A device for preventing micro crane from swinging during hoisting

Abstract

The present invention discloses a device for preventing the swing of a micro crane during hoisting, which relates to the technical field of engineering machinery. This solution can effectively control the swing of the hoisting cable in any direction of 360 degrees through the combination of a hydraulic rod and an energy-consuming component. The hydraulic rod provides an active reaction force, which, combined with the energy consumption mechanism of the energy-consuming component, reduces the kinetic energy of the swing of the hoisting cable. Secondly, the system has an automatic calibration capability, which can quickly lock the tilt direction of the hoisting cable, adjust the support position, and ensure the control effect of the swing. This solution can dynamically adjust the reaction force according to the different tilt angles and directions of the hoisting cable, so as to achieve more precise control, prevent the hoisting cable from swinging excessively, and improve the safety and stability of the hoisting process. In addition, the energy consumption mechanism of the two-stage oil cylinder is used to improve the energy consumption efficiency and further enhance the stability of the control. In short, this solution effectively suppresses the swing amplitude of the hoisting cable through the synergistic effect of active regulation and passive energy consumption, ensuring a smooth and safe hoisting process.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a device for preventing a micro crane from swinging during hoisting. Background Art

[0002] Cable sway is a common and difficult-to-control problem during the lifting process of cranes or micro-cranes. This is especially true in windy conditions or when performing displacement operations during lifting, as heavy objects can easily swing due to inertia or external forces. This sway not only affects lifting accuracy but can also pose safety hazards and even damage the lifting equipment and objects. Traditional control methods typically rely on manual operation, adjusting the cable's load point or the crane's movement speed to minimize sway. However, these methods have limitations and make it difficult to effectively control cable sway in any direction in real time.

[0003] Some existing automatic control systems attempt to adjust cable swing by adding damping or utilizing motors. However, because cables can tilt in any direction within a 360-degree range, these systems often struggle to achieve rapid and effective control when faced with complex, multi-directional swings. Furthermore, existing technologies for controlling hoisting swing typically only address swings at a single angle or direction, failing to fully account for the complex motion of cables in various directions. This results in limited control effectiveness and makes it difficult to fully suppress sway during the hoisting process.

[0004] To address these issues, a swing control solution combining active and passive regulation of hydraulic rods and energy-dissipating components has been proposed. By adjusting the length of the hydraulic rods and utilizing the energy-dissipating components' energy consumption, the system can calibrate the cable's movement in real time under varying swings and provide appropriate reaction forces to control them. This approach suppresses the cable's sway in multiple directions, ensuring safety and stability during the lifting process.

[0005] In view of this, the present invention is proposed. Summary of the Invention

[0006] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0007] A device for preventing a micro crane from swaying during hoisting, comprising a hoisting cable;

[0008] The diagonal offset seat is fixedly connected to one end of the boom of the micro crane, and the hoisting cable axially penetrates and slides on the inner wall of the diagonal offset seat to automatically calibrate the direction of the tilt of the hoisting cable;

[0009] The sway controller is arranged on one side of the diagonal offset seat, and the side is symmetrical to the tilt direction of the suspension cable, and is used to apply a force in the opposite tilt direction to the suspension cable through hydraulic pressure;

[0010] The bracket is fixedly connected to the lower surface of the diagonal offset seat, and the lower surfaces of the two brackets are movably connected to the deflection frame through a pin shaft. The bottom end of the deflection frame is movably connected to the upper surface of the swing controller through a pin shaft.

[0011] The bottom end of the tension spring is fixedly connected to the upper surface of the swing controller, the top end of the tension spring is fixedly connected to a spring frame, and the bottom of the spring frame is fixedly connected to two slide seats;

[0012] Both sides of the bracket are fixedly connected with slide rails for cooperating with the slide seat to slide horizontally;

[0013] The energy dissipation component is installed below the sway controller and is used for consuming the kinetic energy of the suspension cable which uses the sway controller as a kinetic energy transmission carrier.

