A control system for a movable circular track robotic arm anti-sway device

Abstract

This invention discloses a control system for a movable circular rail robotic arm anti-sway device, comprising: an information detection unit, a central anti-sway control unit, a crane lifting device, a synchronous slewing device, and a circular rail robotic arm anti-sway device. The circular rail robotic arm anti-sway device can adjust its own posture in real time through the luffing and slewing of the robotic arm anti-sway device, ensuring a good rope exit angle for the anti-sway flexible cable, thereby achieving low-power drive of the circular rail robotic arm anti-sway device. For small-amplitude swings, the anti-sway effect can be achieved solely by the circular rail robotic arm anti-sway device; for large-amplitude swings, the anti-sway effect of the suspended load is achieved through the coordinated operation of the synchronous slewing device and the circular rail robotic arm anti-sway device. This control system is simple to operate, facilitates quick assembly and disassembly, and can improve the lifting and transfer efficiency of various cranes, while having no impact on the crane's own slewing and luffing movements.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical arm control, in particular to a movable ring rail mechanical arm anti-rolling device control system. BACKGROUND

[0002] The ship crane is an important engineering equipment for ship supply, material transfer and offshore wind power installation. Due to the nonlinear dynamic base excitation of the ship itself, the influence of sea waves and currents and the under-actuated characteristics of the crane itself, the swing of the hoisted load is very prominent. In the traditional offshore hoisting operation scene, the swing of the hoisted load is usually suppressed by manual dragging by sailors or operators, and then the precise positioning of the hoisted load is realized. However, this operation mode has very limited anti-rolling effect, low operation efficiency and high labor intensity. The main anti-rolling methods at home and abroad are electronic anti-rolling method and mechanical anti-rolling method. The electronic anti-rolling method mainly relies on the rotation and luffing actions of the crane to control the swing of the hoisted load, which requires high driving power of the crane, and is not suitable for the modification of old cranes. Even for newly built cranes, the power configuration required by the electronic anti-rolling method will be much higher than that of ordinary cranes, which greatly increases the construction cost of the crane. The existing mechanical anti-rolling method mainly adds anti-rolling arms or mechanical anti-rolling devices to the crane, which will affect the original mechanical structure of the crane. The traditional mechanical anti-rolling methods such as RBTS and Maryland rigging will seriously interfere with the luffing, slewing and hoisting actions of the crane, so they have not been widely used in engineering applications. SUMMARY

[0003] In view of the problems existing in the prior art, the present application discloses a movable ring rail mechanical arm anti-rolling device control system, which comprises an information detection unit, a central anti-rolling control unit, a crane hoisting device, a synchronous slewing device and a ring rail mechanical arm anti-rolling device.

[0004] The information detection unit monitors the luffing action and slewing action information of the crane, the tension information of the two anti-rolling flexible ropes and the main hoisting rope, the swing angle information of the main hoisting rope and the length information of the anti-rolling flexible rope in real time.

[0005] The central anti-rolling control unit receives the data information transmitted by the information detection unit and analyzes it to control the forward and reverse rotation of the anti-rolling winch, the operation of the synchronous slewing device and the ring rail mechanical arm anti-rolling device; based on the main hoisting rope swing angle signal, different control logic is switched and the tension and position of the anti-rolling flexible rope are controlled.

[0006] The central anti-rolling control unit comprises a power supply unit, a master control chip, a wireless control unit and an element control unit; the power supply unit and the wireless control unit are connected with the master control chip; the master control chip controls the synchronous slewing device and the ring rail mechanical arm anti-rolling device through the wireless control unit; and the element control unit controls the electrical devices in the information detection unit to work normally.

[0007] The crane lifting device comprises a lifting and lowering circuit, an amplitude changing circuit, a slewing circuit and a swing angle measuring device; the central anti-rolling control unit controls the lifting and lowering action of the main sling of the lifting winch in real time through the lifting and lowering circuit, controls the amplitude changing action of the main lifting arm of the crane through the amplitude changing circuit, controls the amplitude changing action of the main lifting arm of the crane through the amplitude changing circuit, controls the slewing process of the crane through the slewing circuit, and cooperatively controls the lifting device, the synchronous slewing device and the ring rail mechanical arm anti-rolling device based on the measured signals detected by the swing angle measuring device.

