavy object, the trolley moves the heavy object to the designated placement area; if the first laser emitter illuminates an obstacle in the path of the heavy object, the first laser emitter detects whether the gap between the obstacles is large enough for the heavy object to pass through. If the gap between the obstacles is large enough for the heavy object to pass through, the trolley moves the heavy object to the middle of the gap directly opposite the obstacle, and then the support moves the heavy object through the gap to the designated placement area; if the gap between the obstacles is insufficient for the heavy object to pass through, the first laser emitter transmits a signal to the trolley, and the trolley drives the heavy object to rise. The height the heavy object rises is the distance measured by the laser rangefinder plus the height of the obstacle. When the support moves the heavy object over the obstacle, the trolley drives the heavy object to descend, so that the heavy object moves along the bottom surface.

[0036] In summary, the beneficial effects of this application are as follows:

[0037] 1. When the support moves the heavy object, the lifting rope passes through the first through hole and through the crossbeam. The crossbeam moves closer to the hook, thereby reducing the swing length of the wire rope, which in turn reduces the probability of the wire rope swaying when lifting the heavy object, thus reducing the probability of the heavy object hitting other objects due to swaying, and further reducing the probability of accidents caused by the swaying of the heavy object.

[0038] 2. When the trolley drives the heavy object to move on the support, the servo motor applies a pushing or pulling force to the suspension rope to reduce the inertia of the heavy object, thereby reducing the probability of the heavy object swaying. The setting of the slide rail and slide groove makes the slide plate move more stably on the crossbeam when the servo motor drives the slide plate to move, thereby reducing the probability of the pulley and the suspension rope deviating in the axial direction.

[0039] 3. When the first laser sensor illuminates an obstacle on the moving path, the first laser emitter records the distance between the two sides of the obstacle and the slide. The second laser emitter scans the length of the heavy object. If the measured gap distance between the obstacles is greater than the length of the heavy object, the support drives the heavy object to move from the gap between the obstacles to the designated placement area. Because the gap distance between the obstacles and the length of the heavy object are measured in advance, the probability of the heavy object rising and passing over the obstacles is reduced, thereby reducing the safety hazards when moving the heavy object.

[0040] 4. When the pulley pushes the hoisting rope, the first and second cylinders remove the thrust on the hoisting rope, causing the hoisting rope to elongate under the action of the weight, thereby reducing the height difference of the weight when the pulley pushes the hoisting rope; thus reducing the probability of the weight vibrating vertically, and thus reducing the probability of the trolley being damaged under the action of the weight. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0042] Figure 2 for Figure 1 Enlarged view of section A in the middle;

[0043] Figure 3 This is a schematic diagram of the bottom structure of the crossbeam;

[0044] Figure 4 This is a front view of an embodiment of this application;

[0045] Figure 5 for Figure 4 Enlarged view of section B;

[0046] Figure 6 This is the logic diagram of the control system.

[0047] Explanation of reference numerals in the attached drawings: 100, slide rail; 200, bracket; 300, trolley; 400, lifting rope; 500, hook; 600, anti-sway mechanism; 610, guide rod; 620, crossbeam; 621, first through hole; 630, sliding plate; 631, second through hole; 640, pulley; 650, first drive assembly; 651, servo motor; 652, first slide rail; 660, second drive assembly; 661, electric cylinder; 662, second slide rail; 670, support base; 680, first cylinder; 681, first limit block; 690, second cylinder; 691, second limit block; 700, monitoring mechanism; 710, first laser emitter; 720, second laser emitter; 730, laser rangefinder; 740, tension sensor. Detailed Implementation

[0048] The following is in conjunction with the appendix Figure 1 - Appendix Figure 6 The present invention will be described in further detail below.

[0049] This application discloses a positioning and anti-sway control device and method for a bridge crane, referring to... Figures 1-6 A bridge crane positioning and anti-sway control device includes a slide rail 100, a support 200, a trolley 300, a lifting rope 400, a hook 500, an anti-sway mechanism 600, a monitoring mechanism 700, and a control system. The support 200 is slidably mounted on the slide rail 100, the trolley 300 is slidably mounted on the support 200, one end of the lifting rope 400 is connected to the trolley 300, and the other end of the lifting rope 400 is connected to the hook 500.

