Anti-swing control mechanism for crane hoisting

Abstract

The application discloses a crane hoisting anti-swing control mechanism, which comprises a driving wheel box, a supporting leg, a cross beam and a hoisting trolley, the hoisting trolley is composed of a walking mechanism, a winch and a pulley, a steel cable is arranged on the winch and suspends the pulley through the steel cable, detection pieces are arranged between each parallel section between the winch and the pulley, the detection pieces detect the deflection angle of the steel cable relative to the initial position when the pulley swings, and a controller is further arranged on the winch, which controls the start and stop of the driving wheel box and the walking mechanism through the detection piece signals. The crane hoisting anti-swing control mechanism can detect the deflection angle of hoisting through the transmission crane, automatically control the crane, reduce the swing caused by the inertia of the object after hoisting, effectively prevent the hoisting swing of the crane through automatic secondary control, and avoid safety hazards.

Description

Technical Field

[0001] This invention relates to the field of crane technology, specifically to a crane lifting anti-sway control mechanism. Background Technology

[0002] A crane is a multi-action lifting machine that vertically lifts and horizontally moves heavy objects within a certain range. Also known as an overhead crane, gantry crane, or hoist, some lifting equipment operates intermittently, meaning that the corresponding mechanisms for material handling, transport, and unloading alternate within a work cycle. Cranes are becoming increasingly widespread in the market.

[0003] Cranes are generally used for lifting heavy objects. They are categorized into large, medium, and small sizes based on their lifting capacity. Regardless of size, all cranes have a rated moving speed, which cannot be too high. There is acceleration in different directions from the moment of startup to reaching the rated speed and upon stopping. However, the lifted object continues to move due to inertia, causing swaying. During this swaying, the object continuously converts between potential and kinetic energy due to the constraint of the steel cable. Eventually, the swaying stops due to friction and air resistance. However, post-lifting swaying affects safety and the efficiency of transferring the lifted object. Currently, crane operators, based on experience, stop the lifted object a short distance before it reaches the designated position. The object continues to move forward due to inertia, at which point the operator restarts the crane to move in the direction of the object's movement to reduce the sway. However, this method requires a high level of operator experience, considering factors such as the weight of the lifted object and the timing and duration of the secondary control. Therefore, we propose a crane lifting anti-sway control mechanism. Summary of the Invention

[0004] The purpose of this invention is to provide a crane lifting anti-sway control mechanism to solve the problem of easy swaying of crane-lifted objects mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a crane hoisting anti-sway control mechanism, comprising a drive wheel box, outriggers, a crossbeam, and a hoisting trolley. The hoisting trolley consists of a traveling mechanism, a winch, and a pulley. The winch is equipped with a steel cable, through which the pulley is suspended. Detection elements are provided between parallel sections of the steel cable located between the winch and the pulley. The detection elements detect the angle of the steel cable relative to its initial position when the pulley swings. The winch is also equipped with a controller, which controls the start and stop of the drive wheel box and the traveling mechanism through signals from the detection elements.

[0006] Preferably, the detection component includes a fixed frame disposed below the winch. A set of telescopic members is provided between every two adjacent parallel segments of the steel cable, and each telescopic member is provided with a reset member. The telescopic members and reset members reciprocate as the distance between the two parallel segments of the steel cable changes when the pulley swings. Rollers that contact the steel cable are hinged to both ends of each telescopic member. Each telescopic member is planarly slidably connected to the fixed frame, and this sliding plane is parallel to the horizontal plane. At least two sets of telescopic members with different telescopic directions are provided with measuring elements. The measuring elements measure the telescopic change value of the telescopic member relative to its initial state in real time. Each telescopic member detects the distance between two corresponding steel cable segments to determine the offset angle of the steel cable relative to the vertical state.