[0008] The synchronous slewing device comprises a circular track and a driving motor; the central anti-rolling control unit drives the two ring rail mechanical arm anti-rolling devices to perform slewing action through the driving motor.

[0009] The ring rail mechanical arm anti-rolling device comprises a slewing base at the bottom, an anti-rolling winch on the slewing base and a mechanical arm anti-rolling device; the ring rail mechanical arm anti-rolling device performs slewing motion on the circular track under the driving of the driving motor of the synchronous slewing device; the central anti-rolling control unit transmits control signals to the anti-rolling winch through the wireless control unit; the anti-rolling winch performs the action of winding and unwinding the anti-rolling flexible rope after receiving the control signals; and the mechanical arm anti-rolling device adjusts the rope angle through the amplitude changing and slewing action of itself.

[0010] The synchronous slewing device can control the angle between the two symmetrically distributed lateral anti-rolling flexible ropes to reach a preset angle.

[0011] The ring rail mechanical arm anti-rolling device adjusts its posture in real time through the amplitude changing and slewing of the mechanical arm anti-rolling device, controls the anti-rolling flexible rope to reach a preset rope angle, and realizes low-power driving of the movable ring rail mechanical arm anti-rolling device.

[0012] The central anti-rolling control unit controls the swing of the hoisted load through the two symmetrically distributed anti-rolling flexible ropes according to the measurement value of the swing angle measuring device; in the case of small amplitude swing, the ring rail mechanical arm anti-rolling device is relied on for anti-rolling control; and for large amplitude swing of the hoisted load, the synchronous slewing device and the ring rail mechanical arm anti-rolling device are simultaneously actuated to cooperatively realize anti-rolling control of the hoisted load, that is, the control logic is switched according to the size of the angle swing.

[0013] With the technical scheme, the movable ring rail mechanical arm stabilizer control system can adjust the posture of the ring rail mechanical arm stabilizer in real time through the amplitude and rotation of the mechanical arm stabilizer, so that the stabilizing rope has a good rope angle, and low-power driving of the ring rail mechanical arm stabilizer is realized. For small amplitude oscillation, the stabilizing effect can be realized only by the ring rail mechanical arm stabilizer, and for large amplitude oscillation of the hoisted load, the stabilizing of the hoisted load is realized through the cooperation of the synchronous rotation device and the ring rail mechanical arm stabilizer. The control system is simple to control, easy to realize quick disassembly and assembly, can improve the hoisting and transfer efficiency of various cranes, and has no influence on the rotation and amplitude motion of the crane itself.

[0014] Compared with the background art, the present application has the beneficial effects that:

[0015] 1) The control is simple, and the hoisted load does not need to be manually pulled for stabilizing.

[0016] 2) The stabilizing system does not damage the original mechanical structure of the crane, and has no influence on the rotation and amplitude motion of the crane.

[0017] 3) The ring rail mechanical arm stabilizer can adjust the posture of the ring rail mechanical arm stabilizer, so that the stabilizing rope reaches a suitable rope angle, and low-power operation of the stabilizing winch is realized.

[0018] 4) The control system can greatly improve the hoisting efficiency of material transfer and other operations in complex sea conditions.

[0019] 5) The control system is easy to build and can be quickly arranged on the deck or work site. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1 A control system framework diagram of a movable ring rail mechanical arm stabilizer according to the present application.

[0022] Figure 2 A control logic switching diagram of a movable ring rail mechanical arm stabilizer according to the present application.

[0023] Figure 3 A control logic diagram of the ring rail mechanical arm stabilizer for out-of-plane angle stabilizing of the hoisted load according to the present application.

[0024] Figure 4This invention relates to an angle control feedback system for a movable circular track robotic arm anti-sway device.

