Bridge crane operation method

Abstract

The invention discloses a bridge crane operation method. The bridge crane operation method comprises the steps that S1, the moving speed, the moving distance and the moving direction of a lifting appliance are detected; and S2, according to the detection data of the lifting appliance, the walking time point, the walking speed and the walking distance when the bridge crane trolley follows up the lifting appliance in the same direction are calculated, and hook stabilizing control over the lifting appliance is achieved. Under different walking distances of the bridge crane trolley and the condition that the lifting appliance lifts different heavy objects, the swing angle of the lifting appliance is monitored and matched with the walking speed of the bridge crane trolley, so that the displacement distance and the displacement speed of the bridge crane trolley and the lifting appliance are kept consistent as far as possible all the time, and the stability of the lifting appliance during lifting all the time is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of port operations, and in particular to a bridge crane operation method. Background Art

[0002] The crane trolley platform (hereinafter referred to as the "crane trolley") at the container terminal is connected to the spreader through a lifting wire rope, which converts the vertical force into a vertical force plus a lateral traction force, and the spreader will move forward following the crane trolley. Since the spreader is in a following state relative to the crane trolley, the starting speed of the spreader lags behind the crane trolley. In addition, the spreader has its own weight and inertia. When the moving speed of the crane trolley reaches a relatively constant level, there is a speed difference between the spreader and the crane trolley for a certain period of time, and the spreader will follow the movement, causing shaking. This is the main reason why the spreader swings and forms a pendulum shape when following the movement of the crane trolley.

[0003] The purpose of the hook stabilization action is to make the moving speed and moving distance of the bridge crane trolley match those of the spreader, so that the angle between the bridge crane trolley and the spreader wire rope becomes a vertical angle. During operation, in order to keep the spreader and the container vertical and not shake under control, the key is to accurately control the travel speed and travel distance of the bridge crane trolley so that it matches the displacement distance and displacement speed of the spreader as much as possible within the same time period. However, how to use technical means to make the bridge crane trolley and the spreader keep the displacement distance and displacement speed as consistent as possible under the different travel distances of the bridge crane trolley and the lifting conditions of different weights of the spreader is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0004] The present invention provides a bridge crane operation method with the purpose of making the bridge crane trolley and the hoisting device keep the displacement distance and displacement speed consistent as much as possible under the conditions of different travel distances of the bridge crane trolley and the hoisting device lifting different weights.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A bridge crane operation method is provided, comprising the steps of:

[0007] S1, detect the moving speed, moving distance and moving direction of the spreader;

[0008] S2, based on the detection data of the spreader, calculate the travel time point, travel speed and travel distance of the bridge crane trolley following the spreader in the same direction, so as to realize stable hook control of the spreader.

[0009] Preferably, when the bridge crane trolley is in a stationary state and the spreader exhibits a pendulum-like motion, the stable hook control of the spreader is achieved by controlling the bridge crane trolley to perform an accelerated walking action. The method for controlling the bridge crane trolley to perform an accelerated walking action comprises the steps of:

[0010] A1, monitoring the first swing angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line when the spreader reaches the highest point of the swing back;

[0011] A2, looking up the table to obtain the second gear position for controlling the travel speed of the bridge crane trolley corresponding to the first swing angle;

[0012] A3, monitoring whether the spreader reaches the first pendulum position and has a pendulum tendency to continue to swing to the highest point of the swing back,

[0013] If so, the bridge crane trolley is controlled to move to the second swing position corresponding to the highest point of the swing at the walking speed of the second gear and then stop suddenly;

[0014] If not, continue to monitor whether the sling reaches the first position of the pendulum;

[0015] The first position of the pendulum is between the second swing back position and the lowest point of the pendulum.

[0016] Preferably, when the pendulum is in the first position, the relationship between the second swing angle of the direct line connecting the hoist and the bridge crane trolley and the vertical line and the first swing angle is: the second swing angle is twice the first swing angle.

[0017] Preferably, when the bridge crane trolley travels within the first travel distance range, the sling of the pendulum is controlled by controlling the bridge crane trolley to perform a walking action combining acceleration and deceleration to achieve stable hook control of the sling, and the specific method includes the steps of:

[0018] B1, control the bridge crane trolley to move at a speed corresponding to the second gear, and then control the bridge crane trolley to move at a speed corresponding to the first gear after waiting for a first period of time;

[0019] B2, when it is detected that the spreader moves in the direction of being thrown toward the bridge crane trolley, calculate the pendulum angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line, and when the pendulum angle reaches the corresponding swing angle associated with the second gear, control the bridge crane trolley to catch up with the spreader at the travel speed corresponding to the second gear;

[0020] B3, judging whether the bridge crane trolley has caught up with the spreader,

[0021] If yes, the bridge crane trolley is controlled to move at the travel speed corresponding to the first gear position, and the process goes to step B4;

[0022] If not, keep the bridge crane trolley moving in the second gear;

[0023] B4, monitoring whether the angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line is within a preset angle range,

[0024] If yes, the bridge crane trolley is controlled to stop running;

[0025] If not, keep the bridge crane trolley moving in the first gear.

