Steel wire rope anti-loosening control system of gantry crane and gantry crane

Abstract

Compared with the prior art, the anti-loosening control system for the steel wire rope of the gantry crane disclosed by the invention comprises a lifting motor mechanism for driving a grab bucket to ascend and descend; the lifting motor driving module is in signal connection with the lifting motor mechanism; the lifting motor driving module is used for controlling starting, stopping and the rotating speed of a lifting motor mechanism; the load detection module is used for detecting the size of a load loaded on the lifting motor; and the quick stop control module is used for receiving the load data transmitted by the load detection module and outputting a quick stop signal to the lifting motor driving module when the load suddenly changes. The anti-loosening control system for the steel wire rope of the gantry crane can avoid the problems that the steel wire rope is excessively loosened and the steel wire rope is wound, so that a pulley is separated from a groove, a winding drum is separated from the groove and the like, the use and maintenance cost of the crane can be obviously saved, and in addition, the invention further provides the gantry crane which also has the above beneficial effects.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and more specifically, to a wire rope loosening prevention control system for a portal crane. In addition, the present invention also provides a portal crane. Background Art

[0002] When the gantry crane is using a grab bucket, when the grab bucket is lowered to grab cargo, the operator cannot accurately control the distance between the grab bucket and the cargo. The grab bucket is completely pressed against the cargo when it stops lowering and just touches the cargo. The driver finds that the wire rope is in a completely relaxed state and then controls the grab bucket to stop descending. At this time, the wire rope is lowered a lot, which is more obvious during night operations. Because the wire rope that controls the opening and closing and lifting of the grab is in a completely relaxed state, the amount of lowering is large, and there is a large torque inside the wire rope. When the grab grabs the goods and lifts up after grabbing the goods, it is very easy for the wire ropes to be entangled with each other, causing the wire rope to slip out of the pulley, slip out of the drum and get wrapped around the drum shaft, and the wire rope will be quickly damaged. If the wire rope is wrapped around the drum shaft after slipping out of the groove, it may easily cause damage to parts such as the drum or reducer, seriously affecting the normal operation of the equipment and increasing the cost of use. At the same time, there are also major safety hazards. If the damage of the wire rope or parts such as the reducer and drum assembly are not discovered in time during use, the grab may suddenly fall from the air.

[0003] Therefore, how to provide a gantry crane wire rope anti-loose rope control system and a gantry crane to effectively solve the problem that the wire rope, drum, reducer and other components are easily damaged and there are major safety hazards due to the looseness of the wire rope when the grab bucket is lowered, and the large amount of lowering, avoid excessive relaxation of the wire rope, and ensure the safety of crane operation has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a portal crane wire rope anti-loosening control system, which effectively solves the problem that the wire rope, drum, reducer and other parts are easily damaged due to the looseness of the grab lowering wire rope and the large amount of lowering, and there are great safety hazards, avoids excessive relaxation of the wire rope, and ensures the safety of crane operation. In addition, the present invention also provides a portal crane, which also has the above beneficial effects.

[0005] The present invention provides a portal crane wire rope anti-loosening control system, comprising: a lifting motor mechanism for driving a grab bucket to rise and fall;

[0006] A lifting motor drive module connected to the lifting motor mechanism signal;

[0007] The lifting motor drive module is used to control the start and stop and rotation speed of the lifting motor mechanism;

[0008] A load detection module is used to detect the load size loaded on the lifting motor;

[0009] A quick stop control module is connected to the load detection module and the lifting motor drive module by signal. The quick stop control module is used to receive the load data transmitted by the load detection module and output a quick stop signal to the lifting motor drive module when the load changes suddenly.

[0010] Furthermore, in a preferred embodiment of the present invention, it also includes: a lifting height compensation system, which is connected to the basic control system of the crane, and is used to output the rope retraction length data required to maintain the tensioned state of the wire rope, and transmit the rope retraction length data to the basic control system of the crane.

[0011] Furthermore, in a preferred embodiment of the present invention, the lifting height compensation system includes: a grab height calculation module, which is used to calculate the current height of the grab; and a lifting height compensation module, which is used to calculate and output the compensation value required to retract the rope to keep the wire rope taut based on the comparison result between the current height data of the grab and the height data of the sudden load change.

[0012] Among them, the lifting height compensation module calculates the slack length of the wire rope, and then calculates the length of the rope required to keep the wire rope tensioned, and sends it to the crane basic control system.