[0014] Preferably, the sway controller includes an adapter seat movably connected to the bottom end of the deflection frame, a hydraulic rod is fixed through the surface of the adapter seat, one end of the hydraulic rod is fixedly connected to a positioning sleeve, and grooves are symmetrically provided on both sides of the adapter seat.

[0015] Preferably, the diagonal offset seat includes a fixed seat installed with the mini crane, the inner wall of the fixed seat is provided with a rotating part, and is rotatably connected to a connecting cover through the rotating part, the lower surface of the connecting cover is fixedly connected to an angle correction plate, the surface of the angle correction plate is carded and has a guide groove, and the inner wall of the guide groove is slidingly provided with a transverse sleeve.

[0016] Preferably, the surface of the slide is fixedly connected to an adapter plate, the lower surface of the adapter plate is fixedly connected to a stand, the bottom end of the stand is fixedly connected to the surface of the energy-consuming component, and the stand slides vertically on the inner wall of the groove.

[0017] Preferably, the diagonal offset seat further comprises a horizontal slide groove provided on the inner wall of the guide groove, the inner wall of the horizontal slide groove is provided with a horizontal slip ring for limited sliding, and the horizontal slip ring is fixedly connected to the surface of the transverse sleeve.

[0018] Preferably, the energy dissipation component includes a secondary oil cylinder fixedly connected to the lower surface of the adapter, and also includes a main oil cylinder fixedly connected to the bottom end of the stand, the inner wall of the main oil cylinder is slidably provided with a main piston, the main piston is slidably connected to the inner wall of the main oil cylinder, the inner wall of the main oil cylinder is fixedly connected to the secondary piston, and the secondary piston is slidably connected to the inner wall of the secondary oil cylinder;

[0019] Fine holes are formed on the surfaces of the primary piston and the secondary piston;

[0020] An oil storage tank is fixed on one side of the main oil cylinder. The upper surface of the oil storage tank is connected to the main oil cylinder through an oil guide pipe. An exhaust valve is provided on the upper surface of the oil storage tank.

[0021] The top end of the main oil cylinder is fixedly connected to the bottom ends of the two vertical frames, and the top end of the secondary oil cylinder is fixedly connected to the lower surface of the adapter.

[0022] Preferably, recesses are provided on the surfaces of the connecting cover and the angle calibration plate, and the spring seat is configured to match the size of the recesses.

[0023] Preferably, the inner wall of the positioning sleeve is provided with a flexible grinding sleeve, and the suspension cable passes through and slides in the flexible grinding sleeve in the positioning sleeve.

[0024] Beneficial effects:

[0025] The creative benefits of this solution can be analyzed from the following three points:

[0026] This solution provides 360-degree control of the cable's swing. Regardless of the cable's tilt, hydraulic rods and guide grooves automatically align the cable. This automatic calibration mechanism effectively locks the swing direction and dynamically adjusts the cable's support position, ensuring precise control. This avoids the errors caused by manual direction adjustment in conventional technologies, achieving a comprehensive swing control and automatic calibration mechanism.

[0027] This solution innovatively combines the active control of hydraulic rods with the passive energy dissipation of energy dissipation components. The hydraulic rods provide active reaction force to suppress swing, while the energy dissipation components dissipate excess kinetic energy through fluid viscosity. This dual control mechanism not only improves the stability of swing control but also provides more flexible response to swing fluctuations, significantly enhancing the safety of the lifting process and achieving a coordinated model of active control and passive energy dissipation.

[0028] This solution achieves graded energy consumption through a coordinated energy dissipation mechanism between the primary and secondary cylinders. The pressurization of the secondary cylinder improves the energy efficiency of the primary cylinder, ensuring that the system maintains stable energy consumption even when handling high kinetic energy. This design effectively improves control accuracy and efficiency, further enhancing the system's safety and performance, and enabling damping energy dissipation with minimal swing amplitude.

[0029] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In the attached figure:

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the cross-sectional structure of the present invention;

[0033] Figure 3 It is a schematic diagram of the explosion structure of the present invention;

[0034] Figure 4It is a three-dimensional structural diagram of the swing controller of the present invention;

[0035] Figure 5 It is a schematic diagram of the three-dimensional cross-sectional structure of the energy-consuming component of the present invention;

[0036] Figure 6 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0037] Figure 7 This is a comparison and analysis diagram of the force change diagram A in the vertical suspension state of the present invention and the hand change diagram B subjected to the force in the Q direction.