[0026] Preferably, the traveling speed of the second gear is greater than the traveling speed of the first gear.

[0027] Preferably, when the bridge crane trolley travels within the second travel distance range, the pendulum sling is controlled by controlling the bridge crane trolley to perform a walking action combining acceleration and deceleration to achieve stable hook control of the sling, and the specific method includes the steps of:

[0028] C1, controlling the bridge crane trolley to start at a speed corresponding to the fourth gear and continuing for a fifth period of time, and then controlling the bridge crane trolley to move at a speed corresponding to the third gear;

[0029] C2, monitors whether the spreader swings back to the vertical point,

[0030] If yes, the bridge crane trolley is controlled to move in the fourth gear, and then the swing angle of the spreader is monitored, and the corresponding gear of each swing angle is obtained by looking up the table, and then the process goes to step C3;

[0031] If not, continue to monitor whether the spreader swings back to the vertical point;

[0032] C3, in each stage of the swing back of the hoist, the movement of the bridge crane trolley is controlled by the corresponding gear.

[0033] Preferably, when the bridge crane trolley is traveling within the third travel distance range, the pendulum sling is controlled to decelerate and travel, thereby achieving stable hook control of the sling. The specific method comprises the following steps:

[0034] D1, under the condition that the bridge crane trolley follows the movement of the spreader in the same direction, it is determined whether the swing angle of the spreader swings back.

[0035] If yes, go to step D2;

[0036] If not, continue to monitor whether the spreader swings back;

[0037] D2, monitor the swing angle of the hoist, and look up the table to obtain the gear position corresponding to the swing angle for controlling the travel speed of the bridge crane trolley, and control the travel of the bridge crane trolley with the corresponding gear position obtained from the table within each swing angle range of the swing of the hoist.

[0038] Preferably, when the bridge crane trolley travels within the third travel distance range, and the travel distance is greater than the displacement distance caused by the swing angle of the spreader caused by the gear currently controlling the travel of the bridge crane trolley, the bridge crane trolley is controlled to perform a superimposed deceleration action to achieve stable hook control of the spreader. The specific method includes the steps of:

[0039] E1, monitor whether the swing angle of the spreader reaches the third swing angle for controlling the bridge crane trolley to travel in the third gear,

[0040] If yes, control the bridge crane trolley to move in the third gear and proceed to step E2;

[0041] If not, keep the bridge crane trolley moving in the fourth gear;

[0042] E2, controlling the bridge crane trolley to continue to move in the third gear within the preset swing angle range of the continuous swing back;

[0043] E3, during the subsequent swing back within the swing angle range, the swing back angle of the spreader is monitored, and a table is consulted to obtain the travel gear of the bridge crane trolley corresponding to each swing back angle, and then the bridge crane trolley is controlled to travel at the corresponding travel gear until the angle formed by the straight line connecting the spreader and the bridge crane trolley and the vertical line is less than a preset angle threshold, and the bridge crane trolley is controlled to stop traveling;

[0044] The traveling speed of the fourth gear is greater than the traveling speed of the third gear.

[0045] Preferably, when the bridge crane trolley travels within the third travel distance range and the weight of the hoisted object is greater than a preset weight threshold, the bridge crane trolley is controlled to move synchronously with the hoist to achieve stable hooking of the hoist, and the specific method includes the steps of:

[0046] F1, controls the bridge crane trolley to move at the speed corresponding to the second gear, and monitors whether the moving speed of the spreader reaches the preset moving speed,

[0047] If yes, the bridge crane trolley is controlled to move in the third gear for the second time, then in the fourth gear for the third time, and then in the fifth gear for the fourth time, and then the process goes to step F2;

[0048] If not, continue to monitor whether the spreader reaches the preset moving speed;

[0049] F2, at the hook stabilization time point, control the bridge crane trolley to move in the fourth gear, and then monitor whether the spreader reaches the top of the throw,

[0050] If yes, monitor the swing back angle of the spreader and proceed to step F3;

[0051] If not, continue to monitor whether the sling reaches the thrown top point;

[0052] F3, look up the table to obtain the travel gear position of the bridge crane trolley corresponding to the swing back angle, and control the bridge crane trolley to travel at the corresponding swing back angle with the corresponding travel gear position, until it is shifted to the "0" gear to control the bridge crane trolley to stop running.