[0013] Furthermore, in a preferred embodiment of the present invention, the grab bucket height calculation module includes: a lifting position sensor module for detecting the position of the lifting grab bucket; a lifting stroke calculation module connected to the lifting position sensor module signal, and the lifting stroke calculation module is used to calculate the current height of the grab bucket based on the data output by the lifting position sensor module.

[0014] Furthermore, in a preferred embodiment of the present invention, the grab bucket height calculation module further includes: a data preprocessing module connected to the lifting position sensing module signal; the data preprocessing module is connected to the lifting stroke calculation module signal.

[0015] Furthermore, in a preferred embodiment of the present invention, a mutation threshold K is provided in the quick stop control module, and the quick stop control module receives the load data value transmitted by the load detection module. When the change of the load data value exceeds the threshold, the quick stop control module outputs a quick stop signal to the lifting motor drive module.

[0016] Furthermore, in a preferred embodiment of the present invention, it further comprises: a wire rope tensioning state monitoring system connected to the signal of the crane basic control system.

[0017] Further, in a preferred embodiment of the present invention, the lifting height compensation module calculates and outputs the rope retraction compensation value required to maintain the tension of the wire rope based on the comparison result between the current height data of the grab bucket and the height data of the sudden load change, which is specifically:

[0018] The compensation value ΔLcomp is the length of the wire rope required to restore it to its original tension state. Therefore, it should be equal to the inverse of the total elongation:

[0019] The lifting height compensation module outputs the rope retraction compensation value as follows:

[0020] ΔLcomp=-K(L2-L1);

[0021] Among them, ΔLcomp is the rope retraction compensation value; K is the compensation correction coefficient; F2 is the rope length value after the load changes; L1 is the rope length value before the load changes.

[0022] Furthermore, in a preferred embodiment of the present invention, the compensation correction coefficient K is specifically:

[0023] K = 1 / E*A+1 / kst;

[0024] Wherein, E is the elastic modulus of the wire rope; A is the cross-sectional area of ​​the wire rope, 1 square millimeter is denoted as A=1; kst is the mechanical structure stiffness value of the wire rope.

[0025] Furthermore, in a preferred embodiment of the present invention, it also includes an adaptive load adjustment module, which is connected to the load detection module signal, and the load detection module is connected to the crane basic system signal. It can automatically adjust the driving force and speed of the lifting motor according to the actual size and change of the load to ensure that the wire rope always maintains an appropriate tension state. The adaptive load adjustment module is embedded in a deep learning model and can continuously optimize the adjustment strategy according to historical data. In this way, the crane's adaptability to load changes is further improved, and the problems of wire rope slack and entanglement caused by sudden load changes are reduced. Through adaptive adjustment, the operation efficiency and energy efficiency of the crane are improved.

[0026] In addition, the present invention also relates to a portal crane, comprising: a crane basic control system; a portal crane wire rope anti-loosening rope control system as described above, wherein the portal crane wire rope anti-loosening rope control system is connected to the crane basic control system by signal. The crane basic control system is used to implement crane control logic and safety protection, and when receiving a fast stop control signal transmitted by a fast stop module, it switches to the protection logic and protection value of the fast stop in time.

[0027] Compared with the prior art, the technical solution of a wire rope anti-loosening control system for a gantry crane provided by the present invention comprises: a lifting motor mechanism for driving a grab bucket to rise and fall; a lifting motor driving module connected to the lifting motor mechanism signal; the lifting motor driving module is used to control the start and stop and rotation speed of the lifting motor mechanism; a load detection module is used to detect the load size loaded on the lifting motor; a fast stop control module connected to the load detection module and the lifting motor driving module signal, the fast stop control module is used to receive the load data transmitted by the load detection module, and output a fast stop signal to the lifting motor driving module when the load suddenly changes. The present invention provides a wire rope anti-loosening control system for a gantry crane, when the grab bucket falls on the goods, the lifting wire rope will also stop lowering after a short length, so as to avoid excessive relaxation of the wire rope, avoid mutual entanglement between the wire ropes, and avoid problems such as pulley de-slotting and drum de-slotting caused by excessive relaxation and mutual entanglement of the wire ropes, which can significantly save the use and maintenance cost of the crane. In addition, the present invention also provides a gantry crane, which also has the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of a wire rope anti-loosening control system for a portal crane provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0031] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0032] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" and "several" is two or more, unless otherwise clearly and specifically defined.