[0038] In the figure: 1. Hoisting cable; 2. Diagonal offset seat; 21. Fixed seat; 22. Rotating part; 23. Connecting cover; 24. Angle correction plate; 25. Guide groove; 26. Transverse sleeve; 27. Horizontal slide groove; 28. Horizontal slip ring; 3. Bracket; 4. Deflection frame; 5. Swing controller; 51. Adapter seat; 52. Hydraulic rod; 53. Positioning sleeve; 54. Groove; 6. Energy-consuming component; 61. Main cylinder; 62. Main piston; 63. Secondary cylinder; 64. Secondary piston; 65. Oil storage tank; 66. Oil guide pipe; 67. Exhaust valve; 68. Fine hole; 7. Vertical frame; 8. Spring frame; 9. Tension spring; 10. Flexible grinding sleeve; 11. Notch; 12. Slide rail; 13. Slide seat; 14. Adapter plate. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0040] like Figures 1 to 7 As shown, a device for preventing a micro crane from swinging during hoisting includes a hoisting cable 1;

[0041] The diagonal offset seat 2 is fixedly connected to one end of the boom of the micro crane, and the hoisting cable 1 axially penetrates and slides on the inner wall of the diagonal offset seat 2 to automatically calibrate the direction of the hoisting cable 1 according to its tilt direction;

[0042] The sway controller 5 is provided on one side of the diagonal offset seat 2, and the side is located on the symmetrical side of the tilt direction of the suspension cable 1, and is used to apply a force in the opposite tilt direction to the suspension cable 1 through hydraulic pressure;

[0043] The bracket 3 is fixedly connected to the lower surface of the diagonal offset seat 2. The lower surfaces of the two brackets 3 are movably connected to the deflection frame 4 through a pin. The bottom end of the deflection frame 4 is movably connected to the upper surface of the swing controller 5 through a pin.

[0044] The bottom end of the tension spring 9 is fixedly connected to the upper surface of the swing controller 5, the top end of the tension spring 9 is fixedly connected to the spring frame 8, and the bottom of the spring frame 8 is fixedly connected to two slides 13;

[0045] Both sides of the bracket 3 are fixedly connected with slide rails 12 for cooperating with the slide seat 13 for horizontal sliding;

[0046] The energy dissipation component 6 is installed below the sway controller 5 and is used to consume the kinetic energy of the suspension cable 1 using the sway controller 5 as a kinetic energy transmission carrier.

[0047] Specifically, such as Figure 4 As shown, the swing controller 5 includes an adapter seat 51 movably connected to the bottom end of the deflection frame 4, a hydraulic rod 52 is fixed through the surface of the adapter seat 51, one end of the hydraulic rod 52 is fixedly connected to a positioning sleeve 53, and grooves 54 are symmetrically opened on both sides of the adapter seat 51.

[0048] The adapter 51 can move with the hydraulic rod 52, and the movement of the adapter 51 is affected by the change in the inclination of the suspension cable 1. At the same time, when the adapter 51 moves with the hydraulic rod 52, the length of the hydraulic rod 52 does not change.

[0049] Specifically, such as Figure 2 As shown: the diagonal offset seat 2 includes a fixed seat 21 installed with the mini crane, the inner wall of the fixed seat 21 is provided with a rotating part 22, and is rotatably connected to a connecting cover 23 through the rotating part 22, the lower surface of the connecting cover 23 is fixedly connected to an angle correction plate 24, the surface of the angle correction plate 24 is provided with a guide groove 25, and the inner wall of the guide groove 25 is slidably provided with a transverse sleeve 26.

[0050] The connection cover 23 can connect the fixing seat 21 and the angle correction plate 24 and provide a certain protection effect on the guide groove 25 .