[0053] Preferably, the preset moving speed is the traveling speed of the bridge crane trolley corresponding to the second gear; the fifth gear is greater than the traveling speed corresponding to the fourth gear, greater than the third gear, and greater than the second gear respectively.

[0054] Under the conditions of different traveling distances of the bridge crane trolley and the lifting of different weights by the lifting device, the present invention monitors the swing angle of the lifting device and matches the traveling speed of the bridge crane trolley, so that the bridge crane trolley and the lifting device always keep the displacement distance and displacement speed consistent as much as possible, thereby ensuring the stability of the lifting device at all times. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 It is a schematic diagram of accelerating and stabilizing the hook of the pendulum hoist when the bridge crane trolley is stationary;

[0057] Figure 2 It is a schematic diagram of the bridge crane trolley using a stable hook combining acceleration and deceleration on the pendulum hanger within the first travel distance range;

[0058] Figure 3 It is a schematic diagram of the bridge crane trolley stabilizing the hook of the pendulum within the second travel distance;

[0059] Figure 4 It is a schematic diagram of the bridge crane trolley slowing down and stabilizing the hook of the pendulum hanger within the third travel distance;

[0060] Figure 5 It is a schematic diagram of the bridge crane trolley stabilizing the hook of the pendulum hanger by superimposed deceleration within the third travel distance;

[0061] Figure 6 It is a schematic diagram of stabilizing the hook of the bridge crane trolley by moving and decelerating synchronously with the pendulum hoist within the third travel distance of the bridge crane trolley. DETAILED DESCRIPTION

[0062] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0063] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0064] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0065] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] The bridge crane trolley in operation has different travel distances. For example, the lifting of container A requires the first travel distance, and the lifting of container B requires the second travel distance. Under different travel distances of the bridge crane trolley, the travel of the bridge crane trolley is usually controlled by different gears. Different travel distances and different travel speeds cause different degrees of sling shaking, so different hook stabilization methods need to be adopted to make the displacement distance and displacement speed of the bridge crane trolley and the sling as consistent as possible during the travel process.

[0067] The key to a stable hook is to accurately grasp the timing of the crane trolley's up and downshift operations. During the operation, the gear is pushed high and the speed is fast, and the speed of the hoist swinging back to the vertical point is also fast, and the time for deceleration during the retraction needs to be shortened accordingly. Therefore, the faster the crane trolley moves, the faster the rhythm of the retraction needs to be when decelerating and stabilizing the hook.

[0068] In this embodiment, three walking distances are provided, namely short-distance walking, medium-distance walking, and long-distance walking to stabilize the bridge crane trolley and the hoisting device, as well as a method for stabilizing the hook of the shaking hoisting device when the bridge crane trolley is stationary. The short-distance walking distance ranges from 0 to 6 meters; the medium-distance walking distance ranges from 6 to 40 meters; and the long-distance walking distance ranges from 40 to 122 meters.

[0069] The following is a detailed description of the method for stabilizing the hook of the bridge crane trolley and the hoisting device at three travel distances and when the bridge crane trolley is stationary.

[0070] 1. The operation process of stabilizing the hook when the bridge crane trolley is stationary

[0071] When the bridge crane trolley is stationary, the spreader will have a pendulum-like motion. This embodiment adopts an accelerated hook stabilization method, that is, when the spreader appears in such a Figure 1 When the travel speed of the bridge crane trolley at point C is at or close to the "second gear" (2nd gear), the bridge crane trolley is controlled to accelerate the travel action to achieve stable hook control of the spreader. The specific method is combined with Figure 1 The following is explained:

[0072] exist Figure 1 As shown, the bridge crane trolley is stationary, and when the spreader swings to point C, the bridge crane trolley is accelerated to point C, and the bridge crane trolley is stopped at the same time when the bridge crane trolley is moved to point C to achieve stable hook with the spreader. In actual operation, since the bridge crane trolley accelerates from "0 gear" (i.e. the gear that controls the bridge crane trolley to be stationary) to the second gear, there is an acceleration process, so when performing the stable hook operation, when the spreader swings to point B, the bridge crane trolley should start to catch up with the spreader, so that the bridge crane trolley can catch up with the spreader before the spreader reaches point C, and can brake in time when it reaches point C. Since the bridge crane trolley is in a low-speed walking state in the second gear, there will be no braking delay when it stops at point C, so that the bridge crane trolley can stop running in time at point C and keep vertical with the spreader, thereby achieving stable hook.