[0007] Preferably, the telescopic component includes two movable plates, each with a rack on its opposite side. A set of limiting frames is fitted between the two movable plates, and the limiting frames are equipped with synchronous gears that mesh with the two sets of racks respectively. Each of the two opposite sides of the limiting frames is provided with a baffle. The resetting component is disposed between the baffle and the end of the movable plate adjacent to the baffle. The movable plates at adjacent ends of two adjacent telescopic components are fixedly connected, and the roller is disposed at the connection point of the two fixedly connected movable plates. The two movable plates in the telescopic component move the same distance when moving through gear meshing and can maintain the parallel state of each opposite side.

[0008] Preferably, the fixing frame has four sets of sliding plates at its lower part, and the limiting frame has a limiting guide rail at its top, with the sliding plates slidably connected within the limiting guide rail.

[0009] Preferably, the limiting frames on every two telescopic members with the same telescopic direction form a group, and at least one group of limiting frames has guide plates on the contact surface between the limiting guide rail and the slide plate. The two guide plates on the same limiting frame are not parallel, and the contact at different positions of the two guide plates can determine the telescopic length of the telescopic member and whether the whole rotates.

[0010] Preferably, the winch is further provided with a counting wheel, which abuts against the steel cable. The axis of the counting wheel is parallel to and above the axis of the winch winding shaft. The axis of the counting wheel is located above the axis of the winch winding shaft to prevent the swing of the steel cable from affecting the contact with the counting wheel when the hoisted object swings.

[0011] Preferably, the walking mechanism is equipped with sensors at both ends along its direction of movement, and the sensors detect the distance between the end of the walking mechanism and the corresponding end of the crossbeam.

[0012] Preferably, both the counting wheel and the roller are concave wheels with an I-shaped cross-section, and the concave cross-section is adapted to the axial cross-section of the steel cable.

[0013] Preferably, the concave surface of the counting wheel is provided with speckled protrusions that are adapted to the spiral of the steel cable surface. The matching of the speckled protrusions with the spiral of the steel cable enables the rotation of the counting wheel to correspond to the movement of the steel cable, thus avoiding relative slippage.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] This invention automatically controls the crane by installing a mechanism on the transmission crane to detect the offset angle of the hoisting, thereby reducing the swaying caused by the inertia of the object after hoisting. Through automatic secondary control, it effectively prevents the crane from swaying during hoisting and avoids potential safety hazards.

[0016] The automatic control of the crane allows for better timing of secondary starts and continuous movement, avoiding unnecessary operations due to operator experience limitations. This provides better protection for the equipment and improves lifting efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the existing lifting device;

[0018] Figure 2 This is a schematic diagram illustrating the movement of the object being lifted using an existing lifting device.

[0019] Figure 3 This is a schematic diagram illustrating the manual re-motion of the entire object after it has stopped during the lifting process using a lifting device.

[0020] Figure 4 A comparison chart showing the swing amplitude of the suspended object before and after secondary startup;

[0021] Figure 5 This is a schematic diagram showing the position of the inspection component on the crane.

[0022] Figure 6 for Figure 5 Enlarged schematic diagram of the structure in area A;

[0023] Figure 7 This is a schematic diagram of the partial structure of the tested component in an explosion state.

[0024] Figure 8 A schematic diagram showing the unfolded structure of the telescopic component;

[0025] Figure 9 This is a schematic diagram of the structure of the skateboard and the sliding rail;

[0026] Figure 10 This is a schematic diagram of the contact structure between the two leads;

[0027] Figure 11This is a schematic diagram of the conductor plate in the state of rotation of the suspended object;

[0028] Figure 12 This is a schematic diagram of the distribution of the spot-bump structure on the concave surface of the counting wheel.

