Permanent magnet suspension crane device and automatic centering method

Abstract

The invention belongs to the technical field of cargo transportation, and discloses a permanent magnet suspension crane device and an automatic centering method.The permanent magnet suspension crane device comprises a rack, a track, a trolley and a permanent magnet assembly, the track is arranged on the rack, and the trolley is located above the track; the first permanent magnet is arranged on the track and is obliquely arranged relative to the horizontal direction of the end face of the rack, the second permanent magnet is movably arranged on the trolley, is parallel to the first permanent magnet and is suspended, and when the trolley deviates towards one side close to the first permanent magnet, the repulsive force borne by the first permanent magnet is increased, and the repulsive force borne by the second permanent magnet is reduced; the trolley can deviate towards the side close to the second permanent magnet to be automatically centered, unbalance loading of the trolley can be prevented, it is guaranteed that the trolley can stably run all the time, the load capacity is high, zero-power suspension is achieved, friction loss is avoided, and compared with traditional electromagnetic deviation prevention, the structure is simple, energy consumption is low, the requirement for equipment is low, and the whole life cycle cost is low; and the device is suitable for long-distance and short-distance transportation and long-time work.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo transportation, and in particular to a permanent magnetic suspension crane device and an automatic centering method. Background Art

[0002] The structure of rail crane has a load-bearing main beam, at both ends of which are hinged end beams and rollers running along the longitudinal track, two transverse tracks are installed in parallel on the main beam, on which a mobile trolley and its end beams and rollers are movably installed, and a lifting mechanism for hoisting objects is installed on the mobile trolley. However, rail cranes cannot overcome the impact of friction and uneven slopes on operation, and they are noisy and wear-prone, resulting in high energy consumption, heavy maintenance workload and high operation and maintenance costs.

[0003] In order to solve the above problems, an electromagnetic levitation crane is provided in the prior art, which adopts electromagnetic levitation. During the operation of the crane, a large amount of power is consumed, and the energy consumption is high. Another prior art provides a method for preventing instability of magnetic levitation, which adopts an "8"-shaped coil installed on the side wall of the track, and superconducting wires are installed on both sides of the train. When the train travels at high speed, the coil cuts the wire to generate a magnetic field. The magnetic field force can center the train to prevent it from being overloaded. However, on the one hand, the crane track is short and the suspended object cannot run at high speed. On the other hand, the crane load is large and the lateral force of the suspended object is large. To achieve the centering of the suspended object, a large magnetic field force is required, which cannot be applied to the short-distance transportation of the crane. In addition, the current in the "8"-shaped coil is huge, which puts strict requirements on energy consumption and power supply equipment.

[0004] Therefore, a permanent magnetic suspension crane device and an automatic centering method are urgently needed to solve the above problems. Summary of the invention

[0005] According to one aspect of the present invention, the present invention provides a permanent magnetic suspension crane device, which can prevent the trolley from being overloaded, has zero-power suspension, and has no friction loss. Compared with traditional electromagnetic anti-overload protection, it not only has a simple structure and low energy consumption, but also has low requirements for equipment and low cost over the entire life cycle.

[0006] In order to solve the above problems existing in the prior art, the present invention adopts the following technical solutions:

[0007] The permanent magnetic suspension crane device comprises:

[0008] frame;

[0009] A track, wherein the track is arranged on the frame;

[0010] A trolley, the trolley is located above the track and is used to suspend heavy objects;

[0011] A permanent magnet assembly, the permanent magnet assembly comprising a first permanent magnet and a second permanent magnet, the first permanent magnet being arranged on the track and being inclined relative to the horizontal direction where the end face of the frame is located, the second permanent magnet being movably arranged on the trolley, and the second permanent magnet being parallel to and suspended from the first permanent magnet.

[0012] Preferably, the first permanent magnet and the second permanent magnet each include a plurality of magnet portions, and the plurality of magnet portions are arranged in parallel.