[0073] In short, the method of stabilizing the hook when the crane trolley is stationary includes the following steps:

[0074] A1, when the monitoring hanger reaches the highest point of the swing back, Figure 1 At point C shown in the figure, the first swing angle between the straight line between the spreader and the bridge crane trolley (the straight line between the hanging point where the spreader is suspended on the bridge crane trolley and the spreader) and the vertical line;

[0075] A2, look up the table to obtain the second gear position (such as the 2nd gear in the above example) of the travel speed of the bridge crane trolley corresponding to the first swing angle;

[0076] A3, monitor whether the spreader has reached the first pendulum position and has a pendulum tendency to continue to swing to the highest point of the swing back,

[0077] If so, the bridge crane trolley is controlled to move at the travel speed of the second gear to the second swing position corresponding to the highest point of the swing and then stop suddenly;

[0078] If not, continue to monitor whether the spreader reaches the first pendulum position;

[0079] The first position of the pendulum is between the second position of the swing back and the lowest point of the pendulum.

[0080] For example, Figure 1 Point B in the diagram is the first position of the pendulum. If it continues to swing toward point C, it indicates that the spreader has a pendulum trend of continuing to swing from point B to point C, which is the highest point of the swing. Under this condition, if the spreader reaches point B, the bridge crane trolley is controlled to move to point C at the speed of the second gear, and then the bridge crane trolley is controlled to stop suddenly.

[0081] It should be noted here that swing back means: when the position of the spreader is in the same direction as the bridge crane trolley, the spreader swings in the opposite direction of the bridge crane trolley. Figure 1 In the figure, the bridge crane trolley moves in the direction indicated by the arrow, the hoist is on the right side of the lowest point of the pendulum, i.e. point A, and has a movement trend towards the highest point of the principle swing back, i.e. point C, then it is determined that the bridge crane is in a swing back motion.

[0082] Preferably, the hanger is in the first pendulum position, i.e. Figure 1 The relationship between the second swing angle and the first swing angle of the straight line connecting point B and the bridge crane trolley and the vertical line is: the second swing angle is twice the first swing angle.

[0083] 2. The operation process of stable hook for short distance walking

[0084] When the bridge crane trolley is traveling within the first travel distance range (short distance, travel distance less than 6 meters), the pendulum sling is controlled by controlling the bridge crane trolley to perform a walking action combining acceleration and deceleration to achieve stable hook control of the sling. The specific method includes the following steps:

[0085] B1, control the bridge crane trolley to move at the speed corresponding to the second gear (such as "2"), then wait for the first time (after pushing the 2nd gear, wait for the first time to be reduced to 1st gear), and then control the bridge crane trolley to move at the speed corresponding to the first gear (such as "1");

[0086] B2, monitoring the spreader moving in the direction of being thrown toward the bridge crane trolley, calculating the pendulum angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line, and when the pendulum angle reaches the corresponding swing angle associated with the second gear, controlling the bridge crane trolley to catch up with the spreader at the travel speed corresponding to the second gear;

[0087] B3, determine whether the bridge crane trolley has caught up with the hoisting device,

[0088] If yes, the bridge crane trolley is controlled to move at the travel speed corresponding to the first gear, and the process goes to step B4;

[0089] If not, keep the bridge crane trolley moving in the second gear;

[0090] B4, monitor whether the angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line is within the preset first angle range (such as "0°").

[0091] If yes, the bridge crane trolley is controlled to stop running;

[0092] If not, keep the bridge crane trolley moving in the first gear.

[0093] The following combination Figure 2 Further explanation of the operation method of stabilizing the hook when walking over short distances:

[0094] Figure 2 In the process, the bridge crane trolley is in the moving state and the moving distance is within the first moving distance range. If the sling needs to be hooked steadily at this time, the lifting trolley is first controlled to move at the moving speed of the second gear. At this time, due to inertia, the sling is thrown backwards, and then the gear is lowered to the first gear after waiting for the first time to control the bridge crane trolley to continue moving. Subsequently, when the sling is detected to move in the direction of being thrown to the bridge crane trolley, the pendulum angle between the straight line connecting the sling and the bridge crane trolley and the vertical line is calculated, and when the pendulum angle reaches the corresponding swing angle associated with the second gear, the bridge crane trolley is controlled to catch up with the sling at the moving speed corresponding to the second gear. Finally, it is determined whether the bridge crane trolley has caught up with the sling. If so, the bridge crane trolley is controlled to move at the moving speed corresponding to the first gear, and when it is detected that the angle between the straight line connecting the sling and the bridge crane trolley and the vertical line is within the preset angle range, such as when the angle is "0", the bridge crane trolley is controlled to stop moving.