[0025] Figure 5 This is a schematic diagram of the structure of a movable circular track robotic arm anti-sway device according to the present invention. Detailed Implementation

[0026] To make the technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention:

[0027] like Figure 1 The control system for a movable circular rail robotic arm anti-sway device shown includes an information detection unit, a central anti-sway control unit, a crane lifting device, a synchronous rotation device, and a circular rail robotic arm anti-sway device.

[0028] The information detection unit includes a crane luffing encoder, a crane slewing encoder, a tension sensor for the anti-sway cable, an angle sensor, and a synchronous encoder for the anti-slewing winch. The crane luffing encoder monitors the crane's luffing motion in real time; one crane slewing encoder is located at the crane's slewing joint to monitor the crane's slewing motion in real time, and the synchronous slewing device encoder is located at the synchronous slewing device to monitor its slewing motion in real time. Tension sensors for the anti-slewing cable are located at the exit points of the two anti-slewing cables and the main sling to monitor the tension of the two anti-slewing cables and the main sling in real time; the angle sensor monitors the swing angle of the main sling in real time; and the anti-slewing winch of the ring rail robotic arm anti-slewing device is equipped with an anti-slewing winch synchronous encoder to monitor changes in the length of the anti-slewing cable in real time.

[0029] The central anti-sway control unit, based on signals from the crane's luffing encoder and the anti-sway winch's synchronous encoder, controls the forward and reverse rotation of the anti-sway winch according to the crane's luffing motion, enabling the anti-sway cable to synchronously follow the crane's luffing motion. The central anti-sway control unit, based on signals from the crane's slewing encoder and the slewing encoder at the synchronous slewing device, controls the synchronous slewing device to synchronously rotate with the crane (i.e., controlling the synchronous slewing device and the ring rail robotic arm anti-sway device primarily based on the crane's commands). The central anti-sway control unit switches between different control logics based on the main sling swing angle signal monitored in real-time by the angle sensor. Finally, the central anti-sway control unit, based on signals from the tension sensor and the anti-sway winch's synchronous encoder, can control the tension and position of the anti-sway cable.

[0030] The central anti-rolling control unit comprises a power supply unit, a master control chip, a wireless control unit and an element control unit. The power supply unit is electrically connected to the master control chip, the wireless control unit is connected to the master control chip, the wireless control unit can control the synchronous rotary device and the ring rail mechanical arm anti-rolling device, the master control chip is integrated in the central anti-rolling control unit, the central anti-rolling control unit can complete the control of the crane lifting device, the synchronous rotary device and the ring rail mechanical arm anti-rolling device, and the element control unit controls the normal operation of the electrical devices in the information detection unit.

[0031] The crane lifting device comprises a lifting and lowering circuit, an amplitude changing circuit, a rotary circuit and a swing angle measuring device. The central anti-rolling control unit completes the winding and unwinding action of the lifting winch on the main hoisting cable by controlling the lifting and lowering circuit, the central anti-rolling control unit realizes the amplitude changing action of the crane main hoisting arm through the amplitude changing circuit, the central anti-rolling control unit realizes the rotation of the crane through the rotary circuit, and the central anti-rolling control unit realizes the coordinated cooperation of the lifting device, the synchronous rotary device and the ring rail mechanical arm anti-rolling device according to the real-time measurement signal of the swing angle measuring device.

[0032] The synchronous rotary device comprises a circular track and a drive motor below the ring rail mechanical arm anti-rolling device. The central anti-rolling control unit transmits signals to the synchronous rotary device through the wireless control unit. After receiving the signal of the central anti-rolling control unit, the drive motor can drive the two ring rail mechanical arm anti-rolling devices to rotate.

[0033] The ring rail mechanical arm anti-rolling device comprises a rotary base, an anti-rolling winch and a mechanical arm anti-rolling device. The rotary base can rotate on the circular track under the drive of the synchronous rotary device drive motor, the central anti-rolling control unit can transmit signals to the anti-rolling winch through the wireless control unit, and the anti-rolling winch completes the winding and unwinding action of the anti-rolling flexible cable after receiving the control signal. The mechanical arm anti-rolling device can realize the fine adjustment of the rope angle through its own amplitude changing and rotating action.

