A control method and a control mechanism for sensing the load state of a crane

Abstract

The application provides a kind of perception crane load state operating mechanism and control method, including main order controller, hoist motor, first controller and two first motors;Two first motors are electrically connected with first controller, current detection sensor is installed on hoist motor, and current detection sensor is electrically connected with first controller;Main order controller is symmetrically fixed on its operating handle two sides and is installed with shell, two shells are rotatably installed with the screw rod driven by first motor perpendicular to operating handle;Two screw rods are rotatably connected between two screw rods, and the connecting portion of two screw rods penetrates operating handle, and the baffle matched with each screw rod is installed on each screw rod, and spring is sleeved between the baffle on screw rod and operating handle.The load state of crane hoist motor is converted into the external force of operating handle on main order controller, so that the operator can perceive the current crane operating load through operating handle, greatly reduce the working strength, improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of crane operating mechanism technology, and in particular to an operating mechanism and control method for sensing the load status of a crane. Background Technology

[0002] Lifting machinery is an important installation and handling equipment in industrial production. Typical lifting machinery uses a motor to drive a rotating drum, lifting and lowering heavy objects by winding and unwinding a wire rope on the drum. Because the wire rope is a flexible material, operators need to judge the load status of the operating mechanism to accurately control the movement of the load. Currently, this is mostly achieved by displaying the object's weight on a lifting capacity limiter and the current level on a monitoring device. This increases the operator's workload, increases the risk of misjudgment, and affects operational safety.

[0003] The load (power) of a crane motor is directly proportional to its current. If the current is monitored in real-time while operating the crane, it compromises operational safety. Using a load limiter (weighing sensor) and only observing the weight of the lifted object does not reflect the motor load, as the motor power depends on both the weight and speed. Therefore, assessing the crane's load status requires considering both the weight and speed. Summary of the Invention

[0004] The purpose of this invention is to provide a control mechanism and method for sensing the load status of a crane, which converts different loads of the motor into different forces on the handle, allowing the operator to directly sense the current load magnitude through the force applied to the handle.

[0005] This invention provides a control mechanism for sensing the load status of a crane, comprising a master controller, a hoisting motor, a first controller, and two first motors; both first motors are electrically connected to the first controller, and a current detection sensor is installed on each hoisting motor, the current detection sensor being electrically connected to the first controller; the master controller has housings symmetrically fixedly installed on both sides of its control handle, and each of the two housings has a threaded rod driven by the first motor, perpendicular to the control handle; the two threaded rods are rotatably connected, the connection point of the two threaded rods passing through the control handle, and each threaded rod has a baffle that cooperates with it, with a spring fitted between the baffle on the threaded rod and the control handle.

[0006] Furthermore, one end of the spring is fixedly connected to the baffle, and the other end of the spring abuts against the operating handle.

[0007] Furthermore, the control handle has a through hole, which does not contact the connection between the two threaded rods.

[0008] Furthermore, the axes of the two threaded rods coincide with each other.

[0009] Furthermore, a bearing is installed on the housing, the first motor is fixedly installed on the side of the housing away from the operating handle, and the end of the threaded rod is fixedly connected to the output shaft of the first motor.

[0010] Furthermore, the two threaded rods are connected by a connecting pipe, and bearings arranged coaxially are installed at both ends of the connecting pipe. The ends of the two threaded rods near the operating handle are rotatably connected to the connecting pipe through the bearings.

[0011] Furthermore, the first motor is a stepper motor.

[0012] A control method for a crane load sensing mechanism specifically includes the following steps:

[0013] S1: The master controller controls the operation of the hoisting motor. When lifting the object being hoisted, the first motor controls the baffle to compress the spring, increasing the pressure on the operating handle.

[0014] S2: When the hoisted object is lowered, the first motor controls the baffle to move in the opposite direction, causing the spring to rebound and reducing the pressure on the control handle.

[0015] Furthermore, when the lifting speed increases, the first motor controls the baffle to compress the spring, increasing the pressure on the control handle; when the lifting speed decreases, the first motor controls the baffle to move in the opposite direction, causing the spring to rebound and reducing the pressure on the control handle.