[0034] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0035] like Figure 1 As shown, the wire rope anti-loosening control system for a gantry crane provided by an embodiment of the present invention comprises: a lifting motor mechanism for driving a grab bucket to rise and fall; a lifting motor drive module connected to the lifting motor mechanism signal; the lifting motor drive module is used to control the start and stop and rotation speed of the lifting motor mechanism; a load detection module is used to detect the load size loaded on the lifting motor; a fast stop control module connected to the load detection module and the lifting motor drive module signal, the fast stop control module is used to receive the load data transmitted by the load detection module, and output a fast stop signal to the lifting motor drive module when the load suddenly changes. The present invention provides a wire rope anti-loosening control system for a gantry crane. When the grab bucket falls on the goods, the lifting wire rope will also stop lowering after being lowered for a short distance, thereby avoiding excessive relaxation of the wire rope, avoiding mutual entanglement between the wire ropes, and problems such as pulley de-slotting and drum de-slotting caused by excessive relaxation and mutual entanglement of the wire ropes, which can significantly save the use and maintenance cost of the crane. In addition, the present invention also provides a gantry crane, which also has the above-mentioned beneficial effects.

[0036] Specifically, in a specific embodiment of the present invention, it also includes: a lifting height compensation system, which is connected to the basic control system of the crane, and is used to output the rope retraction length data required to maintain the tensioned state of the wire rope, and transmit the rope retraction length data to the basic control system of the crane.

[0037] Specifically, in a specific embodiment of the present invention, the lifting height compensation system includes: a grab height calculation module, which is used to calculate the current height of the grab; a lifting height compensation module, which is used to calculate and output the compensation value required to keep the wire rope tensioned based on the comparison result between the current height data of the grab and the height data of the sudden change in load.

[0038] It should be noted that, in the embodiment of the present invention, the lifting height compensation module calculates the length of the slack of the wire rope when it is lowered, and then calculates the length of the wire rope required to keep the wire rope tensioned, and sends it to the crane basic control system.

[0039] It should be noted that, in an embodiment of the present invention, the load detection module transmits the load data to the quick stop control module. After the quick stop control module determines that the load has suddenly changed, it sends an instruction to the motor drive module to switch the motor drive module to the quick stop mode; after the motor drive module enters the quick stop mode, the speed of the lifting motor is decelerated from the current speed to zero in a very short time, and the very short time is close to zero. It is calculated based on the capacity of the motor drive module, the lifting motor and the rotational inertia of the lifting mechanism system. When the capacity of the lifting drive module and the lifting motor permits, the time is as short as possible, that is, the deceleration process can be approximately regarded as a uniform deceleration process, S=1 / 2v0t, wherein v0 is the initial speed, t is the deceleration time, and S is the length of the wire rope lowered during this process. Since t is very small and approaches zero in the embodiment of the present invention, after the grab bucket falls onto the cargo, the lifting wire rope will stop lowering after being lowered for a very short distance, thereby avoiding excessive relaxation of the wire rope, entanglement between the wire ropes, and problems such as pulley de-groove and drum de-groove caused by excessive relaxation and entanglement of the wire ropes. This can significantly save the use and maintenance costs of the crane and improve the operational reliability of the crane.

[0040] Specifically, in a specific embodiment of the present invention, the grab bucket height calculation module includes: a lifting position sensor module for detecting the position of the lifting grab bucket; a lifting stroke calculation module connected to the lifting position sensor module signal, and the lifting stroke calculation module is used to calculate the current height of the grab bucket based on the data output by the lifting position sensor module.

[0041] Specifically, in a specific embodiment of the present invention, the grab bucket height calculation module further includes: a data preprocessing module connected to the lifting position sensor module signal; the data preprocessing module is connected to the lifting stroke calculation module signal.

[0042] Specifically, in a specific embodiment of the present invention, a mutation threshold K is provided in the quick stop control module. The quick stop control module receives the load data value transmitted by the load detection module. When the change of the load data value exceeds the threshold, the quick stop control module outputs a quick stop signal to the lifting motor drive module.

[0043] Specifically, in a specific embodiment of the present invention, it also includes: a wire rope tensioning state monitoring system connected to the crane basic control system signal.