[0095] The walking speed of the second gear is greater than the walking speed of the first gear. Figure 2 The "0, 1, 2" in the figure represent the zero gear, the first gear and the second gear respectively.

[0096] 3. Steady hook operation for medium-distance walking

[0097] When the bridge crane trolley is traveling within the second travel distance range (middle distance, travel distance is between 6-40 meters), the pendulum sling is controlled to perform a walking action combining acceleration and deceleration to achieve a stable hook operation on the sling, which specifically includes the following steps:

[0098] C1, control the bridge crane trolley to start at the speed corresponding to the fourth gear and continue for the fifth time, then control the bridge crane trolley to move at the speed corresponding to the third gear, that is Figure 3 The gear control process of "0→4→3" shown in;

[0099] C2, monitors whether the spreader swings back to the vertical point.

[0100] If yes, the bridge crane trolley is controlled to move in the fourth gear, and then the swing angle of the spreader is monitored, and the corresponding gear of each swing angle is obtained by looking up the table, and then the process goes to step C3;

[0101] If not, continue to monitor whether the spreader swings back to the vertical point;

[0102] C3, in each stage of the swing back of the hoist, the bridge crane trolley is controlled to move in the corresponding gear. For example, when the gear corresponding to the swing back angle is still the "fourth gear", the bridge crane trolley continues to move in the fourth gear, that is, Figure 3 The trolley moves in the "4→4" gear control process shown in the figure (the fourth gear remains unchanged). When the swing back angle of the third gear is detected, the bridge crane trolley is controlled to move at the speed corresponding to the third gear, that is, Figure 3 The crane trolley moves in the gear control process of "4→3" shown in the figure; when the swing back angle corresponding to the second gear is detected, the crane trolley is controlled to move at the speed corresponding to the second gear, that is, Figure 3 The gear control process of "3→2" shown in the figure continues until the gear position is shifted to "0".

[0103] 4. Steady hook operation for long distance walking

[0104] This embodiment provides three methods for stabilizing the hook for long-distance walking, the first of which is:

[0105] When the bridge crane trolley is traveling within the third travel distance range (long distance, travel distance between 40-122 meters), the pendulum sling is controlled to perform a deceleration travel action by controlling the bridge crane trolley to achieve stable hook control of the sling, and the specific method includes the following steps:

[0106] D1, under the condition that the bridge crane trolley follows the spreader in the same direction, determine whether the spreader's swing angle swings back.

[0107] If yes, go to step D2;

[0108] If not, continue to monitor whether the spreader swings back;

[0109] for example, Figure 4 In the figure, the direct line between the hoist and the bridge crane trolley is on the right side of the vertical line, and the bridge crane trolley is also Figure 4If the crane trolley and the hoist move to the right side (forward direction), the crane trolley and the hoisting device are in the same direction. The definition of swing back has been explained in the above content and will not be repeated here.

[0110] D2, monitor the swing angle of the spreader, and look up the table to obtain the gear position corresponding to each swing angle for controlling the travel speed of the bridge crane trolley, and control the travel of the bridge crane trolley with the corresponding gear position obtained from the table within each swing angle range of the spreader. Figure 4 In step D1, when it is determined that the spreader has a swing back, the swing back angle monitored continuously falls into the swing angle range of the corresponding gear, and the bridge crane trolley is controlled to travel at the travel speed of the corresponding gear in each swing angle range, such as Figure 4 The gear shifts from the fifth gear to the fourth gear to the third gear, then slows down to the second gear, then to the first gear, and finally slows down to zero gear.

[0111] The second type is:

[0112] When the bridge crane trolley travels within the third travel distance range, and the travel distance is greater than the displacement distance caused by the swing angle of the spreader caused by the gear currently controlling the travel of the bridge crane trolley, the bridge crane trolley is controlled to perform a superimposed deceleration action to achieve stable hook control of the spreader. The specific method includes:

[0113] E1, monitors whether the swing angle of the hoisting device reaches the third swing angle for controlling the bridge crane trolley to travel in the third gear.

[0114] If yes, the bridge crane trolley is controlled to move in the third gear and proceed to step E2;

[0115] If not, keep the bridge crane trolley moving in the fourth gear;

[0116] For example, Figure 5 Under the condition that the distance traveled by the bridge crane trolley in the fourth gear is greater than the displacement distance caused by the swing angle of the spreader when the bridge crane trolley travels in the fourth gear (that is, the displacement distance of the bridge crane trolley in the fourth gear is greater than the displacement distance of the spreader in the fourth gear), monitor whether the swing angle of the spreader reaches the third swing angle for controlling the bridge crane trolley to travel in the third gear. If so, control the bridge crane trolley to travel in the third gear. For example, Figure 5 The "5-4-3" control process is the control process of the bridge crane trolley changing from the fourth gear to the third gear.