[0029] In the diagram: 1-Drive wheel box; 2-Outrigger; 3-Crossbeam; 4-Lifting trolley; 5-Traveling mechanism; 6-Wind; 7-Pulley; 8-Steel cable; 9-Detection piece; 11-Slide plate; 12-Limit guide rail; 953-Guide plate; 13-Counting wheel; 14-Spotted protrusion; 91-Fixed frame; 92-Telescopic component; 93-Reset component; 94-Roller; 921-Moving plate; 922-Rack; 923-Limit frame; 924-Synchronous gear; 925-Baffle. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0031] Please see Figure 1-6 This invention provides a technical solution: a crane lifting anti-sway control mechanism, including a drive wheel box 1, outriggers 2, a crossbeam 3, and a lifting trolley 4. The drive wheel box 1 is mounted on a track and is driven to move. The outriggers 2 are located above the drive wheel box 1 and support the crossbeam 3. The lifting trolley 4 is located below the crossbeam 3 and moves along its length. The movement of the lifting trolley 4 and the drive wheel box 1 on the track constitutes a planar movement mechanism. The lifting trolley 4 consists of a traveling mechanism 5, a winch 6, and pulleys 7. The winch 6 is equipped with steel cables 8, and the pulleys 7 are suspended by the steel cables 8. Detection elements 9 are provided between the parallel sections of the steel cables 8 between the winch 6 and the pulleys 7. Generally, there are two steel cables 8, used to suspend the pulleys 7. One end of each steel cable 8 is fixed, and the other end is connected to the winding shaft of the winch 6. The winch 6 is used for winding and unwinding. The pulleys 7 have a certain mass, and under the action of gravity, the four sections of steel cables 8 are always in a parallel state.

[0032] like Figure 2As shown, this is a schematic diagram of the existing lifting process of the lifting equipment without manual intervention. Before lifting, the object is stationary. When the traveling mechanism 5 or the drive wheel box 1 starts, the object moves backward due to inertia. Upon reaching the placement area, the traveling mechanism 5 or the drive wheel box 1 brakes, but the object continues to move due to inertia. Under the restraint of the steel cable 8, it undergoes variable-speed reciprocating motion. During this motion, due to friction and air resistance, the swing amplitude of the object gradually decreases until it stops. The object is lowered only when it stops or is close to stopping. Figure 3 As shown, during the manual intervention stopping process, braking begins slightly before the object reaches the placement area. After the object moves beyond position G0 but before reaching position G1, the drive wheel box 1 or the traveling mechanism 5 is restarted along its direction of movement. Under normal conditions, the object's motion is a variable-speed reciprocating motion with centripetal force. The secondary movement of the drive wheel box 1 or the traveling mechanism 5 causes the apex position to shift, changing the angle between the steel cable 8 and the vertical direction, as well as the centripetal force. The angle decreases, and the object moves downwards under gravity, reducing the overall swing amplitude. Figure 4 As shown.

[0033] The detection element 9 detects the angle of deviation of the steel cable 8 relative to its initial position when the pulley 7 swings. The winch 6 is also equipped with a controller, which controls the start and stop of the drive wheel box 1 and the traveling mechanism 5 through the signal from the detection element 9. The deflection angle of the steel cable 8 relative to its initial state (vertical state) is the initial swing amplitude of the suspended object. Different initial swing amplitudes require different durations and timings for the second start of the drive wheel box 1 or the traveling mechanism 5. When manually intervened, adjustments are made based on experience and the actual situation, sometimes requiring three or even four starts to reduce the swing amplitude. This results in a low adjustment rate and numerous adjustments. The detection element 9, however, detects the offset angle of the steel cable 8 during stable movement. The initial swing amplitude is determined, and as the suspended object swings after braking, the detection element 9 can also detect the position of the suspended object, which is determined based on the angle change. The detection element 9 is connected to the crane's control system through the controller. It is restarted when the suspended object swings to position G2 after the traveling mechanism 5 or the drive wheel box 1 stops for the first time. The timing and duration of the restart need to be determined based on the swing angle and the lifting mass. A database is formed after testing different combinations of swing angles and masses to serve as the controller's judgment standard. Compared with manual operation, it is more efficient and accurate. The detection element 9 includes, but is not limited to, a series of sensors used to directly or indirectly measure angles.