[0044] Specifically, in a specific embodiment of the present invention, the lifting height compensation module calculates and outputs the rope retraction compensation value required to keep the wire rope tensioned based on the comparison result between the current height data of the grab bucket and the height data of the sudden load change, which is:

[0045] The compensation value ΔLcomp is the length of the wire rope required to restore it to its original tension state. Therefore, it should be equal to the inverse of the total elongation:

[0046] The lifting height compensation module outputs the rope retraction compensation value as follows:

[0047] ΔLcomp=-K(L2-L1);

[0048] Among them, ΔLcomp is the rope retraction compensation value; K is the compensation correction coefficient; L2 is the rope length value after the load changes; L1 is the rope length value before the load changes. It should be noted that the compensation correction coefficient K is specifically:

[0049] K = 1 / E*A+1 / kst;

[0050] Wherein, E is the elastic modulus of the wire rope; A is the cross-sectional area of ​​the wire rope, 1 square millimeter is denoted as A=1; kst is the mechanical structure stiffness value of the wire rope.

[0051] More specifically, an embodiment of the present invention also relates to an adaptive load adjustment module, which is connected to the load detection module signal, and the load detection module is connected to the crane basic system signal. It can automatically adjust the driving force and speed of the lifting motor according to the actual size and change of the load to ensure that the wire rope always maintains an appropriate tension state. The adaptive load adjustment module is embedded in a deep learning model and can continuously optimize the adjustment strategy according to historical data. In this way, the crane's adaptability to load changes is further improved, and the problems of wire rope slack and entanglement caused by sudden load changes are reduced. Through adaptive adjustment, the operation efficiency and energy efficiency of the crane are improved.

[0052] In addition, the present invention also relates to a gantry crane, comprising: a crane basic control system; a gantry crane wire rope anti-loosening rope control system as described above, and the gantry crane wire rope anti-loosening rope control system is signal-connected to the crane basic control system.

[0053] It should be noted that, in the embodiment of the present invention, the basic control system of the crane is used to implement the control logic and safety protection of the crane. When receiving the quick stop control signal transmitted by the quick stop module, it promptly switches to the quick stop protection logic and protection value; the load detection module monitors the load of the lifting motor in real time. When the grab falls on the cargo, the load of the grab on the lifting mechanism through the wire rope drops to zero in a very short time, and the load detection module detects the load of the lifting motor and the load sudden change to no-load process.

[0054] To be more specific, when the gantry crane is using the grab bucket, when the grab bucket is lowered to grab the cargo, the operator cannot accurately control the distance between the grab bucket and the cargo. The grab bucket stops lowering and just touches the cargo, and the grab bucket is completely pressed against the cargo. The driver finds that the wire rope is in a completely relaxed state and then controls the grab bucket to stop descending. At this time, the wire rope is lowered more, which is more obvious during night operations. This phenomenon is because the wire rope that controls the opening and closing and lifting of the grab bucket is in a completely relaxed state, the amount of lowering is large, and there is a large torque inside the wire rope. When the grab bucket grabs When taking goods and lifting after grabbing the goods, it is very easy for the wire ropes to be entangled with each other, causing the wire rope to fall out of the groove of the pulley, fall out of the groove of the drum and be wrapped around the drum shaft, so that the wire rope will be quickly damaged. If the wire rope is wrapped around the drum shaft after falling out of the groove, it is easy to cause damage to the drum or reducer and other parts, seriously affecting the normal operation of the equipment and increasing the cost of use. At the same time, there are also major safety hazards. If the damage of the wire rope or the damage of the reducer, drum assembly and other parts is not discovered in time during use, the grab bucket may suddenly fall from the air.

[0055] Based on the above content, the present invention mainly aims at the problems that exist when the gantry crane uses a grab bucket to grab goods, because the gantry crane operator cannot accurately control the appropriate distance between the grab bucket and the goods, resulting in the steel wire rope for opening and closing and lifting the grab bucket being in a completely relaxed state, with a large amount of lowering, and the steel wire ropes being entangled with each other and the steel wire ropes being de-grooved from the drum and wrapped around the drum shaft, which makes the steel wire rope, drum, reducer and other components easily damaged, affecting the normal use of the equipment and posing major safety hazards. A gantry crane wire rope anti-loose rope control system is provided, which can effectively solve the problems such as the uncontrollable contact distance between the grab bucket and the goods when lowering, the loose steel wire rope, and the large amount of lowering causing the steel wire rope, drum, reducer and other components to be easily damaged, affecting the normal use of the equipment and posing major safety hazards.