[0051] Specifically, such as Figure 3 As shown: the surface of the slide 13 is fixedly connected to the adapter plate 14, the lower surface of the adapter plate 14 is fixedly connected to the stand 7, the bottom end of the stand 7 is fixedly connected to the surface of the energy dissipation component 6, and the stand 7 slides vertically on the inner wall of the groove 54.

[0052] By setting up the adapter plate 14, the adapter plate 14 can connect the slide 13 and the stand 7. The stand 7 can move horizontally with the adapter 51 as the slide 13 moves. At the same time, the adapter 51 can cooperate in the groove 54 by sliding under the vertical movement of the deflection frame 4.

[0053] Specifically, such as Figure 3As shown: the diagonal offset seat 2 also includes a horizontal slide groove 27 opened on the inner wall of the guide groove 25, and a horizontal slip ring 28 is slidingly limited on the inner wall of the horizontal slide groove 27, and the horizontal slip ring 28 is fixedly connected to the surface of the transverse sleeve 26.

[0054] The horizontal slip ring 28 slides on the inner wall of the horizontal slide groove 27 and can slide with the horizontal slip ring 28 as the transverse sleeve 26 moves, ensuring that the transverse sleeve 26 is always located at a height.

[0055] Specifically, such as Figure 5 As shown: the energy dissipation component 6 includes a secondary oil cylinder 63 fixedly connected to the lower surface of the adapter 51, and also includes a main oil cylinder 61 fixedly connected to the bottom end of the stand 7. The inner wall of the main oil cylinder 61 is slidably provided with a main piston 62, and the main piston 62 is slidably connected to the inner wall of the main oil cylinder 61. The inner wall of the main oil cylinder 61 is fixedly connected to a secondary piston 64, and the secondary piston 64 is slidably connected to the inner wall of the secondary oil cylinder 63;

[0056] The surfaces of the primary piston 62 and the secondary piston 64 are both provided with fine holes 68;

[0057] An oil storage tank 65 is fixed to one side of the main oil cylinder 61. The upper surface of the oil storage tank 65 is connected to the main oil cylinder 61 through an oil guide pipe 66. An exhaust valve 67 is provided on the upper surface of the oil storage tank 65.

[0058] The top end of the main oil cylinder 61 is fixedly connected to the bottom ends of the two upright frames 7 , and the top end of the secondary oil cylinder 63 is fixedly connected to the lower surface of the adapter 51 .

[0059] The arrangement of the primary cylinder 61 and the secondary cylinder 63 allows for a single compression stroke, achieving two coordinated energy dissipation mechanisms. Furthermore, the oil from the secondary cylinder 63, after dissipating energy, can in turn boost the pressure on the side of the primary piston 62, further enhancing the energy dissipation effect and providing excellent adaptability to energy dissipation with small swing amplitudes.

[0060] Specifically, such as Figure 1 As shown, a notch 11 is provided on the surface of the connecting cover 23 and the angle correction plate 24 , and the size of the spring seat matches that of the notch 11 .

[0061] By setting the recess 11, the recess 11 is opened on one side of the connecting cover 23 and the angle correction plate 24, so that the slide 13 can slide on the surface of the slide rail 12 and move horizontally with the spring seat. When the adapter 51 moves with the bottom end of the tension spring 9 at the same time, the top end of the tension spring 9 moves with the spring seat and enters the recess 11. The setting of the recess 11 can avoid motion interference.

[0062] Specifically, such as Figure 4 As shown, a flexible grinding sleeve 10 is provided on the inner wall of the positioning sleeve 53 , and the suspension cable 1 passes through and slides in the flexible grinding sleeve 10 in the positioning sleeve 53 .

[0063] By setting up the flexible grinding sleeve 10, it can fit and slide with the suspension cable 1. At the same time, when the suspension cable 1 is tilted to a certain extent, the flexible grinding sleeve 10 can fit and deform, thereby ensuring the best force coordination between the positioning sleeve 53 and the suspension cable 1.

