Deflection measuring device for crane boom

Abstract

The invention discloses a crane boom deflection measuring device, and relates to the technical field of crane auxiliary equipment.The crane boom deflection measuring device comprises a base and a remote control end, a first stand column is connected to the upper portion of the base through a bearing, a second stand column is fixedly connected to the upper portion of the first stand column, and a connecting table is welded to the top of the second stand column; a connecting support is welded to the upper portion of the connecting table, a driving machine is installed in the middle of the connecting support, an arm frame is riveted to one side of the connecting support, a compensation mechanism is installed at the bottom of the arm frame, a hanging ring is fixedly connected to the bottom of the compensation mechanism, and an electric hoist is arranged on the hanging ring. A first laser sensor, a second laser sensor and a third laser sensor are installed on the bottom face of the arm support, the compensation mechanism comprises a disc, a first sliding groove and a second sliding groove are formed in the disc, and a sliding rod is installed below the first sliding groove. And the stability of the arm support is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane auxiliary equipment, and particularly to a crane boom yaw measurement device. Background Technique

[0002] A crane is a mechanical device used for vertical lifting and horizontal handling of heavy objects. As an important equipment in the modern industrial and construction fields, its safety and stability are directly related to the operation efficiency and the safety of personnel and property. In the hoisting operation, the yaw problem of the boom has always been a key factor affecting the performance of the crane. Due to the boom being prone to horizontal or vertical offsets under complex working conditions such as load action, mechanical stress, and wind interference, if not detected and adjusted in time, it will lead to a decrease in hoisting accuracy at the least, and at the worst, it will cause structural damage or even overturning accidents. Therefore, how to accurately monitor the yaw state of the boom and achieve dynamic compensation has become the research focus in the field of crane technology.

[0003] Traditional boom yaw monitoring technologies mostly use mechanical sensors or single photoelectric sensors, and indirectly judge the yaw situation by measuring the displacement changes of specific parts of the boom. Such methods have problems such as weak anti-interference ability and limited measurement range. Especially in the scenarios of long booms or high-dynamic loads, it is difficult to accurately reflect the overall deformation trend, and it mostly relies on manual experience to judge the yaw type, lacking the ability of automatic analysis, resulting in a lag in response and unable to meet the real-time requirements. Therefore, it is necessary to design a crane boom yaw measurement device. Summary of the Invention

[0004] The purpose of the present invention is to provide a crane boom yaw measurement device to solve the problems raised in the above background technique.

[0005] To solve the above technical problems, the present invention provides the following technical solution: A crane boom yaw measurement device, including a base and a remote control terminal. Above the base, a first column is connected by a bearing. Above the first column, a second column is fixedly connected. At the top of the second column, a connecting platform is welded. Above the connecting platform, a connecting support is welded. In the middle of the connecting support, a driving machine is installed. On one side of the connecting support, a boom is riveted. At the bottom of the boom, a compensation mechanism is installed. At the bottom of the compensation mechanism, a lifting ring is fixedly connected. On the lifting ring, a hoist is provided; On the bottom surface of the boom, a first laser sensor, a second laser sensor, and a third laser sensor are installed; The compensation mechanism includes a disc. Inside the disc, a first sliding groove and a second sliding groove are provided. Below the first sliding groove, a sliding rod is installed; A fixing frame is welded to the bottom of the boom. A first slideway is formed on the bottom surface of the fixing frame. A sliding member is slidably connected in the first slideway. A support arm is hinged to the sliding member. Wing plates are arranged on both sides of the fixing frame; An installation box is slidably connected to the outer side of the first upright column. A laser receiver is arranged on the top of the installation box.

[0006] According to the above technical solution, a third motor is connected above the middle of the disc through a rod. A first slider is slidably connected in the first chute. A second slider is slidably connected in the second chute. The bottom surfaces of the first slider and the second slider are fixedly connected to the surface of the slide bar.

[0007] According to the above technical solution, the first laser sensor, the second laser sensor and the third laser sensor are arranged in a straight line along the longitudinal center line of the boom in sequence.