[0056] Based on the deficiencies of the prior art, the present invention proposes a wire rope anti-loosening control system for a gantry crane. The system detects the sudden change of the load to no-load when the grab bucket falls on the cargo, triggers automatic deceleration and switches the mode to a fast deceleration mode at the same time, so that the wire rope can be stopped after being lowered a short distance, thereby preventing the wire rope from being excessively loose. Specifically, the wire rope anti-loosening control system for a gantry crane involved in the embodiment of the present invention is composed of a lifting motor mechanism, a lifting motor drive module, a load detection module, a fast stop control module, a lifting position detection module, a lifting stroke calculation module, a lifting height compensation module, and a crane basic control system. In an embodiment of the present invention, the lifting motor provides a power source for the lifting and lowering of the grab bucket; the motor drive module is used to control the starting, stopping and rotation speed of the lifting motor; the load detection module is used to detect the size of the load loaded on the lifting motor; the quick stop control module is used to receive the load data transmitted by the load detection module, and when it is determined that the load has suddenly changed, output a quick stop signal to the motor drive module; the lifting position detection sensor is used to detect the position of the lifting grab bucket; the lifting stroke calculation module calculates the current height of the grab bucket according to the data of the lifting position sensor; the lifting height compensation module: compares the current height of the grab bucket with the height data when the grab bucket falls on the cargo, that is, the load suddenly changes, calculates the length of the wire rope that is relaxed when it is lowered, and then calculates the length of the wire rope that needs to be retracted to keep the wire rope tensioned, and sends it to the crane basic control system. The basic control system of the crane realizes the control logic and safety protection of the crane. When receiving the fast stop control signal transmitted by the fast stop module, it switches to the protection logic and protection value of the fast stop in time. The load detection module monitors the load of the lifting motor in real time. When the grab bucket falls on the goods, the load of the grab bucket on the lifting mechanism through the wire rope drops to zero in a very short time. The load detection module detects the load of the lifting motor and the load mutation to the no-load process. The load detection module transmits the load data to the fast stop control module. After the fast stop control module determines the load mutation, it sends an instruction to the motor drive module to switch the motor drive module to the fast stop mode. After the motor drive module enters the fast stop mode, the speed of the lifting motor is decelerated from the current speed to zero in a very short time. The very short time approaches zero. It is calculated based on the capacity of the motor drive module and the lifting motor and the rotational inertia of the lifting mechanism system. If the capacity of the lifting drive module and the lifting motor allows, the time is as short as possible.

[0057] In the embodiment of the present invention, the deceleration process can be approximately regarded as a uniform deceleration process, S=1 / 2v0t,

[0058] Among them: v0 is the initial speed, t is the deceleration time, and S is the length of the wire rope lowered during this process.

[0059] Since t is very small and approaches zero, when the grab falls on the cargo, the lifting wire rope will stop lowering after a short distance, thereby avoiding excessive relaxation of the wire rope, entanglement between the wire ropes, and problems such as pulley and drum de-slotting caused by excessive relaxation and entanglement of the wire ropes.

[0060] In addition, the gantry crane wire rope anti-loose rope control system involved in the embodiment of the present invention is also provided with a lifting height compensation function. The current height of the grab bucket is calculated by the lifting position detection sensor and the lifting stroke calculation module, and the lifting height compensation module calculates the compensation value required for rope retraction to keep the wire rope tensioned, and sends the compensation value to the crane basic control system. The crane basic control system sends an instruction to the lifting drive module to slowly retract the rope upwards to keep the wire rope tensioned.

[0061] In summary, the anti-loose rope control system for the wire rope of the gantry crane of the present invention has a significant technical effect, namely, preventing the wire rope from being excessively relaxed and entangled: the system uses a quick stop control module to quickly output a quick stop signal to the lifting motor drive module when a sudden load change is detected, such as the grab bucket contacts the cargo, so that the lifting motor can be decelerated to zero in a very short time, thereby preventing the wire rope from being excessively relaxed during the lowering process. That is, the embodiment of the present invention can avoid the problem of wire ropes being entangled with each other due to excessive relaxation, as well as the safety hazards such as pulley derailment and drum derailment caused thereby.

[0062] Furthermore, the embodiment of the present invention ensures the stability and safety of the crane during operation by precisely controlling the start and stop and the rotation speed of the hoisting motor, reduces crane failures and downtime caused by wire rope problems, and improves the operating efficiency and reliability of the crane.

[0063] Thirdly, since the problem of excessive relaxation and entanglement of the wire rope is effectively avoided, the wear and replacement frequency of the wire rope is reduced, thereby reducing the use and maintenance cost of the crane, and also reducing the production loss and maintenance costs caused by downtime due to faults.