[0050] Reference Figure 1 , Figure 2 and Figure 3 The anti-sway mechanism 600 includes a guide rod, a crossbeam 620, a sliding plate 630, a pulley 640, a first drive assembly 650, and a second drive assembly 660. The guide rod is bolted to the bracket 200, and the crossbeam 620 is slidably connected to the guide rod. A first through hole 621 is provided on the crossbeam 620. One end of the lifting rope 400 is connected to the trolley 300, and the other end of the lifting rope 400 passes through the first through hole 621, passes through the crossbeam 620, and is connected to the hook 500. Next, the pulley 640 is bolted to the slide plate 630. Two sets of pulleys 640 are provided. The slide plate 630 has a second through hole 631. The suspension rope 400 passes through the second through hole 631 and the first through hole 621 and is connected to the hook 500. The suspension rope 400 is in the pulley groove. The first drive assembly 650 is used to drive the slide plate 630 to slide on the crossbeam 620. The second drive assembly 660 is used to drive the slide plate 630 to slide on the first drive assembly 650.

[0051] When the trolley 300 lifts a heavy object and needs to move it along the length of the support 200, the trolley 300 gains acceleration first, while the heavy object on the hook 500 has not yet gained acceleration. At this time, the lifting rope 400 will tilt. The first drive assembly 650 drives the slide plate 630 to move along the direction of the trolley 300's movement. The slide plate 630 drives the pulley 640 to move, causing the pulley 640 to push the lifting rope 400. The pulley 640 gives the lifting rope 400 an instantaneous thrust, giving the heavy object lifted by the lifting rope 400 an acceleration. When the trolley 300's running speed stabilizes... The first drive assembly 650 removes the thrust on the slide plate 630, causing the slide plate 630 to move at a constant speed along the suspension rope 400. When the load reaches the designated position, due to the inertia of the load, the first drive assembly 650 applies a tension force to the suspension rope 400 and a tension force in the opposite direction to the load, causing the load to gain an acceleration in the opposite direction. As the trolley 300 drives the load to move on the support 200, the first drive assembly 650 reduces the inertia of the load by applying a thrust or tension force to the suspension rope 400, thereby reducing the probability of the load swaying. When the trolley 300 lifts a heavy object and needs to move it along the length of the slide 100, the support 200 gains acceleration first, while the object on the hook 500 has not yet gained acceleration. At this time, the lifting rope 400 will tilt. The second drive assembly 660 drives the slide plate 630 to move along the direction of the support 200. The slide plate 630 drives the pulley 640 to move, causing the pulley 640 to push the lifting rope 400. The pulley 640 gives the lifting rope 400 an instantaneous thrust, giving the object lifted by the lifting rope 400 an acceleration. When the running speed of the support 200 stabilizes... The second drive assembly 660 removes the thrust on the slide 630, allowing the slide 630 to move at a constant speed along the suspension rope 400. When the weight reaches the designated position, due to the weight's inertia, the second drive assembly 660 applies a tension force to the suspension rope 400 and a counter-tension force to the weight, causing the weight to gain an acceleration in the opposite direction. As the support 200 drives the weight to move on the slide 100, the second drive assembly 660 reduces the weight's inertia by applying a thrust or tension force to the suspension rope 400, thereby reducing the probability of the weight swaying.

[0052] Reference Figure 2 The first drive assembly 650 includes a servo motor 651 and a first slide rail 652, and the second drive assembly 660 includes a second slide rail 662 and an electric actuator 661. The first slide rail 652 is bolted to the crossbeam 620, and the slide rail 100 of the second slide rail 662 is bolted to the first slide rail 652. The servo motor 651 is bolted to the second slide rail 662, and the output end of the servo motor 651 is drivenly connected to the first slide rail 652. The slide plate 630 is slidably connected to the second slide rail 662, and the electric actuator 661 is bolted to the slide plate 630. The output end of the electric actuator 661 is drivenly connected to the second slide rail 662.