[0016] The technical solution of the present invention provides a control mechanism and method for sensing the load status of a crane, which converts the load status of the crane's hoisting motor into the external force of the control handle on the master controller, allowing the operator to sense the current operating load of the crane through the control handle, greatly reducing workload and improving work efficiency. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the lifting motor under a large load in this invention;

[0020] Figure 3 This is a schematic diagram of the structure of the lifting motor under a relatively small load in this invention;

[0021] Explanation of reference numerals in the attached drawings: 1-Master controller, 101-Operating handle, 2-Housing, 3-First motor, 4-Threaded rod, 5-Spring, 6-Baffle, 7-Controller. Detailed Implementation

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] Example 1

[0026] like Figures 1-3As shown, a control mechanism for sensing the load status of a crane includes a master controller 1, a lifting motor, a first controller 7, and two first motors 3. The first motors 3 are stepper motors, and both first motors 3 are electrically connected to the first controller 7. A current detection sensor is installed on the lifting motor and is electrically connected to the first controller 7. Since the load of the lifting motor is proportional to the current of the lifting motor, the load power of the lifting motor is detected in real time by the current detection sensor and converted into an electrical signal, which is transmitted to the first controller 7. The first controller 7 controls the first motors 3 to rotate forward or backward, and then changes the pressure of the control handle 101 on the master controller 1 by the spring 5, so that the operator can sense the load of the lifting mechanism by the force of turning the control handle 101.

[0027] The master controller 1 has housings 2 symmetrically fixed on both sides of its operating handle 101. Each housing 2 has a threaded rod 4 rotatably mounted perpendicular to the operating handle 101. The axes of the two threaded rods 4 coincide. Bearings are mounted on the housings 2. A first motor 3 is fixedly mounted on the side of the housing 2 away from the operating handle 101. The end of the threaded rod 4 is fixedly connected to the output shaft of the first motor 3. The first motor 3 drives the threaded rod 4 to rotate. The two threaded rods 4 are rotatably connected, specifically through a connecting pipe. Bearings are mounted on both ends of the connecting pipe, and the ends of the two threaded rods 4 closest to the operating handle 101 are rotatably connected to the connecting pipe via bearings. This rotatable connection prevents interference between the two threaded rods 4 during rotation. The connection point of the two threaded rods 4 passes through the operating handle 101, which has a through hole that does not contact the connection point of the two threaded rods 4, ensuring that the operating handle 101 does not touch the connection point during operation.

[0028] Each threaded rod 4 is equipped with a baffle 6 that mates with it. A spring 5 is fitted between the baffle 6 on the threaded rod 4 and the operating handle 101. One end of the spring 5 is fixedly connected to the baffle 6, and the other end of the spring 5 abuts against the operating handle 101. During operation, the first motor 3 drives the threaded rod 4 to rotate, which causes the baffle 6 to move along the axis of the threaded rod 4 under the action of cooperating with the threaded rod 4, changing the compression of the spring 5, thereby changing the pressure on the operating handle 101.

[0029] A control method for a crane load-sensing operating mechanism is disclosed, the specific control method being as follows: The master controller 1 controls the crane motor to operate. When lifting the load, the first motor 3 controls the baffle 6 to compress the spring 5, increasing the pressure on the operating handle 101. If the lifting speed increases, the first motor 3 controls the baffle 6 to compress the spring 5, increasing the pressure on the operating handle 101. When the lifting speed decreases, the first motor 3 controls the baffle 6 to move in the opposite direction, causing the spring 5 to rebound, reducing the pressure on the operating handle 101. When lowering the load, the first motor 3 controls the baffle 6 to move in the opposite direction, causing the spring 5 to rebound, reducing the pressure on the operating handle 101.

[0030] When lifting a heavy object, since the weight remains constant, the load on the lifting motor is positively correlated with the lifting speed; that is, the higher the lifting speed, the greater the current, indicating a greater load on the lifting motor. Therefore, by detecting the current magnitude and feeding it back to the controller 7 via a current sensor, the controller controls the operation of the first motor 3. Based on the current magnitude, the positions of the two baffles are adjusted, thereby changing the force exerted by the spring 5 on the operating handle 101. Specifically: if the current increases, it indicates an increased load on the lifting motor. The controller 7 controls the first motor 3 to rotate forward, compressing the spring 5 with the left baffle. Because the spring 5 is compressed, the operating force required to move the operating handle to the same position increases compared to the initial state, and this increase is positively correlated with the amount of spring 5 compression, i.e., positively correlated with the motor load. The left and right swings of the operating handle 101 control the lifting and lowering of the heavy object, respectively.

[0031] Taking the hoisting motor of a crane as an example, the rated lifting capacity is 10t, the rated speed is 10m / min, the rated power is 63kW, the rated current is 10A, and the number of hoisting motor pulses N i =200*(i t -i t-1 (i) t Let i be the current at the current moment. t-1 (The current at the previous moment).

[0032] (1) When the crane's hoisting mechanism is unloaded, the operating handle 101 operates the hoisting rope to lift the crane without any load. The hoisting speed is 2m / min. The current signal of the hoisting motor changes from 0 to +0.1A, and the output pulse N1 = +20. The first motor 3 rotates forward 20 steps, the spring 5 is compressed, and the pressure on the operating handle 101 increases. When the hoisting speed increases from 2m / min to 5m / min, the current signal changes from +0.1A to +0.3A, the output pulse N2 = +40, the stepper motor rotates forward 40 steps, the spring 5 is further compressed, and the pressure on the handle increases further.