[0064] In addition, the lifting height compensation system in the system of the embodiment of the present invention can calculate and output the rope retraction length data required to maintain the tension of the wire rope based on the comparison result of the current height of the grab bucket and the height data when the load suddenly changes, thereby improving the precise control of the tension state of the wire rope and further enhancing the stability and safety of the system. The grab bucket height calculation module can accurately calculate the current height of the grab bucket through the lifting position sensor module and the lifting stroke calculation module, and the addition of the data preprocessing module further improves the accuracy and reliability of the height calculation.

[0065] In addition, the system also includes a wire rope tension state monitoring system connected to the crane basic control system signal, which can monitor the tension state of the wire rope in real time, provide strong data support for the maintenance and maintenance of the system, and further improve the operational reliability and safety of the crane. In short, the portal crane wire rope anti-loosening control system of the present invention has significant technical effects in preventing excessive relaxation and winding of the wire rope, improving the operational reliability of the crane, and saving the cost of use and maintenance, providing a strong guarantee for the safe and efficient operation of the crane.

[0066] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A portal crane wire rope anti-loosening control system, characterized in that: include: A lifting motor mechanism used to drive the grab bucket to rise and fall; A lifting motor drive module connected to the lifting motor mechanism signal; The lifting motor drive module is used to control the start and stop and the rotation speed of the lifting motor mechanism; A load detection module is used to detect the load size loaded on the lifting motor; A quick stop control module is connected to the load detection module and the lifting motor drive module by signal. The quick stop control module is used to receive the load data transmitted by the load detection module and output a quick stop signal to the lifting motor drive module when the load changes suddenly.

2. The portal crane wire rope anti-loosening control system according to claim 1, characterized in that: Also includes: The lifting height compensation system is connected to the crane basic control system and is used to output the rope retraction length data required to maintain the tension state of the wire rope, and transmit the rope retraction length data to the crane basic control system.

3. The portal crane wire rope anti-loosening control system according to claim 2, characterized in that: The lifting height compensation system includes: a grab bucket height calculation module, which is used to calculate the current height of the grab bucket; and a lifting height compensation module, which is used to calculate and output the compensation value required for keeping the wire rope tensioned based on the comparison result between the current height data of the grab bucket and the height data of the sudden load change.

4. The portal crane wire rope anti-loosening control system according to claim 3, characterized in that: The grab bucket height calculation module includes: a lifting position sensor module for detecting the lifting grab bucket position; a lifting stroke calculation module connected to the lifting position sensor module signal, and the lifting stroke calculation module is used to calculate the current height of the grab bucket according to the data output by the lifting position sensor module.

5. The portal crane wire rope anti-loosening control system according to claim 4, characterized in that: The grab bucket height calculation module also includes: a data preprocessing module connected to the lifting position sensor module signal; the data preprocessing module is connected to the lifting stroke calculation module signal.

6. The portal crane wire rope anti-loosening control system according to claim 1, characterized in that: A mutation threshold K is provided in the quick stop control module. The quick stop control module receives the load data value transmitted by the load detection module. When the change of the load data value exceeds the threshold, the quick stop control module outputs a quick stop signal to the lifting motor drive module.

7. The portal crane wire rope anti-loosening control system according to claim 2, characterized in that: Also includes: A wire rope tensioning status monitoring system connected to the crane base control system signal.

8. The portal crane wire rope anti-loosening control system according to any one of claims 1 to 7, characterized in that: The lifting height compensation module calculates and outputs the rope retraction compensation value required to keep the wire rope tensioned based on the comparison result between the current height data of the grab bucket and the height data of the sudden load change: The lifting height compensation module outputs the rope retraction compensation value as follows: ΔLcomp=-K(L2-L1); Among them, ΔLcomp is the rope retraction compensation value; K is the compensation correction coefficient; L2 is the rope length value after the load changes; L1 is the rope length value before the load changes.

9. The portal crane wire rope anti-loosening control system according to claim 8, characterized in that: The compensation correction coefficient K is specifically: K = 1 / E*A+1 / kst; Wherein, E is the elastic modulus of the wire rope; A is the cross-sectional area of ​​the wire rope, and when the cross-sectional area of ​​the wire rope is 1 square millimeter, it is recorded as A=1; kst is the mechanical structure stiffness value of the wire rope.

10. A portal crane, characterized in that: include: Crane basic control system; The gantry crane wire rope anti-loosening rope control system as described in any one of claims 1 to 9, the gantry crane wire rope anti-loosening rope control system is connected to the crane basic control system signal.

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