[0053] When the trolley 300 lifts a heavy object and needs to move along the length of the support 200, the servo motor 651 drives the second slide rail 662 to move along the direction of the trolley 300's movement. The second slide rail 662 drives the slide plate 630 and the pulley 640 to move, causing the pulley 640 to push the lifting rope 400. The pulley 640 provides an instantaneous thrust to the lifting rope 400, giving the heavy object lifted by the lifting rope 400 an acceleration. When the trolley 300's running speed stabilizes, the thrust of the servo motor 651 on the second slide rail 662 is removed, allowing the slide rail to return to its original position. The plate 630 moves at a constant speed following the suspension rope 400; when the load reaches the designated position, due to the load's inertia, the servo motor 651 applies a pulling force to the second slide rail 662, causing the plate 630 and pulley 640 to apply a pulling force in the opposite direction to the load, giving the load an acceleration in the opposite direction; as the trolley 300 drives the load to move on the support 200, the servo motor 651 applies a pushing or pulling force to the suspension rope 400, reducing the load's inertia and thus reducing the probability of the load swaying; when the small When the vehicle 300 lifts a heavy object, and the support 200 needs to move along the length of the slide 100, the electric push cylinder 661 drives the sliding plate 630 to move along the direction of the support 200. The sliding plate 630 and the pulley 640 receive a thrust, causing the pulley 640 to push the lifting rope 400. The pulley 640 provides an instantaneous thrust to the lifting rope 400, giving the heavy object lifted by the lifting rope 400 an acceleration. When the support 200's running speed on the slide 100 stabilizes, the thrust of the electric push cylinder 661 on the sliding plate 630 is removed, allowing the sliding plate to... 630 moves at a constant speed following the suspension rope 400; when the heavy object reaches the designated position, due to the inertia of the heavy object, the electric push cylinder 661 applies a pulling force to the slide plate 630, so that the slide plate 630 and the pulley 640 apply a pulling force in the opposite direction to the heavy object on the suspension rope 400, so that the heavy object obtains an acceleration in the opposite direction; when the bracket 200 drives the heavy object to move on the slide rail 100, the electric push cylinder 661 applies a pushing or pulling force to the suspension rope 400 to reduce the inertia of the heavy object, thereby reducing the probability of the heavy object swaying.

[0054] Reference Figure 4 and Figure 5 The anti-sway mechanism 600 further includes a support base 670, a first cylinder 680, a second cylinder 690, a first limiting block 681, and a second limiting block 691. The support base 670 is rotatably connected to the side of the trolley 300 near the crossbeam 620. The first cylinder 680 and the second cylinder 690 are both bolted to the support base 670. The first limiting block 681 is bolted to the output end of the first cylinder 680, and the second limiting block 691 is bolted to the output end of the second cylinder 690. Both the first limiting block 681 and the second limiting block 691 abut against the suspension rope 400.

[0055] In the initial state, the first cylinder 680 pushes the first limit block 681, causing the first limit block 681 to contact the suspension rope 400, providing a thrust to the suspension rope 400. The second cylinder 690 pushes the second limit block 691, causing the second limit block 691 to contact the suspension rope 400, providing a thrust to the suspension rope 400, causing the suspension rope 400 to be in an S-shaped state. When the servo motor 651 pushes the slide plate 630, and the slide plate 630 pushes the suspension rope 400 through the pulley 640, the pulley 640... When the lifting rope 400 is pushed, the load suspended by the lifting rope 400 will move upward by a certain distance. When the pulley 640 pushes the lifting rope 400, the first cylinder 680 and the second cylinder 690 remove the thrust on the lifting rope 400, causing the lifting rope 400 to extend under the action of the load, thereby reducing the height difference of the load when the pulley 640 pushes the lifting rope 400; thereby reducing the probability of the load vibrating vertically, and thus reducing the probability of the trolley 300 being damaged under the action of the load.

[0056] Reference Figure 2 and Figure 3 The monitoring mechanism 700 includes a first laser emitter 710, a second laser emitter 720, a laser rangefinder 730, and a tension sensor 740. The first laser emitter 710 is slidably connected to one side of the crossbeam 620 in the direction of movement. The second laser emitter 720 is slidably connected to the bottom surface of the crossbeam 620. The laser rangefinder 730 is bolted to the bottom surface of the crossbeam 620. The tension sensor 740 is bolted to the hook 500. The tension sensor 740 is electrically connected to the laser rangefinder 730. The laser rangefinder 730 is electrically connected to the trolley 300. The first laser emitter 710 and the second laser emitter 720 are electrically connected to the trolley 300. The first laser emitter 710 and the second laser emitter 720 are also electrically connected to the servo motor 651.