[0008] According to the above technical solution, an auxiliary laser sensor I is arranged between the first laser sensor and the second laser sensor. An auxiliary laser sensor II is arranged between the second laser sensor and the third laser sensor.

[0009] According to the above technical solution, the other end of the support arm is hinged with a lifting block. A threaded hole is formed in the middle of the lifting block. A lead screw is rotationally connected to the middle of the lifting block through the threaded hole. The bottom of the lead screw is fixedly connected with a first bevel gear. A second bevel gear is arranged outside the first bevel gear. A rotating rod passes through the middle of the second bevel gear. The first bevel gear is meshed with the second bevel gear. The rotating rod is connected by bearings inside the second upright column. One end of the rotating rod is fixedly connected with a rotating motor through a coupling. The rotating motor is installed inside the second upright column; Two second slideways are formed on the surface of the second upright column. The two support arms are respectively located in the second slideways.

[0010] According to the above technical solution, a sliding ring is sleeved on the outer side of the first upright column. The sliding ring is a structure with a notch at one end of a circular ring. The end face of the notch is fixedly connected with an installation box. A helical tooth rack is fixedly connected to the surface of the first upright column near the notch of the sliding ring. Rod bodies are connected by bearings on the inner walls on both sides of the installation box. A spiral gear is fixedly connected to the middle of the rod body. A worm is installed above the spiral gear. One end of the worm is connected by bearings on the inner wall of the installation box.

[0011] According to the above technical solution, the spiral gear is meshed with the helical tooth rack. The worm is meshed with the spiral gear. One end of the worm installed on the inner wall of the installation box is fixedly connected with a second motor through a coupling.

[0012] According to the above technical solution, an anemometer is installed on both side surfaces of the boom. Two mounting brackets are fixedly connected to both sides of the fixed bracket. The mounting bracket is a hollow square column structure with one side open. The open side of the mounting bracket is located on the side away from the fixed bracket. A drive shaft is connected to the inner wall of the mounting bracket above by a bearing. A first motor is installed on the outer wall of the mounting bracket. The output end of the first motor penetrates through the outer wall of the mounting bracket and is fixedly connected to one end of the drive shaft. A positioning shaft is connected to the inner wall of the mounting bracket below by a bearing.

[0013] According to the above technical solution, a drive rod is fixedly connected to the drive shaft. The other end of the driven rod is fixedly connected to the positioning shaft. The middle of the driven rod is rotatably connected to an auxiliary rod. The other end of the auxiliary rod is rotatably connected to the other end of the drive rod; One end of the drive rod, which is connected to the auxiliary rod and on the side away from the auxiliary rod, is rotatably connected to a ejecting rod. The other end of the ejecting rod is rotatably connected to a moving rod. One end of the moving rod is rotatably connected to the other end of the driven rod. The wing plate is arranged between two mounting brackets on the same side of the fixed bracket. Both end faces of the wing plate are fixedly connected to the outer end face of the moving rod.