[0033] When the lifting speed decreases, for example from 5 m / min to 2 m / min, the current signal changes from +0.3A to +0.1A, the output pulse N3 = -40, the first motor 3 rotates in the reverse direction for 40 steps, the compression of spring 5 decreases, and the pressure on the handle decreases; after the handle is reset, the lifting speed changes from 2 m / min to 0, the current signal changes from +0.1A to 0, the output pulse N4 = -20, the first motor 3 rotates in the reverse direction for 20 steps, and spring 5 is reset.

[0034] (2) When the crane lifts a 6t load, the operating handle 101 manipulates the lifting rope to raise the load at a lifting speed of 2m / min. The current signal changes from 0 to +7.0A, and the output pulse N1 = +1400. The first motor 3 rotates forward 1400 steps, the spring 5 is compressed, and the pressure on the operating handle 101 increases. When the lifting speed increases from 2m / min to 5m / min, the current signal changes from +7.0A to +17.4A, the output pulse is +2080, the first motor 3 rotates forward 2080 steps, and the spring 5 is compressed. One compression step further increases the pressure on the control handle 101; when the lifting speed decreases from 5m / min to 2m / min, the current signal changes from +17.4A to +7.4A, output pulse -2080, the first motor 3 rotates in the reverse direction for 2080 steps, the spring 5 is compressed less, and the pressure on the control handle 101 decreases; when the handle resets, the lifting speed changes from 2m / min to 0, the current signal changes from +7.0A to 0, output pulse -1400, the first motor 3 rotates in the reverse direction for 1400 steps, and the spring 5 resets.

[0035] (3) When the crane lifts a 6t load, the operating handle 101 operates the lifting motor to lower the load at a speed of 2m / min. The motor is in the power generation state, and the current signal changes from 0 to -5.0A. The output pulse N1 = -1000 is generated. The stepper motor rotates in the opposite direction for 1000 steps, the spring 5 is compressed and the pressure on the operating handle 101 is reduced.

[0036] The control mechanism converts different loads on the lifting motor into different pressures applied to the control handle 101, allowing the operator to directly sense the current load on the lifting motor by adjusting the force applied to the handle.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control mechanism for sensing the load status of a crane, characterized in that, The system includes a master controller, a hoisting motor, a first controller, and two first motors. Both first motors are electrically connected to the first controller. Each hoisting motor is equipped with a current detection sensor, which is also electrically connected to the first controller. The master controller has housings symmetrically fixed on both sides of its operating handle. Each housing has a threaded rod driven by a first motor, perpendicular to the operating handle, rotatably mounted on it. The two threaded rods are rotatably connected, with the connection point passing through the operating handle. Each threaded rod has a matching baffle, and a spring is fitted between the baffle and the operating handle.

2. The operating mechanism for sensing the load status of a crane according to claim 1, characterized in that, One end of the spring is fixedly connected to the baffle, and the other end of the spring abuts against the operating handle.

3. The operating mechanism for sensing the load status of a crane according to claim 1, characterized in that, The control handle has a through hole, which does not contact the connection between the two threaded rods.

4. The operating mechanism for sensing the load status of a crane according to claim 1, characterized in that, The axes of the two threaded rods coincide.

5. The operating mechanism for sensing the load status of a crane according to claim 1, characterized in that, The housing is equipped with a bearing, the first motor is fixedly installed on the side of the housing away from the operating handle, and the end of the threaded rod is fixedly connected to the output shaft of the first motor.

6. The operating mechanism for sensing the load status of a crane according to claim 5, characterized in that, The two threaded rods are connected by a connecting pipe, and bearings arranged coaxially are installed at both ends of the connecting pipe. The ends of the two threaded rods near the operating handle are rotatably connected to the connecting pipe through the bearings.

7. The operating mechanism for sensing the load status of a crane according to claim 1, characterized in that, The first motor is a stepper motor.

8. The control method for the crane load-sensing operating mechanism according to any one of claims 1-7, characterized in that, Specifically, the following steps are included: S1: The master controller controls the operation of the hoisting motor. When lifting the object being hoisted, the first motor controls the baffle to compress the spring, increasing the pressure on the operating handle. S2: When the hoisted object is lowered, the first motor controls the baffle to move in the opposite direction, causing the spring to rebound and reducing the pressure on the control handle.

9. The control method for the crane load-sensing operating mechanism according to claim 8, characterized in that, In step S1, when the lifting speed increases, the first motor controls the baffle to compress the spring, increasing the pressure on the control handle; when the lifting speed decreases, the first motor controls the baffle to move in the opposite direction, causing the spring to rebound and reducing the pressure on the control handle.

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