[0057] When the trolley 300 lifts the heavy object and moves along the slide 100, the first laser sensor illuminates the direction of movement of the support 200, and the first laser emitter 710 slides from one end of the crossbeam 620 to the other end. When the first laser sensor illuminates an obstacle on the moving path, the first laser emitter 710 records the distance between the two sides of the obstacle and the slide 100. The second laser emitter 720 scans the length of the heavy object. If the measured gap between obstacles is greater than the length of the heavy object, the trolley 300 moves the heavy object upwards, and the crossbeam 620... The first laser emitter 710 moves upward. When the first laser emitter 710 can no longer illuminate the obstacle, it determines the height of the obstacle. The trolley 300 stops driving the heavy object upward, and the support 200 drives the heavy object to move from the gap between the obstacles to the designated placement area. Because the gap between the obstacles is measured in advance, and the height of the obstacles and the length of the heavy object are determined, the probability of the heavy object rising above the obstacles is reduced, thereby reducing the safety hazards when moving the heavy object and reducing the probability of the crossbeam 620 hitting the obstacle.

[0058] When the trolley 300 lifts the heavy object, the tension sensor 740 records the weight of the object. When the reading of the tension sensor 740 stabilizes, the tension sensor 740 transmits the signal to the laser rangefinder 730. The laser rangefinder 730 detects the distance between the crossbeam 620 and the ground. When the first laser emitter 710 detects that there are many obstacles on the path of the heavy object and the gap between the obstacles is insufficient for the heavy object to pass through, the first laser emitter 710 transmits the signal to the trolley 300. The trolley 300 drives the heavy object to rise. The height of the heavy object is the distance measured by the laser rangefinder 730 plus the height of the obstacles. When the bracket 200 carries the heavy object over the obstacles, the trolley 300 drives the heavy object to descend, so that the heavy object moves along the bottom surface. Due to the setting of the laser rangefinder 730 and the tension sensor 740, the heavy object can move over the obstacles to the designated placement area.

[0059] When the first laser emitter 710 detects a gap between obstacles that allows a heavy object to pass through, the first and second laser sensors transmit signals to the trolley 300 and the servo motor 651. The trolley 300 then moves the heavy object to the center of the gap facing the obstacles. Afterward, the support 200 moves the heavy object through the gap to the designated placement area. Since both the first laser emitter 710 and the second laser emitter 720 are electrically connected to the trolley 300 and the servo motor 651, when an obstacle is detected on the movement path, signals can be transmitted to the trolley 300 and the servo motor 651 in a timely manner, thus preventing the heavy object from being raised and reducing the risks associated with raising the heavy object.

[0060] Reference Figure 6 The control system includes:

[0061] Main control module;

[0062] The calculation module has its input end connected to the output end of the laser rangefinder 730 and its output end connected to the input end of the main control module. It is used to calculate the distance between the bottom of the load on the hook 500 and the crossbeam 620 and transmit the calculated distance to the main control module.

[0063] The first laser emitter 710 has its output terminal electrically connected to the input terminal of the computing module. It is used to detect whether there are obstacles on the moving path when the hook 500 lifts the heavy object and to measure the gap distance next to the obstacle.

[0064] The second laser emitter 720 has its output end electrically connected to the input end of the technology module. It is used to detect the length of the load lifted by the hook 500 and transmit the detection result to the calculation module.

[0065] The tension sensor 740 has its output terminal connected to the main control module's electrical signal and is used to calculate the weight of the load lifted by the hook 500.

[0066] The monitoring system enables the trolley 300 to automatically detect obstacles in the path of the heavy object when it is lifted, and then automatically transfer the heavy object to the placement area, thereby reducing the need for manual labor.

[0067] A control method for a bridge crane includes the following steps;

[0068] S1: Lift the heavy object using the trolley 300;

[0069] S2: The first laser emitter 710 moves on the crossbeam 620 to illuminate whether there are any obstacles in the path of the heavy object. If there are no obstacles in the path of the heavy object, the trolley 300 moves the heavy object to the designated placement area.