[0013] Preferably, the track includes a first slide rail and a second slide rail arranged on the frame, and the first slide rail and the second slide rail are arranged at intervals along the horizontal direction where the end surface of the frame is located. There are two first permanent magnets, and the two first permanent magnets are respectively arranged on the first slide rail and the second slide rail, and the longitudinal section between the two first permanent magnets is an inverted "eight" structure.

[0014] Preferably, the permanent magnetic levitation crane device also includes an angle adjustment member, a fixed end of the angle adjustment member is connected to the frame, a telescopic end of the angle adjustment member is connected to one side of the track, and the other side of the track is rotatably arranged on the frame, and under the action of the angle adjustment member, the angle between the track and the end face of the frame can be adjusted.

[0015] Preferably, the permanent magnetic suspension crane device further comprises a guide assembly, wherein the guide assembly comprises two guide plates, and the two guide plates are respectively arranged on both sides of the frame and are used to limit the lateral displacement and flipping of the trolley.

[0016] Preferably, the permanent magnetic suspension crane device further includes a connecting piece, the first permanent magnet is provided with a connecting hole, the track is provided with a mounting hole, and the connecting piece passes through the connecting hole and is connected to the mounting hole.

[0017] Preferably, the permanent magnetic suspension crane device further comprises a cover plate, and the cover plate is provided to cover the first permanent magnet and the second permanent magnet.

[0018] Preferably, the trolley comprises a vehicle body and a winch, wherein the winch is mounted on the vehicle body, and an output end of the winch is connected to wheels and is used to drive the vehicle body to move.

[0019] According to another aspect of the present invention, the present invention provides an automatic centering method for a permanent magnetic suspension crane device. Through the implementation of the above-mentioned permanent magnetic suspension crane device, the automatic centering method for the permanent magnetic suspension crane device includes:

[0020] S100: the trolley moves in suspension on the track;

[0021] S200: When the trolley deviates to the side close to the first permanent magnet, the repulsive force on the first permanent magnet increases, and the repulsive force on the second permanent magnet decreases, and the trolley can deviate to the side close to the second permanent magnet and automatically align;

[0022] S300: When the trolley deviates to the side close to the second permanent magnet, the repulsive force on the second permanent magnet increases, and the repulsive force on the first permanent magnet decreases, and the trolley can deviate to the side close to the first permanent magnet and automatically center.

[0023] Preferably, the automatic centering method of the permanent magnetic suspension crane device includes the following steps between S100 and S200:

[0024] S110: Under the action of the angle adjustment member, the angle between the track and the end surface of the frame is adjusted to adjust the inclination angle of the first permanent magnet relative to the end surface of the frame, so that the trolley is automatically centered.

[0025] The beneficial effects of the present invention are:

[0026] The permanent magnetic suspension crane device provided by the present invention has a track arranged on a frame, and a trolley is located above the track. The permanent magnetic assembly includes a first permanent magnet and a second permanent magnet, the first permanent magnet is arranged on the track, and the first permanent magnet is arranged obliquely relative to the horizontal direction where the end face of the frame is located, and the second permanent magnet is movably arranged on the trolley, and the second permanent magnet is parallel to the first permanent magnet and is suspended. The trolley is suspended on the track, and is affected by the crosswind. When the trolley deviates to the side close to the first permanent magnet, the repulsive force on the first permanent magnet increases, and the repulsive force on the second permanent magnet decreases. The trolley can deviate to the side close to the second permanent magnet and automatically align; when the trolley deviates to the side close to the second permanent magnet, the repulsive force on the second permanent magnet increases, and the repulsive force on the first permanent magnet decreases. The trolley can deviate to the side close to the first permanent magnet and automatically align. The permanent magnetic suspension crane device can prevent the trolley from being overloaded, ensuring that the trolley can always run smoothly. It has strong load capacity, zero-power suspension, and no friction loss. Compared with traditional electromagnetic anti-overload, it not only has a simple structure and low energy consumption, but also has low requirements for equipment and low life cycle costs. It is suitable for long and short distance transportation and long-term work.