[0014] According to the above technical solution, a positioning box is fixedly connected above the installation box. The laser receiver is fixedly connected inside the positioning box.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by arranging a plurality of laser sensors, the effect of multi-dimensional real-time monitoring of the boom yaw is realized. With the dynamic adjustment of the compensation mechanism and the support arm, the yaw caused by load, wind force, etc. is effectively offset, greatly enhancing the stability of the boom. At the same time, the bending stiffness of the boom is improved, ensuring the safety of hoisting. By arranging adjustable wing plates, the wind resistance is greatly reduced, the wind-induced yaw of the boom is reduced, and it is suitable for complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the present invention Figure 1 The enlarged structural schematic diagram of area A; Figure 3 is the present invention Figure 1 The bottom view structural schematic diagram; Figure 4 is the structural schematic diagram inside the second column of the present invention; Figure 5 is the present inventionFigure 4 Schematic diagram of the enlarged structure of area B; Figure 6 Schematic diagram of the structure of the support arm connection of the present invention; Figure 7 Schematic diagram of the compensation mechanism of the present invention; Figure 8 Schematic diagram of the structure of the compensation mechanism after movement of the present invention; Figure 9 Schematic diagram of the structure when the wing plate extends of the present invention; Figure 10 Schematic diagram of the structure when the wing plate retracts of the present invention; In the figure: 1, base; 2, first column; 3, second column; 4, connecting platform; 5, connecting support; 6, driving machine; 7, boom; 8, compensation mechanism; 81, disc; 82, first chute; 83, second chute; 84, sliding rod; 9, lifting ring; 10, electric hoist; 11, fixing frame; 12, first slideway; 13, support arm; 14, lifting block; 15, lead screw; 16, first bevel gear; 17, second bevel gear; 18, rotating rod; 19, second slideway; 20, mounting frame; 21, drive shaft; 22, positioning shaft; 23, drive rod; 24, driven rod; 25, auxiliary rod; 26, ejecting rod; 27, moving rod; 28, wing plate; 29, first laser sensor; 30, second laser sensor; 31, third laser sensor; 32, sliding ring; 33, mounting box; 34, helical rack; 35, helical gear; 36, worm; 37, positioning box; 38, laser receiver. Specific embodiments

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Embodiment 1; Please refer to Figure 1-10, the present invention provides a technical solution: a crane boom yaw measurement device, including a base 1 and a remote control terminal. The base 1 is used to fix the whole crane to the ground, and the remote control terminal is used for feedback and processing of yaw data. A first column 2 is connected to the base 1 by a bearing. A second column 3 is fixedly connected above the first column 2. A connecting platform 4 is welded to the top of the second column 3. A connecting support 5 is welded above the connecting platform 4. A drive motor 6 is installed in the middle of the connecting support 5, and the drive motor 6 is connected to the connecting support 5 by a bearing. The drive motor 6 is fixedly connected to the base 1 through a rod, so as to realize the synchronous rotation of the first column 2, the second column 3, the connecting platform 4 and the connecting support 5; A boom 7 is riveted to one side of the connecting support 5. A compensation mechanism 8 is installed at the bottom of the boom 7. A lifting ring 9 is fixedly connected to the bottom of the compensation mechanism 8. An electric hoist 10 is arranged on the lifting ring 9 to realize the lifting effect of the crane. It mainly includes a hoisting motor for driving, a reducer for reducing the speed and increasing the torque to enable the load to rise or fall smoothly, a drum and the chain wound thereon, and a hook group at the bottom end of the chain for hanging heavy objects; During use, the electric hoist 10 is started, and the chain is lowered until the hook group drops to a height where the operator can take it, then the electric hoist 10 stops. After the material is hung on the hook group, the electric hoist 10 is started again for the lifting operation of the material. When the material is lifted to the specified height, the electric hoist 10 stops again. The drive motor 6 is started to drive the material to rotate around the base 1 until the material is transported to the specified position, and then the electric hoist 10 is started again to lower it and take it off.

[0019] Reference Figure 3 , Figure 4 and Figure 6, a fixing frame 11 is welded to the bottom of the boom 7. The fixing frame 11 is a square frame structure. First sliding grooves 12 are provided on the two longer walls of the bottom surface of the fixing frame 11. A sliding member is slidably connected in the two first sliding grooves 12. A support arm 13 is hinged to the sliding member to realize the sliding of the support arm 13 in the first sliding groove 12; the other ends of the two support arms 13 are both hinged with a lifting block 14. A threaded hole is provided in the middle of the lifting block 14. A lead screw 15 is rotationally connected to the threaded hole of the lifting block 14 in a threaded manner. A first bevel gear 16 is fixedly connected to the bottom of the lead screw 15. A second bevel gear 17 is arranged outside the first bevel gear 16. The first bevel gear 16 is meshed and connected with the second bevel gear 17. A rotating rod 18 passes through the middle of the second bevel gear 17. The rotating rod 18 is connected by bearings inside the second column 3. One end of the rotating rod 18 is fixedly connected with a rotating motor through a coupling. The rotating motor is installed inside the second column 3. Two second sliding grooves 19 are provided on the surface of the second column 3. The two support arms 13 are respectively located in the second sliding grooves 19; when the rotating motor is started, the rotating rod 18 drives the second bevel gear 17 to rotate. After the second bevel gear 17 rotates, it drives the first bevel gear 16 to drive the lead screw 15 to rotate together, realizing the displacement of the lifting block 14 on the lead screw 15, so that one end of the support arm 13 is displaced in the second sliding groove 19, and the other end of the support arm 13 is displaced in the first sliding groove 12, finally realizing the angle adjustment of the support arm 13. By the support arm 13 being located at different positions on the bottom surface of the boom 7, different degrees of support effects on the boom 7 are realized.