[0070] S3: If the first laser emitter 710 illuminates an obstacle on the path of the heavy object, the first laser emitter 710 detects whether the gap between the obstacles is large enough for the heavy object to pass through. If the gap between the obstacles is large enough for the heavy object to pass through, the trolley 300 moves the heavy object to the middle of the gap between the obstacles. Then the support 200 moves the heavy object through the gap to the designated placement area.

[0071] S4: If the gap between the obstacles is not large enough for the heavy object to pass through, the first laser emitter 710 transmits a signal to the trolley 300, and the trolley 300 drives the heavy object to rise. The height of the heavy object is the distance measured by the laser rangefinder 730 plus the height of the obstacle. When the support 200 carries the heavy object over the obstacle, the trolley 300 drives the heavy object to descend, so that the heavy object moves along the bottom surface.

[0072] The implementation principle of the positioning anti-sway control device and control method for a bridge crane disclosed in this application is as follows: When the trolley 300 lifts a heavy object and needs to move along the length of the support 200, the servo motor 651 drives the second slide rail 662 to move along the direction of the trolley 300. The second slide rail 662 drives the sliding plate 630 and the pulley 640 to move, causing the pulley 640 to push the lifting rope 400. The pulley 640 gives the lifting rope 400 an instantaneous thrust, causing the heavy object lifted by the lifting rope 400 to have an acceleration. When the running speed of the trolley 300 stabilizes, the thrust of the servo motor 651 on the second slide rail 662 is removed, allowing the sliding plate 630 to move at a constant speed with the lifting rope 400. When the heavy object reaches the designated position, due to the inertia of the heavy object, the servo motor 651 gives the second slide rail 662 a pulling force, causing the sliding plate 630 and the pulley 640 to give the heavy object a pulling force in the opposite direction, causing the heavy object to... When the trolley 300 lifts the heavy object and the support 200 needs to move along the length of the slide 100, the electric push cylinder 661 drives the slide plate 630 to move along the direction of the support 200. The slide plate 630 and the pulley 640 receive a thrust, causing the pulley 640 to push the suspension rope 400. The pulley 640 gives the suspension rope 400 an instantaneous thrust, causing the heavy object lifted by the suspension rope 400 to have an acceleration. When the support 200 runs at a stable speed on the slide 100, the thrust of the electric push cylinder 661 on the slide plate 630 is removed, allowing the slide plate 630 to move at a constant speed with the suspension rope 400. When the heavy object reaches the designated position, due to the inertia of the heavy object, the electric push cylinder 661 gives the slide plate 630 a pulling force, causing the slide plate 630 and the pulley 644 to give the heavy object on the suspension rope 400 a pulling force in the opposite direction, causing the heavy object to have an acceleration in the opposite direction.

[0073] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this invention should be covered within the scope of protection of this invention.