[0034] Further, the central anti-rolling control unit can control the lifting device, the synchronous rotary device and the ring rail mechanical arm anti-rolling device, the central anti-rolling control unit can realize the coordinated cooperation between the devices, and finally complete the anti-rolling function of the whole system. The synchronous rotary device can make the two symmetrically distributed lateral anti-rolling flexible cables have a suitable included angle, so that the anti-rolling flexible cable has enough anti-rolling tension in the in-plane and out-of-plane directions.

[0035] Further, the ring rail mechanical arm anti-rolling device can adjust its posture in real time through the amplitude changing and rotation of the mechanical arm, so that the anti-rolling flexible cable has a good rope angle, and the low-power driving of the anti-rolling device is realized.

[0036] Further, for small amplitude oscillation, only the ring rail mechanical arm roll damping device can achieve the roll damping effect, and for large amplitude oscillation of the hoisted weight, the synchronous rotary device and the ring rail mechanical arm roll damping device are simultaneously actuated to cooperatively realize the roll damping of the hoisted weight, that is, the control logic is switched according to the size of the angle of oscillation.

[0037] The central roll damping control unit controls the oscillation of the hoisted weight through the measurement value measured by the swing angle measuring device and through the two symmetrically distributed roll damping ropes.

[0038] The control system of the movable ring rail mechanical arm roll damping device according to the present application is composed of the central roll damping control unit as shown in the accompanying Figure 1 The control system is built with the central roll damping control unit, and specifically includes the following contents:

[0039] 1. The central roll damping control unit controls the luffing action of the crane through the luffing circuit.

[0040] 2. The central roll damping control unit controls the hoisting and lowering of the main hoist rope through the hoisting device to complete the hoisting of the hoisted weight.

[0041] 3. The central roll damping control unit realizes the slewing action of the crane through the slewing circuit.

[0042] 4. The central roll damping control unit controls the synchronous rotary device and the ring rail mechanical arm roll damping device through wireless signals to realize the roll damping control of the hoisted weight by the two roll damping ropes.

[0043] 5. The central roll damping control unit reads the swing angle measured by the swing angle measuring device, adopts the control switching logic as shown in the accompanying Figure 2 , and realizes the swing damping effect of the hoisted weight through the cooperative cooperation of the synchronous rotary device and the ring rail series mechanical arm roll damping device.

[0044] Further, the control switching logic of the movable ring rail mechanical arm roll damping device.

[0045] The control switching logic of the movable ring rail mechanical arm roll damping device according to the present application is as shown in the accompanying Figure 2 and Figure 3 .

[0046] 1. The out-of-plane angle control of the hoisted weight is taken as an example to illustrate the control switching logic.

[0047] 2. The angle threshold value of the out-of-plane angle ψ a is set in the central roll damping control unit in advance, the actual measured angle of the swing angle measuring device is ψ b , and the angle difference Δψ is obtained by subtracting ψ a from ψ b .

[0048] 3. Set the out-of-plane angle deviation values Δψ1 and Δψ2 in the central anti-rolling control unit in advance, Δψ1 is a larger deviation value, and Δψ1 is a smaller deviation value;

[0049] 4. When Δψ>Δψ1, it is determined that the hoisting load swings greatly, and the central anti-rolling control unit controls the synchronous slewing device and the ring rail mechanical arm anti-rolling device to act simultaneously. That is, the synchronous slewing device away from the hoisting load swing side moves to the opposite side of the hoisting load swing, and the synchronous slewing device close to the hoisting load swing side does not act; at the same time, the anti-rolling cable of the ring rail mechanical arm anti-rolling device close to the hoisting load swing side is loosened, and the anti-rolling winch on the opposite side executes the cable winding action. When the movement direction of the hoisting load is opposite, the opposite control strategy is adopted. The central anti-rolling control unit controls the synchronous slewing device and the ring rail mechanical arm anti-rolling device to execute the action all the time to hinder the swing of the hoisting load and consume the swing energy of the hoisting load, so as to realize the anti-rolling control effect of the hoisting load.