[0117] E2, controls the bridge crane trolley to continue to move in the third gear within the preset swing angle range;

[0118] For example, Figure 5During the control process of "5-4-3-3-3-3", during the control process of "3-3-3-3", the third gear position remains unchanged, but the swing angle of the spreader is always in a changing state. The swing angle change range during the control process of "3-3-3-3" is the preset swing angle range.

[0119] E3, in the subsequent swing back through the swing angle range, the swing back angle of the spreader is monitored, and the travel gear of the bridge crane trolley corresponding to each swing back angle is obtained by looking up the table, and then the bridge crane trolley is controlled to travel at the corresponding travel gear until the angle formed by the straight line connecting the spreader and the bridge crane trolley and the vertical line is less than the preset angle threshold (such as 0°) and the bridge crane trolley is controlled to stop traveling. For example, Figure 5 In the control process of "3-2-1-0" shown, the swing angle gradually decreases, and the gradually decreasing swing angle has a corresponding travel gear of the bridge crane trolley. After looking up these gears in the table, when the corresponding swing angle appears, the bridge crane trolley is controlled to travel at the corresponding gear.

[0120] The walking speed of the fourth gear is greater than the walking speed of the third gear.

[0121] In short, the control principle of the second method is:

[0122] When the actual traveling distance of the bridge crane trolley is longer than the displacement distance caused by the swing angle caused by selecting the current gear, when the first swing angle reaches the position of deceleration to the third gear, it will no longer continue to match the deceleration, but continue to maintain the third gear, thereby resulting in a swing angle for the third gear. This makes the moving speed of the bridge crane trolley have a transition process from high speed to low speed, and the hoisting equipment also has a transition process from a large swing angle to a small swing angle, thereby achieving the effect of smooth deceleration and stable hook.

[0123] The third method is:

[0124] When the bridge crane trolley moves within the third travel distance range and the weight of the hoisted object is greater than a preset weight threshold, the bridge crane trolley is controlled to move synchronously with the hoist to achieve stable hooking of the hoist. The specific method includes the following steps:

[0125] F1, controls the bridge crane trolley to move at the speed corresponding to the second gear, and monitors whether the moving speed of the spreader reaches the preset moving speed.

[0126] If yes, the bridge crane trolley is controlled to move in the third gear for the second time, then in the fourth gear for the third time, then in the fifth gear for the fourth time, and then the process goes to step F2;

[0127] If not, continue to monitor whether the spreader reaches the preset moving speed;

[0128] F2, at the hook stabilization time point (for example, when the spreader reaches the swing back angle corresponding to the fourth gear), control the bridge crane trolley to move in the fourth gear, and then monitor whether the spreader reaches the top of the throw.

[0129] If yes, monitor the swing back angle of the spreader and go to step F3;

[0130] If not, continue to monitor whether the spreader reaches the top of the throw;

[0131] F3, look up the table to obtain the travel gear position of the bridge crane trolley corresponding to each monitored swing back angle, and control the bridge crane trolley to move at the corresponding swing back angle with the corresponding travel gear position, until it is shifted to the "0" gear to control the bridge crane trolley to stop running.

[0132] The following combination Figure 6 The third method is illustrated by example:

[0133] For example, when lifting a box weighing more than 30 tons or performing operations such as lifting large items with wires, and the bridge crane trolley needs to travel a long distance, the third method adopts the operation method of synchronously moving the bridge crane trolley and the spreader. First, control the bridge crane to start in the second gear, and the spreader will follow the acceleration. When the moving speed of the spreader is about to reach the travel speed corresponding to the second gear, first push the bridge crane trolley to the third gear and continue for the second time, then continue to push it to the fourth gear and continue for the third time, and finally gradually accelerate to the fifth gear and continue for the fourth time.

[0134] Due to the above-mentioned smooth acceleration, the bridge crane trolley and the spreader basically maintain a vertical synchronous walking state at the speed corresponding to the fifth gear. When a stable hook operation is required (i.e., reaching the stable hook time point of step F2), the bridge crane trolley is controlled to decelerate to the fourth gear, i.e. Figure 6 The "4" in the "5-5-4" gear control process represents the fourth gear, at which the spreader will be thrown out. After being thrown to the top, the spreader begins to swing back to the vertical point. Then, according to the speed or swing angle of the spreader back to the vertical point, the corresponding gear is matched to decelerate, from the fourth gear to the third gear, then gradually to the second gear, then to the first gear, and finally to the zero gear.