[0027] The automatic centering method of the permanent magnetic suspension crane device provided by the present invention is that the trolley moves in suspension on the track; when the trolley deviates to the side close to the first permanent magnet, the repulsive force on the first permanent magnet increases, and the repulsive force on the second permanent magnet decreases, and the trolley can deviate to the side close to the second permanent magnet and automatically center; when the trolley deviates to the side close to the second permanent magnet, the repulsive force on the second permanent magnet increases, and the repulsive force on the first permanent magnet decreases, and the trolley can deviate to the side close to the first permanent magnet and automatically center. Prevent the trolley from being overloaded, ensure that the trolley can always run smoothly, have strong load capacity, zero-power suspension, and no friction loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A first structural schematic diagram of a permanent magnetic suspension crane device provided in Embodiment 1 of the present invention;

[0029] Figure 2 A second structural schematic diagram of the permanent magnetic suspension crane device provided in the first embodiment of the present invention;

[0030] Figure 3 This is a flow chart of an automatic centering method for a permanent magnetic suspension crane device provided in Embodiment 2 of the present invention.

[0031] Reference numerals:

[0032] 1. Frame;

[0033] 2. Track; 21. First slide rail; 22. Second slide rail;

[0034] 3. Trolley;

[0035] 4. a first permanent magnet;

[0036] 5. A second permanent magnet;

[0037] 6. Magnet part;

[0038] 7. Angle adjustment piece;

[0039] 8. Guide plate. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0044] Embodiment 1

[0045] like Figure 1-Figure 2As shown, in this embodiment, the permanent magnetic suspension crane device includes a frame 1, a track 2, a trolley 3 and a permanent magnetic assembly. Among them, the track 2 is arranged on the frame 1, the trolley 3 is located above the track 2 and is used to suspend heavy objects, and the permanent magnetic assembly includes a first permanent magnet 4 and a second permanent magnet 5. The first permanent magnet 4 is arranged on the track 2, and the first permanent magnet 4 is inclined relative to the horizontal direction where the end face of the frame 1 is located. The second permanent magnet 5 is movably arranged on the trolley 3, and the second permanent magnet 5 is parallel to the first permanent magnet 4 and is suspended. Specifically, the first permanent magnet 4 and the second permanent magnet 5 are set as magnetic steel, which can maintain its magnetism for a long time, is not easy to lose magnetism, and is not easy to be magnetized. A first permanent magnet 4 is installed on the track 2, and the first permanent magnet 4 forms a certain angle with the horizontal direction of the end face of the frame 1. A second permanent magnet 5 opposite to the first permanent magnet 4 on the track 2 is installed at the bottom of the trolley 3, that is, the second permanent magnet 5 forms a certain angle with the horizontal direction of the bottom of the trolley 3. The polarity of the first permanent magnet 4 is the same as the polarity of the second permanent magnet 5. Using the principle of like poles repelling each other, the trolley 3 is suspended on the track 2.

[0046] The suspension force on the trolley 3 increases rapidly as the distance between the permanent magnet components decreases. When the trolley 3 suspends a heavy object, the suspension distance decreases and the suspension force increases. When the suspension force is balanced with the gravity of the heavy object, the suspension height is stable. When the suspended heavy object is affected by crosswind, the trolley 3 will deviate. When the trolley 3 deviates to the side close to the first permanent magnet 4, the repulsive force on the first permanent magnet 4 increases, and the repulsive force on the second permanent magnet 5 decreases. The trolley 3 can deviate to the side close to the second permanent magnet 5 and automatically center; when the trolley 3 deviates to the side close to the second permanent magnet 5, the repulsive force on the second permanent magnet 5 increases, and the repulsive force on the first permanent magnet 4 decreases. The trolley 3 can deviate to the side close to the first permanent magnet 4 and automatically center, preventing the trolley 3 from being overloaded and ensuring that the trolley 3 can always run smoothly, with strong load capacity, zero-power suspension, and no friction loss. Compared with traditional electromagnetic anti-deflection, it not only has a simple structure and low energy consumption, but also has low requirements on equipment and low life cycle cost, and is suitable for long and short distance transportation and long-term work.