[0050] 5. When Δψ1>Δψ>Δψ2, it is determined that the hoisting load swings slightly, and only the mechanical arm anti-rolling device is used to complete the anti-rolling of the hoisting load. The central anti-rolling control unit first controls the ring rail mechanical arm anti-rolling device to reach a suitable symmetrical position, so that the anti-rolling cable has sufficient anti-rolling tension in the in-plane and out-of-plane directions. Then, the anti-rolling winch of the mechanical arm anti-rolling device is used to wind and unwind the anti-rolling cable, so that the two anti-rolling cables always hinder the swing of the hoisting load.

[0051] Mechanical arm anti-rolling device out-of-plane angle anti-rolling control logic

[0052] 1) The anti-rolling control logic shown in Figure 2 is adopted after the movable ring rail series mechanical arm anti-rolling device control switching logic is used to control the swing of the hoisting load to be Δψ1>Δψ>Δψ2; Figure 3 .

[0053] 2) The swing angle measuring device is used to measure the swing angle of the hoisting load as ψ;

[0054] 3) Taking the out-of-plane swing control as an example, when ψ>Δψ2, the anti-rolling winch close to the hoisting load side loosens the cable, and the anti-rolling winch on the opposite side winds the cable;

[0055] 4) When ψ>Δψ2, the control logic in 3) is also used, so that the two anti-rolling cables always hinder the swing of the hoisting load, and the anti-rolling control of the hoisting load is realized.

[0056] Ring rail mechanical arm anti-rolling device swing angle feedback system

[0057] The ring rail mechanical arm anti-rolling device swing angle feedback system of the present application is shown in Figure 4 , and the steps can be divided into the following steps:

[0058] 1) The swing angle safety value of the main hoisting cable is preset in the central anti-rolling control unit;

[0059] 2) The central anti-swing control unit controls the synchronous rotary device and the ring rail series mechanical arm anti-swing device to act according to the deviation between the preset value and the actual value, so that the swing angle of the hoisted load is always within an acceptable range.

[0060] 3) The central anti-swing control unit can measure the swing angle of the hoisted load according to the swing angle measuring device, so that the ring rail mechanical arm anti-swing control system has a certain anti-interference capability, and even if the system is impacted or disturbed by wind load, the swing of the hoisted load can be controlled within a certain range.

[0061] The control process of the movable ring rail mechanical arm anti-swing device is shown in the accompanying drawings. Figure 5 After the hoisting device hoists the hoisted load, the synchronous rotary device 1 and the ring rail mechanical arm anti-swing device 3 intervene in work, and according to the swing angle measured by the swing angle measuring device, the synchronous rotary device 1 and the ring rail mechanical arm anti-swing device 3 cooperate to realize tension control of the anti-swing flexible rope, and finally achieve the purpose of hoisted load anti-swing.

[0062] The control system of the movable ring rail mechanical arm anti-swing device disclosed in the application, in the working state: after the ring rail mechanical arm anti-swing device control system intervenes in work, the synchronous rotary device can make the ring rail mechanical arm anti-swing device follow the synchronous rotation of the crane, and the synchronous rotary device and the ring rail mechanical arm anti-swing device cooperate to complete the consumption of the swing energy of the hoisted load through two laterally pulled anti-swing flexible ropes, and realize the anti-swing control effect. The synchronous rotary device can make the two symmetrically distributed lateral anti-swing flexible ropes achieve a suitable included angle, so that the anti-swing flexible rope has sufficient anti-swing tension in the in-plane and out-of-plane directions. The ring rail mechanical arm anti-swing device can adjust the posture of the ring rail mechanical arm anti-swing device in real time through the luffing and rotation of the mechanical arm, so that the anti-swing flexible rope has a good rope exit angle, and the low-power driving of the ring rail mechanical arm anti-swing device is realized. For small amplitude swing, only the ring rail mechanical arm anti-swing device can realize the anti-swing effect, and for large amplitude swing, the synchronous rotary device and the ring rail mechanical arm anti-swing device cooperate to realize the anti-swing of the hoisted load. The control system is simple to control, easy to realize rapid disassembly and assembly, can improve the hoisting and transfer efficiency of various cranes, and has no influence on the rotation and luffing action of the crane itself.