[0034] See Figure 5-7The detection component 9 includes a fixed frame 91 located below the winch 6. A set of telescopic components 92 is provided between every two adjacent segments of the parallel sections of the steel cable 8. The adjacent segments are non-diagonally adjacent segments of a quadrilateral formed by four steel cable segments 8. The telescopic component 92 is provided with a reset component 93. The horizontal distance between two adjacent steel cable segments 8 will change continuously due to the inclination of the steel cable 8. The larger the inclination angle, the closer the distance between the two on the same horizontal plane. The reset component 93 is used to reset the telescopic component 92 when the suspended object swings. The reset component 93 is a spring, but not limited to a spring. It includes other components with reset capability, such as hydraulic cylinders and other stroke components. It is an active control reset device. For some ultra-large tonnage cranes, when the suspended object swings, smaller elastic components may exceed their yield strength, resulting in the loss of reset capability.

[0035] The telescopic component 92 and the resetting component 93 reciprocate as the distance between the two parallel segments of the steel cable 8 changes when the pulley 7 swings. Both ends of the telescopic component 92 are hinged with rollers 94 that contact the steel cable 8. The rollers 94 are concave rollers with an I-shaped cross-section, and their concave cross-section matches the axial cross-section of the steel cable 8. The axis of the rollers 94 is horizontal. The function of the rollers 94 is to maintain contact with the steel cable, but the connection between the two is not rigid. Therefore, their concave outer surface better matches the steel cable 8 and confines them to the steel cable 8. Figure 6 As shown, when the steel cable 8 swings, the distance between adjacent ends of the steel cable 8 decreases, and for the position before swinging, the position of the same segment of the steel cable 8 is raised, while the height position of the roller 94 remains unchanged, that is, the two move relative to each other. A non-rigid connection is required to facilitate movement. Therefore, the inner concave surface is used to cooperate with the reset member 93 so that the roller 94 always fits against the surface of the steel cable 8. Each telescopic member 92 is connected to the fixed frame 91 in a planar sliding connection, and the sliding plane is parallel to the horizontal plane. The entire telescopic member 92 will move with the swing of the steel cable 8, while the fixed frame 91 is relatively stationary. Therefore, the two will slide relative to each other. The crane's movement direction is generally in-plane movement, which is manifested as spatial angular swing on the steel cable 8. For example, the swing of the drive wheel box 1 along the track and the movement direction of the traveling mechanism 5 are combined. At least two sets of telescopic members 92 with different telescopic directions are equipped with measuring elements. The measuring elements measure the telescopic change value of the telescopic member 92 from the initial state in real time. The two sets measure the changes in two different directions, that is, the angle change between two adjacent segments of the steel cable 8. The measuring elements are equipped with distance sensors to measure the relative distance change.

[0036] See Figure 7 and Figure 8The telescopic component 92 includes two movable plates 921, each with a rack 922 on its opposite side. A set of limiting frames 923 is fitted between the two movable plates 921. The limiting frames 923 are equipped with synchronous gears 924 that mesh with the two sets of racks 922 respectively. The limiting frames 923 are hollow frame structures, with their two ends connected along the moving direction of the movable plates 921. The axial direction of the synchronous gears 924 is vertically upward and rotatably connected to the limiting frames 923. The distance between the two non-upper and lower inner walls of the limiting frames 923 is in an engaged state. The vertical distance between the opposite sides of the two lower movable plates 921, the two opposite sides of the limiting frame 923 are provided with baffles 925, the reset member 93 is provided between the baffles 925 and the end of the movable plate 921 adjacent to the baffles 925, and the movable plates 921 at the adjacent ends of the two adjacent telescopic members 92 are fixedly connected, and the rollers 94 are provided at the connection of the two fixedly connected movable plates 921. The baffles 925 at the two non-horizontal outer wall ends of the limiting frame 923 are set with an I-shaped structure to improve the strength of the connection reset member 93.