[0047] Further, continue to refer to Figure 1-Figure 2 , the first permanent magnet 4 and the second permanent magnet 5 both include a plurality of magnet parts 6, and the plurality of magnet parts 6 are arranged in parallel. Taking the first permanent magnet 4 as an example, along the width direction of the magnet part 6, the plurality of magnet parts 6 are sequentially arranged in parallel to form the first permanent magnet 4, and the first permanent magnet 4 is arranged in an array, which can reduce the amount of permanent magnetic material when achieving the same magnetic field strength, reduce production costs, and at the same time, make the magnetic field distribution closer to a sine curve, and reduce the distortion rate of the spatial magnetic field.

[0048] Further, continue to refer to Figure 1-Figure 2The track 2 includes a first slide rail 21 and a second slide rail 22 arranged on the frame 1. The first slide rail 21 and the second slide rail 22 are arranged at intervals along the horizontal direction where the end surface of the frame 1 is located. There are two first permanent magnets 4. The two first permanent magnets 4 are respectively arranged on the first slide rail 21 and the second slide rail 22, and the longitudinal section between the two first permanent magnets 4 is an inverted "eight" structure. There are two second permanent magnets 5. The two second permanent magnets 5 are respectively arranged on the wheels on both sides of the trolley 3. The longitudinal section between the two second permanent magnets 5 is also an inverted "eight" structure. When the trolley 3 deviates, the trolley 3 will be subjected to the corresponding repulsive force of the permanent magnet assembly, thereby automatically aligning.

[0049] Further, continue to refer to Figure 1-Figure 2 The permanent magnetic suspension crane device also includes an angle adjustment member 7, the fixed end of the angle adjustment member 7 is connected to the frame 1, the telescopic end of the angle adjustment member 7 is connected to one side of the track 2, and the other side of the track 2 is rotatably set on the frame 1. Under the action of the angle adjustment member 7, the angle between the track 2 and the end face of the frame 1 can be adjusted. The angle adjustment member 7 is set as an electric telescopic rod, and the angle adjustment member 7 is driven to extend and retract by electric control to adjust the inclination angle of the track 2, thereby adjusting the angle between the first permanent magnet 4 and the end face of the frame 1, and then adjusting the magnetization angle of the second permanent magnet 5, so that a magnetic field effect is generated in the air gap of the permanent magnet assembly, thereby causing the trolley 3 to levitate.

[0050] Further, continue to refer to Figure 1-Figure 2 The permanent magnetic suspension crane device also includes a guide assembly, which includes two guide plates 8, which are respectively arranged on both sides of the frame 1 and are used to limit the lateral displacement and flipping of the trolley 3. The guide plates 8 are fixedly connected to the frame 1 and are arranged perpendicular to the end surface of the frame 1. The trolley 3 is located between the two guide plates 8. The guide assembly plays a role of limiting the position of the trolley 3 to prevent the trolley 3 from lateral displacement and flipping during the suspension operation of the track 2.

[0051] Further, continue to refer to Figure 1-Figure 2 The permanent magnetic suspension crane device further includes a connecting piece, the first permanent magnet 4 is provided with a connecting hole, the track 2 is provided with a mounting hole, the connecting piece passes through the connecting hole and is connected to the mounting hole. The connecting piece is configured as a screw, the first permanent magnet 4 is fixedly mounted on the track 2 through the connecting piece, and is further fixed by glue, so that the connection is firm.

[0052] Further, continue to refer to Figure 1-Figure 2 The permanent magnetic suspension crane device also includes a cover plate, which is arranged on the first permanent magnet 4 and the second permanent magnet 5 to prevent the first permanent magnet 4 and the second permanent magnet 5 from rusting and corroding due to external factors such as rain.

[0053] Further, continue to refer to Figure 1-Figure 2The trolley 3 includes a car body and a winch. The winch is installed on the car body. The output end of the winch is connected to the wheels and is used to drive the car body to move. Under the driving action of the winch, the wheels rotate, thereby driving the car body to move. A lifting motor is provided on the trolley 3. The output end of the lifting motor is connected to the hook. Under the driving action of the lifting motor, the goods are lifted and released through the hook.