[0063] The above is only the preferred specific embodiment of the application, but the protection scope of the application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the application within the technical range disclosed by the application, which should be covered in the protection scope of the application.

Claims

1. A movable ring rail mechanical arm anti-rolling device control system, characterized in that The application relates to a crane anti-rolling device. The information detection unit monitors the amplitude and rotation information of the crane, the tension information of the two anti-rolling ropes and the main hoist rope, the swing angle information of the main hoist rope and the length information of the anti-rolling ropes in real time. The central anti-rolling control unit receives and analyzes the data information transmitted by the information detection unit to control the forward and reverse rotation of the anti-rolling winch, the operation of the synchronous rotation device and the ring rail mechanical arm anti-rolling device. The central anti-rolling control unit switches different control logics based on the main hoist rope swing angle signal and controls the tension and position of the anti-rolling ropes. The central anti-rolling control unit controls the swing of the hoisted load through the two symmetrically distributed anti-rolling ropes according to the measurement value of the swing angle measuring device; in the case of small amplitude swing, the ring rail mechanical arm anti-rolling device is used for anti-rolling control; for large amplitude swing of the hoisted load, the synchronous rotation device and the ring rail mechanical arm anti-rolling device are simultaneously actuated to realize the anti-rolling control of the hoisted load, that is, the control logic is switched according to the size of the angle swing. The central anti-rolling control unit comprises a power supply unit, a main control chip, a wireless control unit and an element control unit; the power supply unit and the wireless control unit are connected with the main control chip; the main control chip controls the synchronous rotation device and the ring rail mechanical arm anti-rolling device through the wireless control unit; and the element control unit controls the electrical devices in the information detection unit to work normally.

2. The movable gimbaling apparatus control system of claim 1, wherein: The crane hoisting device comprises a lifting and lowering circuit, an amplitude changing circuit, a rotation circuit and a swing angle measuring device; the central anti-rolling control unit controls the lifting and lowering winch in real time through the lifting and lowering circuit, controls the amplitude changing of the crane main hoist arm through the amplitude changing circuit, controls the amplitude changing of the crane main hoist arm through the amplitude changing circuit, controls the rotation process of the crane through the rotation circuit and cooperatively controls the hoisting device, the synchronous rotation device and the ring rail mechanical arm anti-rolling device based on the measurement signal detected by the swing angle measuring device.

3. The movable gimbaling apparatus control system of claim 2, wherein: The synchronous rotation device comprises a circular track and a driving motor; the central anti-rolling control unit drives the two ring rail mechanical arm anti-rolling devices to rotate through the driving motor.

4. The movable gimbaling apparatus control system of claim 3, wherein: The ring rail mechanical arm anti-rolling device comprises a rotation base at the bottom, an anti-rolling winch on the rotation base and a mechanical arm anti-rolling device; the ring rail mechanical arm anti-rolling device rotates on the circular track under the driving of the driving motor of the synchronous rotation device; the central anti-rolling control unit transmits the control signal to the anti-rolling winch through the wireless control unit; the anti-rolling winch performs the action of winding and unwinding the anti-rolling rope after receiving the control signal; and the mechanical arm anti-rolling device adjusts the rope angle through the amplitude changing and rotation of the mechanical arm anti-rolling device.

5. The movable ring rail mechanical arm stabilizing device control system according to claim 4, characterized in that: The synchronous rotation device can control the angle between the two symmetrically distributed lateral anti-rolling ropes to reach a preset angle.

6. The movable ring rail mechanical arm stabilizing device control system of claim 4, wherein: The ring rail mechanical arm anti-rolling device adjusts the posture of the mechanical arm anti-rolling device in real time through the amplitude changing and rotation of the mechanical arm anti-rolling device, controls the anti-rolling rope to reach a preset rope angle and realizes the low-power driving of the movable ring rail mechanical arm anti-rolling device.

7. The movable ring rail mechanical arm stabilizing device control system according to claim 6, characterized in that: ​

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