[0064] When this solution is in use, as a weight of mass M is suspended at the bottom end of a cable 1 of length L, and the top end of the cable 1 is fixed to the end of the boom of the micro crane, the diagonal offset seat 2 is installed at a designated position at the end of the boom of the micro crane through the fixing seat 21;

[0065] When the weight lifted by the cable 1 is subjected to the airflow force Q1 or the inertia force Q2 generated by the displacement of the top of the cable 1, the cable 1 itself will be tilted. When the cable 1 tilts, the hydraulic rod 52 is subjected to a force. Under normal circumstances, if the oil cylinder is not started, the length of the hydraulic rod 52 will not change. The inclination angle θ of the hanging basket will move with the lateral sleeve 26 and the positioning sleeve 53. Since the cable 1 may tilt in any direction of 360 degrees, its force is first applied to the lateral sleeve 26, and the lateral sleeve 26 moves with the tilt direction. The lateral sleeve 26 slides on the inner wall of the guide groove 25. The guide groove 25 is strip-shaped. When the lateral sleeve 26 moves in one direction, the guide groove 25 begins to deflect under the pressure of the lateral sleeve 26 until the direction of the guide groove 25 is consistent with the moving direction of the lateral sleeve 26. During this process, the horizontal rosette on the surface of the lateral sleeve 26 slides on the inner wall of the horizontal slide groove 27 on the inner wall of the guide groove 25 until the angle correction plate 24 rotates on the inner wall of the rotating member 22 through the connecting cover 23.

[0066] When the angle correction plate 24 rotates and the guide groove 25 is deflected toward the tilting direction of the suspension cable 1, the bracket 3 fixed on the lower surface of the angle correction plate 24 moves simultaneously with the rotation, and the position of the bracket 3 moves in the opposite direction of the deflection direction of the suspension cable 1;

[0067] When the suspension cable 1 is tilted, the overall direction of the device is calibrated by the displacement of the transverse sleeve 26. At the same time, the suspension cable 1 moves with the positioning sleeve 53. When the positioning sleeve 53 moves, based on the fact that the length of the hydraulic rod 52 does not change, the hydraulic rod 52 will move along with the displacement direction of the suspension cable 1 while the length remains unchanged. The adapter 51 on the surface of the hydraulic rod 52 also moves along with the movement of the hydraulic rod 52. When the adapter 51 moves along with the tilt of the suspension cable 1, it is supported by the deflection frame 4, so that the deflection frame 4 presses the adapter 51 downward. The adapter 51 extends with the tension spring 9, so that the tension spring 9 first provides a reaction tension to the suspension cable 1, thereby reducing the tilt kinetic energy of the suspension cable 1. At the same time, the adapter 51 presses the energy-consuming component downward. 6, so that its energy-consuming component 6 consumes energy under the action of the liquid viscosity, and reduces the elongation rate of the tension spring 9, further consuming the kinetic energy of the tilting movement of the suspension cable 1, and combining the passive energy dissipation cooperation of the tension spring 9 and the energy-consuming component 6, through the active length change of the hydraulic rod 52, it provides a pulling force F to the suspension cable 1, so that the pulling force F acts on the suspension cable 1 to prevent the suspension cable 1 from excessive movement, and the pulling force F is fed back to the tension spring 9 and the energy-consuming component 6 through the hydraulic rod 52, further consuming energy, so that the active regulation and passive energy consumption are coordinated, and it can be achieved that no matter the suspension cable 1 is tilted in any direction of 360 degrees, it can quickly lock the direction and realize the coordination of passive energy consumption and active regulation, which can effectively suppress the swing amplitude of the suspension cable 1 within a controllable range.

[0068] As the adapter seat 51 of the above-mentioned sway controller 5 moves with the hydraulic rod 52 and the suspension cable 1, it moves horizontally with the two uprights 7 through the grooves 54 on both sides. At the same time, during the movement of the adapter seat 51, the upright 7 slides vertically on the inner wall of the groove 54, so that the upright 7 slides horizontally with the slide seat 13 on the surface of the slide rail 12, and moves horizontally synchronously with the adapter seat 51, but does not coordinate with the vertical movement of the adapter seat 51, so that the two slides 13 support the top end of the tension spring 9 through the spring seat, and the bottom end of the tension spring 9 is fixed to the upper surface of the adapter seat 51, realizing the expansion and contraction change of the tension spring 9 during the displacement process, and at the same time, the displacement seat moves downward and slides on the surface of the upright 7, realizing the coordination effect of the displacement seat and the upright 7 in cooperating with the compressed energy dissipation component 6, and realizing the coordinated coordination of the tension spring 9 and the energy dissipation component 6.