[0135] In the above-mentioned hook stabilization schemes for the lifting equipment, the traveling speed of the bridge crane trolley corresponding to the fifth gear, the fourth gear, the third gear, the second gear and the first gear gradually decreases.

[0136] It should also be noted that there are many existing methods for monitoring the angle between the straight line connecting the hanger and the hanging point of the hanger in the bridge crane trolley and the vertical line, that is, the swing angle. Since the calculation of the swing angle is not within the scope of the rights protected by this application, it will not be described in detail.

[0137] The above methods for stabilizing the hook of the spreader are summarized as follows:

[0138] This embodiment provides a bridge crane operation method, comprising the steps of:

[0139] S1, detect the moving speed, moving distance and moving direction of the spreader;

[0140] S2, based on the detection data of the spreader, calculate the time point, speed and distance of the bridge crane trolley following the spreader in the same direction, so as to realize the stable hook control of the spreader. The swing angle of the spreader can be calculated according to the displacement speed and displacement distance of the spreader.

[0141] In summary, under the conditions of different traveling distances of the bridge crane trolley and lifting conditions of different weights by the lifting equipment, the present invention monitors the swing angle of the lifting equipment and matches the traveling speed of the bridge crane trolley, so that the bridge crane trolley and the lifting equipment can always keep the displacement distance and displacement speed consistent as much as possible, thereby ensuring the stability of the lifting equipment at all times.

[0142] It should be noted that the above specific implementations are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art should understand that various modifications, equivalent substitutions, changes, etc. can be made to the present invention. However, as long as these changes do not deviate from the spirit of the present invention, they should be within the scope of protection of the present invention. In addition, some terms used in the specification and claims of this application are not restrictive, but are only for the convenience of description.

Claims

1. A bridge crane operation method, characterized in that: Includes steps: S1, detect the moving speed, moving distance and moving direction of the spreader; S2, based on the detection data of the spreader, calculate the travel time point, travel speed and travel distance of the bridge crane trolley following the spreader in the same direction, so as to realize stable hook control of the spreader.

2. A bridge crane operation method according to claim 1, characterized in that: When the bridge crane trolley is in a stationary state and the spreader exhibits a pendulum-like motion, the stable hook control of the spreader is achieved by controlling the bridge crane trolley to perform an accelerated walking action. The method for controlling the bridge crane trolley to perform an accelerated walking action comprises the following steps: A1, monitoring the first swing angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line when the spreader reaches the highest point of the swing back; A2, looking up the table to obtain the second gear position for controlling the travel speed of the bridge crane trolley corresponding to the first swing angle; A3, monitoring whether the spreader reaches the first pendulum position and has a pendulum tendency to continue to swing to the highest point of the swing back, If so, the bridge crane trolley is controlled to move to the second swing position corresponding to the highest point of the swing at the walking speed of the second gear and then stop suddenly; If not, continue to monitor whether the sling reaches the first position of the pendulum; The first position of the pendulum is between the second swing back position and the lowest point of the pendulum.

3. A bridge crane operation method according to claim 2, characterized in that: When the pendulum is in the first position, the relationship between the second swing angle of the direct line connecting the hoist and the bridge crane trolley and the vertical line and the first swing angle is: the second swing angle is twice the first swing angle.

4. A bridge crane operation method according to claim 1, characterized in that: When the bridge crane trolley is traveling within the first travel distance range, the sling of the pendulum is controlled by controlling the bridge crane trolley to perform a walking action combining acceleration and deceleration to achieve stable hook control of the sling, and the specific method includes the following steps: B1, control the bridge crane trolley to move at a speed corresponding to the second gear, and then control the bridge crane trolley to move at a speed corresponding to the first gear after waiting for a first period of time; B2, when it is detected that the spreader moves in the direction of being thrown toward the bridge crane trolley, calculate the pendulum angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line, and when the pendulum angle reaches the corresponding swing angle associated with the second gear, control the bridge crane trolley to catch up with the spreader at the travel speed corresponding to the second gear; B3, judging whether the bridge crane trolley has caught up with the spreader, If yes, the bridge crane trolley is controlled to move at the travel speed corresponding to the first gear position, and the process goes to step B4; If not, keep the bridge crane trolley moving in the second gear; B4, monitoring whether the angle between the straight line connecting the spreader and the bridge crane trolley and the vertical line is within a preset angle range, If yes, the bridge crane trolley is controlled to stop running; If not, keep the bridge crane trolley moving in the first gear.