Claims

1. A positioning and anti-sway control device for a bridge crane, characterized in that: It includes a slide (100), a support (200), a trolley (300), a lifting rope (400), a hook (500), and an anti-sway mechanism (600). The support (200) is slidably mounted on the slide (100), and the trolley (300) is slidably mounted on the support (200). The anti-sway mechanism (600) includes a guide rod, a crossbeam (620), a sliding plate (630), a pulley (640), a first drive assembly (650), and a second drive assembly (660). The guide rod is mounted on the bracket (200), the crossbeam (620) is slidably mounted on the guide rod, and the crossbeam (620) has a first through hole (621). One end of the suspension rope (400) is connected to the trolley (300) for transmission, and the pulley (640) is mounted on the sliding plate (630). The pulleys (640) are provided in two sets. The slide plate (630) has a second through hole (631). The suspension rope (400) passes through the second through hole (631) and the first through hole (621) and is connected to the hook (500). The suspension rope (400) is located in the pulley groove. The first drive assembly (650) is used to drive the slide plate (630) to slide on the crossbeam (620). The second drive assembly (660) is used to drive the slide plate (630) to slide on the first drive assembly (650). The anti-sway mechanism (600) further includes a support base (670), a first cylinder (680), a second cylinder (690), a first limiting block (681), and a second limiting block (691). The support base (670) is rotatably mounted on the side of the trolley (300) near the crossbeam (620). The first cylinder (680) and the second cylinder (690) are both mounted on the support base (670). The first limiting block (681) is mounted on the output end of the first cylinder (680), and the second limiting block (691) is mounted on the output end of the second cylinder (690). Both the first limiting block (681) and the second limiting block (691) abut against the suspension rope (400). It also includes a monitoring mechanism (700), which includes a first laser emitter (710) and a second laser emitter (720). The first laser emitter (710) is slidably disposed on one side of the crossbeam (620) in the direction of movement, and the second laser emitter (720) is slidably disposed on the bottom surface of the crossbeam (620). The monitoring mechanism (700) also includes a laser rangefinder (730) and a tension sensor (740). The laser rangefinder (730) is mounted on the bottom surface of the crossbeam (620), and the tension sensor (740) is mounted on the hook (500). The tension sensor (740) is electrically connected to the laser rangefinder (730), and the laser rangefinder (730) is electrically connected to the trolley (300). It also includes a control system, which includes: Main control module; The calculation module has its input end connected to the output end of the laser rangefinder (730) and its output end connected to the input end of the main control module. It is used to calculate the distance between the bottom of the load on the hook (500) and the crossbeam (620) and transmit the calculated distance to the main control module. The first laser emitter (710) is electrically connected to the input of the computing module at its output end. It is used to detect whether there are obstacles on the moving path when the hook (500) lifts the heavy object and moves, and to measure the gap distance next to the obstacle. The second laser emitter (720) is electrically connected to the input of the technology module at its output end. It is used to detect the length of the load lifted by the hook (500) and transmit the detection result to the calculation module. The tension sensor (740) is connected to the main control module via an electrical signal at its output end and is used to calculate the weight of the object lifted by the hook (500).

2. The bridge crane positioning anti-sway control device according to claim 1, characterized in that: The first drive assembly (650) includes a servo motor (651) and a first slide rail (652), and the second drive assembly (660) includes a second slide rail (662) and an electric push cylinder (661). The first slide rail (652) is mounted on the crossbeam (620), and the slide rail (100) of the second slide rail (662) is mounted on the first slide rail (652). The servo motor (651) is mounted on the second slide rail (662), and the output end of the servo motor (651) is connected to the crossbeam (620) in a driving connection. The slide plate (630) is slidably mounted on the second slide rail (662), and the electric push cylinder (661) is mounted on the second slide rail (662). The output end of the electric push cylinder (661) is connected to the slide plate (630) in a driving connection.

3. The bridge crane positioning anti-sway control device according to claim 2, characterized in that: The servo motor (651) is electrically connected to the trolley (300).

4. The anti-sway control device for positioning a bridge crane according to claim 1, characterized in that: The first laser emitter (710) and the second laser emitter (720) are electrically connected to the trolley (300), and the first laser emitter (710) and the second laser emitter (720) are also electrically connected to the servo motor (651).

5. A control method for a bridge crane, characterized in that: The bridge crane positioning anti-sway control device as described in any one of claims 1-4 is adopted; Includes the following steps; S1: Lift the heavy object using a trolley (300); S2: The first laser emitter (710) moves on the crossbeam (620) to illuminate whether there are any obstacles on the path of the heavy object. If there are no obstacles on the path of the heavy object, the trolley (300) moves the heavy object to the designated placement area. S3: If the first laser emitter (710) illuminates an obstacle on the path of the heavy object, the first laser emitter (710) detects whether the gap between the obstacles is large enough for the heavy object to pass through. If the gap between the obstacles is large enough for the heavy object to pass through, the trolley (300) moves the heavy object to the middle of the gap between the obstacles. Then the support (200) moves the heavy object through the gap to the designated placement area. S4: If the gap between the obstacles is not large enough for the heavy object to pass through, the first laser emitter (710) transmits a signal to the trolley (300), and the trolley (300) drives the heavy object to rise. The height of the heavy object is the distance measured by the laser rangefinder (730) plus the height of the obstacle. When the support (200) carries the heavy object over the obstacle, the trolley (300) drives the heavy object to descend, so that the heavy object moves along the bottom surface.

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