[0069] In the process of consuming kinetic energy of the energy-consuming component 6, as the adapter 51 presses the secondary oil cylinder 63, the main oil cylinder 61 is fixed to the bottom ends of the two uprights 7, so that the secondary oil cylinder 63 slides on the inner wall of the main oil cylinder 61 with the main piston 62 fixed at the bottom end, and at the same time, the secondary piston 64 fixed at the bottom end of the main oil cylinder 61 slides on the inner wall of the secondary oil cylinder 63. At this time, the main piston 62 slides on the inner wall of the main oil cylinder 61 under the pressure of the secondary oil cylinder 63, and the oil under the main piston 62 passes through the main piston 62 to the top, realizing energy consumption. At the same time, the secondary piston 64 slides On the inner wall of the secondary oil cylinder 63, the oil on the inner wall of the secondary oil cylinder 63 passes through the secondary piston 64 to achieve two-level energy consumption and enters the main oil cylinder 61. At this time, the oil below the main piston 62 is in a pressurized state due to the oil flow out of the inner wall of the secondary oil cylinder 63, so that the pressurized oil further passes through the main piston 62, and the excess oil passes through the oil guide pipe 66 into the oil storage tank 65, so that it achieves two-stage energy consumption. At the same time, the secondary stage further reacts through the pressurization to improve the efficiency of the first stage energy consumption, thereby ensuring the stability and efficiency of heavy object energy consumption.

[0070] In the detailed description of the above working status, the more specific operating mechanism includes the following:

[0071] Regarding the swing of the micro crane during the lifting process, after analysis, there are many factors that cause the swing, the main factors include the influence of the center of gravity of the hoisted goods, strong winds, the speed of movement during lifting, etc., which will cause swing. Among these influencing factors, the swing problem is mainly reflected in the swing effect caused by strong winds and changes in moving speed; based on this, the swing amplitude caused by strong winds and movement (tilt of hoisting cable 1) is mostly a small swing angle, and there is no need to consider the nonlinear factors of large angles and the elastic characteristics of the steel cable itself.

[0072] When the cable 1 swings at a small angle, it tilts in any direction within 360 degrees. At this time, the cable 1 slides in the guide slot 25, which deflects in the swinging direction. As the angle calibration plate 24 rotates, it also deflects the bracket 3, causing the bracket 3 to be aligned with the cable 1, thus forming a self-calibration mechanism.

[0073] After self-calibration, the bracket 3, the tension spring 9, the energy-absorbing component 6 and the hydraulic rod 52 are located in the opposite position of the movement of the suspension cable 1. At this time, the length of the hydraulic rod 52 does not change. The suspension cable 1 moves with the adapter 51 through the hydraulic rod 52, and the tilt angle of the deflection frame 4 changes. The energy-absorbing component 6 consumes energy in combination with the length change of the tension spring 9, thereby reducing the kinetic energy of the movement of the suspension cable 1.

[0074] At the same time, a reaction calibration force F is provided by the hydraulic rod 52, and this reaction force is also supported and dissipated by the energy dissipation component 6. It should be noted here that this mechanism combines damping energy dissipation and hydraulic force reaction calibration, and the point of action of the hydraulic rod 52 on the suspension cable 1 moves downward as the inclination angle of the steel cable increases. From this analysis, it can be concluded that:

[0075] As the inclination of the cable 1 changes, the overall support position on the surface of the cable 1 will move downward and closer to the weight (the object suspended by the cable 1), thereby enhancing the reaction force control effect of the hydraulic rod 52;

[0076] To calculate how to achieve the same sway suppression effect when applying forces at different points, an equivalent relationship for applied forces can be introduced. This assumes that the effect of forces applied at different points on the cable surface on sway can be expressed by a correction factor k(x). This correction factor k(x) is related to factors such as the cable's bending stiffness and the location and direction of the force application point. The specific expression or value for k(x) can be derived through experiments or detailed mechanical analysis.