5. A bridge crane operation method according to claim 4, characterized in that: The traveling speed of the second gear is greater than the traveling speed of the first gear.

6. A bridge crane operation method according to claim 1, characterized in that: When the bridge crane trolley is traveling within the second travel distance range, the sling of the pendulum is controlled by controlling the bridge crane trolley to perform a walking action combining acceleration and deceleration to achieve stable hook control of the sling, and the specific method includes the steps of: C1, controlling the bridge crane trolley to start at a speed corresponding to the fourth gear and continuing for a fifth period of time, and then controlling the bridge crane trolley to move at a speed corresponding to the third gear; C2, monitors whether the spreader swings back to the vertical point, If yes, the bridge crane trolley is controlled to move in the fourth gear, and then the swing angle of the spreader is monitored, and the corresponding gear of each swing angle is obtained by looking up the table, and then the process goes to step C3; If not, continue to monitor whether the spreader swings back to the vertical point; C3, in each stage of the swing back of the hoist, the movement of the bridge crane trolley is controlled by the corresponding gear.

7. A bridge crane operation method according to claim 1, characterized in that: When the bridge crane trolley is traveling within the third travel distance range, the pendulum hanger is controlled to perform a deceleration travel action to achieve stable hook control of the hanger, and the specific method includes the following steps: D1, under the condition that the bridge crane trolley follows the movement of the spreader in the same direction, it is determined whether the swing angle of the spreader swings back. If yes, go to step D2; If not, continue to monitor whether the spreader swings back; D2, monitor the swing angle of the hoist, and look up the table to obtain the gear position corresponding to the swing angle for controlling the travel speed of the bridge crane trolley, and control the travel of the bridge crane trolley with the corresponding gear position obtained from the table within each swing angle range of the swing of the hoist.

8. A bridge crane operation method according to claim 1, characterized in that: When the bridge crane trolley travels within the third travel distance range, and the travel distance is greater than the displacement distance caused by the swing angle of the spreader caused by the gear currently controlling the travel of the bridge crane trolley, the bridge crane trolley is controlled to perform a superimposed deceleration action to achieve stable hook control of the spreader. The specific method includes the steps of: E1, monitor whether the swing angle of the spreader reaches the third swing angle for controlling the bridge crane trolley to travel in the third gear, If yes, control the bridge crane trolley to move in the third gear and proceed to step E2; If not, keep the bridge crane trolley moving in the fourth gear; E2, controlling the bridge crane trolley to continue to move in the third gear within the preset swing angle range of the continuous swing back; E3, during the subsequent swing back within the swing angle range, the swing back angle of the spreader is monitored, and a table is consulted to obtain the travel gear of the bridge crane trolley corresponding to each swing back angle, and then the bridge crane trolley is controlled to travel at the corresponding travel gear until the angle formed by the straight line connecting the spreader and the bridge crane trolley and the vertical line is less than a preset angle threshold, and the bridge crane trolley is controlled to stop traveling; The traveling speed of the fourth gear is greater than the traveling speed of the third gear.

9. A bridge crane operation method according to claim 1, characterized in that: When the bridge crane trolley travels within the third travel distance range and the weight of the hoisted object is greater than a preset weight threshold, the bridge crane trolley is controlled to move synchronously with the hoist to achieve stable hooking of the hoist. The specific method includes the following steps: F1, controls the bridge crane trolley to move at the speed corresponding to the second gear, and monitors whether the moving speed of the spreader reaches the preset moving speed, If yes, the bridge crane trolley is controlled to move in the third gear for the second time, then in the fourth gear for the third time, and then in the fifth gear for the fourth time, and then the process goes to step F2; If not, continue to monitor whether the spreader reaches the preset moving speed; F2, at the hook stabilization time point, control the bridge crane trolley to move in the fourth gear, and then monitor whether the spreader reaches the top of the throw, If yes, monitor the swing back angle of the spreader and proceed to step F3; If not, continue to monitor whether the sling reaches the thrown top point; F3, look up the table to obtain the travel gear position of the bridge crane trolley corresponding to the swing back angle, and control the bridge crane trolley to travel at the corresponding swing back angle with the corresponding travel gear position, until it is shifted to the "0" gear to control the bridge crane trolley to stop running.

10. A bridge crane operation method according to claim 9, characterized in that: The preset moving speed is the traveling speed of the bridge crane trolley corresponding to the second gear; the fifth gear is greater than the traveling speed corresponding to the fourth gear, greater than the third gear, and greater than the second gear respectively.

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