[0037] See Figure 9 , Figure 10 and Figure 11 Four sets of sliding plates 11 are provided below the fixed frame 91. A limiting guide rail 12 is provided on the top of the limiting frame 923. The sliding plates 11 are slidably connected to the limiting guide rail 12. The limiting frames 923 on every two telescopic members 92 with the same telescopic direction form a group. At least one group of limiting frames 923 has a connecting piece 953 on the contact surface between the limiting guide rail 12 and the sliding plate 11. The two connecting pieces 953 on the same limiting frame 923 are not parallel. The two connecting pieces 953 form a signal mechanism, and one end of each is connected to the circuit. If a resistor is used, the resistance value changes continuously depending on the connection position. The movement of the two connecting pieces 953 will cause the signal to change continuously, thereby determining a unique value. The resistance ranges of the two connecting pieces 953 are different within the range that they can move relative to each other. For example, one of them is connected to a resistance range of 0-10, and the other is 20-30, or... In other intervals, each limit frame 923 preferably has a guide plate 953 on the contact surface between the limit guide rail 952 and the slide plate 11. This is because no matter how the interval value is set, there will always be two points sharing the same value, so uniqueness cannot be guaranteed. However, each limit frame 923 has a guide plate 953, and the two resistance values ​​of the corresponding limit frame 923 are different, or the resistance values ​​on all limit frames 923 are different, which can determine uniqueness. The purpose of setting the guide plate 953 is to detect whether the suspended object is rotating. Because no matter how it moves in the two directions of movement, the two guide plates slide along the two directions of movement. However, when rotation occurs, the contact surface of the two guide plates will change, which will cause the value to change. This value is an abnormal value. When rotation occurs, all operations must be stopped because the rotation of the suspended object is very dangerous when the crane is operating.

[0038] See Figure 6 The winch 6 is also equipped with a counting wheel 13, which abuts against the steel cable 8. The axis of the counting wheel 13 is parallel to and above the axis of the winch 6 winding shaft. The counting wheel 13 is used to detect the height of the suspended object. For some suspended objects with a large volume or a large cross-sectional area along the direction of movement but a relatively small mass, the wind resistance will be different when they move. At this time, the height of the suspended object will also have a significant impact on the swing angle. The height of the suspended object will affect the time of the second start. When the axis of the counting wheel 13 is above the axis of the winch 6 winding shaft, the position will change when the steel cable swings. If the counting wheel 13 is below the axis of the winch 6, the contact may be lost.

[0039] Sensors are provided at both ends of the walking mechanism 5 along its direction of movement. The sensors detect the distance between the end of the walking mechanism 5 and the corresponding end of the crossbeam 3. The sensors at the ends of the walking mechanism 5 are distance sensors, which detect the distance between the end of the walking mechanism 5 and the end of the crossbeam 3, so as to avoid the failure to brake and restart when it is about to reach the end of the crossbeam 3.

[0040] See Figure 6 and Figure 12 The counting wheel 13 has the same structure as the roller 94. The concave surface of the counting wheel 13 is provided with spot bumps 14 that are adapted to the spiral lines on the surface of the steel cable 8. The steel cable 8 is made of multiple small steel cables spirally wound into one, and its surface will have spiral gaps due to the different small strands. By setting spot bumps 14 on the counting wheel 13 to match these spiral gaps, the relative stillness of the two contact positions can be maintained. That is, the linear velocity of the steel cable 8 going up or down is the same as the tangential velocity of the contact position of the counting wheel 13, and relative slippage cannot occur, which would lead to measurement error.