[0077] If the same sway suppression effect is to be achieved by applying force F1 at point x1 and force F2 at point x2, the equivalent torques generated by these two forces should be the same;

[0078] k(x1)×F1×x1=k(x2)×F2×x2;

[0079] Solve the above equation to find the force F2 applied at position x2;

[0080] F2=F1×[k(x1)×x1] / [k(x2)×x2];

[0081] If a force is applied at a different position x2 to achieve the same effect, the magnitude of the force F2 needs to be adjusted, and its magnitude depends on the correction factor k(x) at that position and the distance x.

[0082] From the above formula, we can see that if force F1 is applied at a certain position x1 and a good sway suppression effect is achieved, then to achieve the same effect at another position x2, we can adjust F2. Specifically, if x2 is far away from the weight, or the correction factor at this point is small, F2 needs to be increased to compensate for the influence of the position. Conversely, F2 can achieve compensation with a smaller amplitude.

[0083] For this purpose, assume that:

[0084] The steel cable swings in the horizontal direction (horizontal swing in any direction of 360 degrees is possible), and the amplitude is small, and the swing angle can be approximately a small angle.

[0085] The stiffness and mass of the cable are evenly distributed.

[0086] The main driving force of the swinging motion is the inertia of the weight (the inertia of displacement or the swing amplitude of wind force), and the applied reaction force Fr is used to offset this inertia moment, where Fr includes but is not limited to the forces of F1 and F2.

[0087] The steel cable exerts a reaction force Fr at a certain point X (including but not limited to the positions of x1 and x2), the horizontal distance from the weight is r, the mass of the weight is m, the acceleration of gravity is g, and the swing angle is θ.

[0088] The total length of the steel cable is L, the tension of the steel cable is T (related to the weight of the weight), and the horizontal torque generated is T×L×sin(θ) (for small angles, sin(θ)≈θ).

[0089] To reduce sway, the moment of the reaction force should be balanced with the moment generated by sway;

[0090] Fr×Xr=T×L×θ;

[0091] Where T = m × g, so:

[0092] Fr×Xr=m×g×L×θ;

[0093] In order to reduce the swing angle θ, the reaction force Fr can be expressed as:

[0094] Fr=(m×g×L×θ) / Xr;

[0095] in:

[0096] Fr is the reaction force applied at a horizontal distance Xr from the weight;

[0097] m is the mass of the weight;

[0098] g is the acceleration due to gravity;

[0099] L is the length of the cable;

[0100] θ is the swing angle (assumed to be small).

[0101] The control principle of this solution explained above demonstrates that it can achieve the same reaction adjustment effect at different points of action X. Furthermore, as the position of X changes, it can gradually approach the hoisted object, allowing the reaction force F to exert a smaller amplitude while achieving the same control effect. The actual control weight of F is a process that is continuously weighted as the swing angle changes. This ensures that the maximum reaction force control effect provided by hydraulic rod 52 increases with increasing swing angle. Combined with the technical effect of this solution's ability to automatically lock the swing direction damping, a complementary synergy is achieved.

[0102] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A device for preventing a micro crane from swinging during hoisting, characterized in that: include: Suspension cable (1); Diagonal offset seat (2); The diagonal offset seat (2) is fixedly connected to one end of the boom of the micro crane, and the hoisting cable (1) axially penetrates and slides on the inner wall of the diagonal offset seat (2) to automatically calibrate the orientation of the hoisting cable (1) in accordance with the tilt direction. Swing controller (5); The swing controller (5) is arranged on one side of the diagonal offset seat (2), and the side is located on the symmetrical side of the tilting direction of the suspension cable (1), and is used to apply a force in the opposite tilting direction to the suspension cable (1) through hydraulic pressure; two brackets (3); The bracket (3) is fixedly connected to the lower surface of the diagonally offset seat (2), and the lower surfaces of the two brackets (3) are movably connected to a deflection frame (4) through a pin shaft, and the bottom end of the deflection frame (4) is movably connected to the upper surface of the swing controller (5) through a pin shaft; Extension spring (9); The bottom end of the tension spring (9) is fixedly connected to the upper surface of the swing regulator, the top end of the tension spring (9) is fixedly connected to a spring frame (8), and the bottom of the spring frame (8) is fixedly connected to two slide seats (13); Both sides of the bracket (3) are fixedly connected with slide rails (12) for cooperating with the slide seat (13) for horizontal sliding; Energy consuming components (6); The energy dissipation component (6) is installed below the swing controller (5) and is used to consume the kinetic energy of the suspension cable (1) using the swing controller (5) as a kinetic energy transmission carrier.