[0054] Embodiment 2

[0055] This embodiment provides an automatic centering method for a permanent magnetic suspension crane device, such as Figure 3 As shown, through the implementation of the above permanent magnetic suspension crane device, the automatic centering method of the permanent magnetic suspension crane device includes:

[0056] S100: The trolley 3 moves in suspension on the track 2.

[0057] The track 2 is arranged on the frame 1, the trolley 3 is located above the track 2 and is used to suspend heavy objects, a first permanent magnet 4 is installed on the track 2, and the first permanent magnet 4 forms a certain angle with the horizontal direction of the end face of the frame 1, and a second permanent magnet 5 opposite to the first permanent magnet 4 on the track 2 is installed at the bottom of the trolley 3, that is, the second permanent magnet 5 forms a certain angle with the horizontal direction of the bottom of the trolley 3, the polarity of the first permanent magnet 4 is the same as the polarity of the second permanent magnet 5, and the trolley 3 is suspended on the track 2 by utilizing the principle that like poles repel each other.

[0058] S110: Under the action of the angle adjustment member 7, the angle between the track 2 and the end surface of the frame 1 is adjusted to adjust the inclination angle of the first permanent magnet 4 relative to the end surface of the frame 1, so that the trolley 3 is automatically centered.

[0059] The fixed end of the angle adjustment member is connected to the frame 1, the telescopic end of the angle adjustment member 7 is connected to one side of the track 2, and the other side of the track 2 is rotatably set on the frame 1. Under the action of the angle adjustment member 7, the angle between the track 2 and the end face of the frame 1 can be adjusted. When not affected by crosswind, the center of the trolley 3 coincides with the center of the track 2, that is, the trolley 3 is in a centered position relative to the track 2.

[0060] S200: When the trolley 3 deviates to the side close to the first permanent magnet 4, the repulsive force on the first permanent magnet 4 increases, and the repulsive force on the second permanent magnet 5 decreases, so the trolley 3 can deviate to the side close to the second permanent magnet 5 and automatically align.

[0061] S300: When the trolley 3 deviates to the side close to the second permanent magnet 5, the repulsive force on the second permanent magnet 5 increases, and the repulsive force on the first permanent magnet 4 decreases, so the trolley 3 can deviate to the side close to the first permanent magnet 4 and automatically center.

[0062] The automatic centering method of the permanent magnetic suspension crane device provided in this embodiment, through the implementation of the permanent magnetic suspension crane device, the trolley 3 is suspended and moved on the track 2; when the trolley 3 deviates to the side close to the first permanent magnet 4, the repulsive force on the first permanent magnet 4 increases, and the repulsive force on the second permanent magnet 5 decreases, and the trolley 3 can deviate to the side close to the second permanent magnet 5 and automatically center; when the trolley 3 deviates to the side close to the second permanent magnet 5, the repulsive force on the second permanent magnet 5 increases, and the repulsive force on the first permanent magnet 4 decreases, and the trolley 3 can deviate to the side close to the first permanent magnet 4 and automatically center. Prevent the trolley 3 from being overloaded, ensure that the trolley 3 can always run smoothly, have strong load capacity, zero power suspension, no friction loss, compared with the traditional electromagnetic anti-bias, not only has a simple structure and low energy consumption, but also has low requirements on equipment, low life cycle cost, and is suitable for long and short distance transportation and long-term work.

[0063] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A permanent magnetic suspension crane device, characterized in that: include: Rack (1); A track (2), wherein the track (2) is arranged on the frame (1); A trolley (3), the trolley (3) is located above the track (2) and is used to suspend heavy objects; A permanent magnet assembly, the permanent magnet assembly comprising a first permanent magnet (4) and a second permanent magnet (5), the first permanent magnet (4) being arranged on the track (2), and the first permanent magnet (4) being arranged obliquely relative to the horizontal direction where the end face of the frame (1) is located, the second permanent magnet (5) being movably arranged on the trolley (3), and the second permanent magnet (5) being arranged parallel to and suspended from the first permanent magnet (4).