[0041] The aforementioned secondary restarts all involve braking before reaching the placement area. During use, before reaching the designated area, the operator releases the movement key and begins braking. During the smooth movement phase (i.e., when reaching the rated speed), the retracted movement distance of the telescopic component 92 remains stable. The deflection angle of the steel cable 8 relative to the vertical direction in each movement direction is determined. After braking, this signal is transmitted to the controller for comparison with data in the database. The time and duration of the secondary restart of the walking mechanism 5 and / or the drive wheel box 1 are then determined and controlled. If the value transmitted through the guide plate 953 is not the value corresponding to its non-moving state, all movement is stopped until the swinging and rotation cease. After stopping, the operator resumes control.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A crane lifting anti-sway control mechanism, comprising a drive wheel box (1), outriggers (2), a crossbeam (3), and a lifting trolley (4), characterized in that: The hoisting trolley (4) consists of a traveling mechanism (5), a winch (6) and a pulley (7). The winch (6) is equipped with a steel cable (8), and the pulley (7) is suspended by the steel cable (8). The steel cable (8) is equipped with detection elements (9) between each parallel section between the winch (6) and the pulley (7). The detection elements (9) detect the angle of the steel cable (8) relative to the initial position when the pulley (7) swings. The winch (6) is also equipped with a controller. The controller controls the start and stop of the drive wheel box (1) and the traveling mechanism (5) through the signal of the detection elements (9). The detection component (9) includes a fixed frame (91) set below the winch (6). A set of telescopic components (92) is provided between every two adjacent segments of the parallel section of the steel cable (8), and a reset component (93) is provided on the telescopic component (92). The telescopic component (92) and the reset component (93) reciprocate when the distance between the two parallel segments of the steel cable (8) changes when the pulley (7) swings. Both ends of the telescopic component (92) are hinged with rollers (94) that contact the steel cable (8). Each telescopic component (92) is planarly slidably connected to the fixed frame (91), and the sliding plane is parallel to the horizontal plane. At least two sets of telescopic components (92) with different telescopic directions are provided with measuring components. The measuring components measure the telescopic component (92) telescopic changes from the initial state in real time. The telescopic component (92) includes two movable plates (921), each of the two movable plates (921) is provided with a rack (922) on its opposite side, and a set of limiting frames (923) is sleeved between the two movable plates (921). The limiting frame (923) is provided with a synchronous gear (924) that meshes with the two sets of racks (922) respectively. Each of the two opposite sides of the limiting frame (923) is provided with a baffle (925). The reset component (93) is located between the baffle (925) and the end of the movable plate (921) adjacent to the baffle (925). The movable plates (921) at adjacent ends of the two adjacent telescopic components (92) are fixedly connected. The roller (94) is located at the connection of the two fixedly connected movable plates (921). The fixed frame (91) has four sets of sliding plates (11) below it, and the limit frame (923) has a limit guide rail (12) at the top. The sliding plate (11) is slidably connected to the limit guide rail (12). The limiting brackets (923) on each pair of telescopic members (92) with the same telescopic direction form a group. At least one group of limiting brackets (923) has a guide plate (953) on the contact surface between the limiting guide rail (12) and the slide plate (11). The two guide plates (953) on the same limiting bracket (923) intersect and are not parallel.

2. The anti-sway control mechanism for crane hoisting according to claim 1, characterized in that: The winch (6) is also equipped with a counting wheel (13), which abuts against the steel cable (8). The axis of the counting wheel (13) is parallel to and above the axis of the winding shaft of the winch (6).

3. The anti-sway control mechanism for crane hoisting according to claim 1, characterized in that: The walking mechanism (5) is equipped with sensors at both ends along its direction of movement. The sensors detect the distance between the end of the walking mechanism (5) and the corresponding end of the crossbeam (3).

4. The anti-sway control mechanism for crane hoisting according to claim 2, characterized in that: The counting wheel (13) and the roller (94) are both concave wheels with an I-shaped cross section. The concave cross section is adapted to the axial cross section of the steel cable (8).

5. The anti-sway control mechanism for crane hoisting according to claim 4, characterized in that: The inner concave surface of the counting wheel (13) is provided with spot bumps (14) that are adapted to the spiral lines on the surface of the steel cable (8).

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