2. The device for preventing the micro crane from swinging during hoisting according to claim 1, characterized in that: The swing controller (5) comprises an adapter seat (51) movably connected to the bottom end of the deflection frame (4); a hydraulic rod (52) is fixedly passed through the surface of the adapter seat (51); one end of the hydraulic rod (52) is fixedly connected to a positioning sleeve (53); and grooves (54) are symmetrically provided on both sides of the adapter seat (51).

3. The device for preventing a micro crane from swinging during hoisting according to claim 1, characterized in that: The diagonal offset seat (2) includes a fixed seat (21) installed with a micro crane, the inner wall of the fixed seat (21) is provided with a rotating member (22), and is rotatably connected to a connecting cover (23) through the rotating member (22), the lower surface of the connecting cover (23) is fixedly connected to an angle correction plate (24), the surface of the angle correction plate (24) is provided with a guide groove (25), and the inner wall of the guide groove (25) is slidably provided with a transverse sleeve (26).

4. The device for preventing a micro crane from swinging during hoisting according to claim 2, characterized in that: The surface of the slide seat (13) is fixedly connected to an adapter plate (14), the lower surface of the adapter plate (14) is fixedly connected to a stand (7), the bottom end of the stand (7) is fixedly connected to the surface of the energy-consuming component (6), and the stand (7) slides vertically on the inner wall of the groove (54).

5. The device for preventing the micro crane from swinging during hoisting according to claim 3, characterized in that: The diagonal offset seat (2) further comprises a horizontal slide groove (27) provided on the inner wall of the guide groove (25); a horizontal slip ring (28) is provided on the inner wall of the horizontal slide groove (27) for limited sliding; and the horizontal slip ring (28) is fixedly connected to the surface of the transverse sleeve (26).

6. The device for preventing a micro crane from swinging during hoisting according to claim 4, characterized in that: The energy dissipation component (6) includes a secondary oil cylinder (63) fixedly connected to the lower surface of the adapter (51), and also includes a main oil cylinder (61) fixedly connected to the bottom end of the stand (7), the inner wall of the main oil cylinder (61) is slidably provided with a main piston (62), the main piston (62) is slidably connected to the inner wall of the main oil cylinder (61), the inner wall of the main oil cylinder (61) is fixedly connected to a secondary piston (64), and the secondary piston (64) is slidably connected to the inner wall of the secondary oil cylinder (63); The surfaces of the primary piston (62) and the secondary piston (64) are both penetrated by fine holes (68); An oil storage tank (65) is fixed to one side of the master oil cylinder (61), and the upper surface of the oil storage tank (65) is connected to the master oil cylinder (61) through an oil guide pipe (66). An exhaust valve (67) is provided on the upper surface of the oil storage tank (65); The top end of the main oil cylinder (61) is fixedly connected to the bottom ends of the two vertical frames (7), and the top end of the secondary oil cylinder (63) is fixedly connected to the lower surface of the adapter (51).

7. The device for preventing a micro crane from swinging during hoisting according to claim 5, characterized in that: The surfaces of the connecting cover (23) and the angle correction plate (24) are provided with a notch (11), and the spring seat and the notch (11) are arranged to match in size.

8. The device for preventing a micro crane from swinging during hoisting according to claim 2, characterized in that: The inner wall of the positioning sleeve (53) is provided with a flexible grinding sleeve (10), and the suspension cable (1) passes through and slides in the flexible grinding sleeve (10) in the positioning sleeve (53).

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