2. The permanent magnetic suspension crane device according to claim 1, characterized in that: The first permanent magnet (4) and the second permanent magnet (5) each include a plurality of magnet portions (6), and the plurality of magnet portions (6) are arranged in parallel.

3. The permanent magnetic suspension crane device according to claim 1, characterized in that: The track (2) comprises a first slide rail (21) and a second slide rail (22) arranged on the frame (1); along the horizontal direction where the end surface of the frame (1) is located, the first slide rail (21) and the second slide rail (22) are arranged at intervals; there are two first permanent magnets (4); the two first permanent magnets (4) are respectively arranged on the first slide rail (21) and the second slide rail (22); and the longitudinal section between the two first permanent magnets (4) is in an inverted "eight" structure.

4. The permanent magnetic suspension crane device according to claim 1, characterized in that: The permanent magnetic suspension crane device further comprises an angle adjustment member (7), a fixed end of the angle adjustment member (7) being connected to the frame (1), a telescopic end of the angle adjustment member (7) being connected to one side of the track (2), and the other side of the track (2) being rotatably arranged on the frame (1), and under the action of the angle adjustment member (7), the angle between the end surface of the track (2) and the frame (1) can be adjusted.

5. The permanent magnetic suspension crane device according to claim 1, characterized in that: The permanent magnetic suspension crane device also includes a guide assembly, which includes two guide plates (8). The two guide plates (8) are respectively arranged on two sides of the frame (1) and are used to limit the lateral displacement and overturning of the trolley (3).

6. The permanent magnetic suspension crane device according to claim 1, characterized in that: The permanent magnetic suspension crane device also includes a connecting piece, the first permanent magnet (4) is provided with a connecting hole, the track (2) is provided with a mounting hole, and the connecting piece passes through the connecting hole and is connected to the mounting hole.

7. The permanent magnetic suspension crane device according to claim 1, characterized in that: The permanent magnetic suspension crane device further comprises a cover plate, wherein the cover plate is arranged to cover the first permanent magnet (4) and the second permanent magnet (5).

8. The permanent magnetic suspension crane device according to claim 1, characterized in that: The trolley (3) comprises a vehicle body and a winch, wherein the winch is mounted on the vehicle body, and an output end of the winch is connected to a wheel and is used to drive the vehicle body to move.

9. The automatic centering method of a permanent magnetic suspension crane device is characterized in that: Through the implementation of the permanent magnetic suspension crane device according to any one of claims 1 to 8, the automatic centering method of the permanent magnetic suspension crane device includes: S100: the trolley (3) moves in a suspended manner on the track (2); S200: When the trolley (3) deviates to a side close to the first permanent magnet (4), the repulsive force on the first permanent magnet (4) increases, and the repulsive force on the second permanent magnet (5) decreases, and the trolley (3) can deviate to a side close to the second permanent magnet (5) and automatically center. S300: When the trolley (3) deviates to the side close to the second permanent magnet (5), the repulsive force on the second permanent magnet (5) increases, and the repulsive force on the first permanent magnet (4) decreases. The trolley (3) can deviate to the side close to the first permanent magnet (4) and automatically center.

10. The automatic centering method of a permanent magnetic suspension crane device according to claim 9, characterized in that: The permanent magnetic suspension crane device further comprises an angle adjustment member (7), a fixed end of the angle adjustment member (7) being connected to the frame (1), a telescopic end of the angle adjustment member (7) being connected to one side of the track (2), and the other side of the track (2) being rotatably arranged on the frame (1); The automatic centering method of the permanent magnetic suspension crane device includes the following steps between S100 and S200: S110: Under the action of the angle adjustment member (7), the angle between the track (2) and the end face of the frame (1) is adjusted to adjust the inclination angle of the first permanent magnet (4) relative to the end face of the frame (1), so that the trolley (3) is automatically centered.

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