[0020] Further, referring to Figure 3 、 Figure 9 and Figure 10Anemometers are installed on the surfaces of both sides of the boom 7 to monitor the wind speed around the boom 7. Two mounting frames 20 are fixedly connected to both sides of the fixed frame 11. The mounting frame 20 is a hollow square column structure with one side open, and its open side is located on the side away from the fixed frame 11. A driving shaft 21 is connected to a bearing above the inner wall of the mounting frame 20. A motor 1 is installed on the outer wall of the mounting frame 20. The output end of the motor 1 is penetrated through the outer wall of the mounting frame 20 and is fixedly connected to one end of the driving shaft 21, so as to realize the rotation of the driving shaft 21. A positioning shaft 22 is connected to a bearing below the inner wall of the mounting frame 20. A driving rod 23 is fixedly connected to the driving shaft 21, and the other end of the driven rod 24 is fixed The middle part of the driven rod 24 is connected to the positioning shaft 22, and the auxiliary rod 25 is rotatably connected to the other end of the driving rod 23. The end of the driving rod 23 connected to the auxiliary rod 25 and the side away from the auxiliary rod 25 is rotatably connected to the ejector rod 26. The other end of the ejector rod 26 is rotatably connected to the moving rod 27. One end of the moving rod 27 is rotatably connected to the other end of the driven rod 24. A wing plate 28 is arranged between the two mounting frames 20 on the same side. Both side end surfaces of the wing plate 28 are fixedly connected to the outer end surface of the moving rod 27. When the motor is started, the rotation of the driving rod 23 realizes the flipping of the moving rod 27, and finally realizes the extension and retraction of the wing plate 28. Generally, the wing plate 28 is always in a retracted state. When the boom 7 is affected by wind, the wind speed parameter is fed back in real time through the anemometer, and the maximum wind speed parameter that the boom 7 can withstand is set as V 1 The actual wind speed monitored and fed back by the anemometer is V 2 ; When V 2 <V 1 When the wind speed is within the tolerable range of the boom 7, no deflection will occur; When V 2 ≥V 1 When the wind speed exceeds the tolerable range of the boom 7, the boom 7 is prone to swing when transporting materials; when the motor is started, the wing plate 28 is opened, and the laminar wind blows towards the boom 7 and is destroyed by the wing plate 28. The unidirectional wind force concentrated on the boom 7 is dispersed into turbulence, thereby reducing the overall pressure of the boom 7 under the wind.

[0021] refer to Figure 3 , Figure 7 and Figure 8, the compensation mechanism 8 includes a disc 81, which is connected to the bottom surface of the boom 7 by bearings. A first chute 82 and a second chute 83 are vertically arranged inside the disc 81. A first slider is slidably connected in the first chute 82, and a second slider is slidably connected in the second chute 83. The bottom surfaces of the first slider and the second slider are fixed with the same slide bar 84. Above the middle of the disc 81, a third motor is connected by a rod, and the third motor is installed inside the outer end of the boom 7. After the third motor rotates, the disc 81 rotates, causing the first slider and the second slider to slide in the first chute 82 and the second chute 83 respectively, driving the slide bar 84 to rotate around the center of the disc 81 and move linearly along the chute direction in the horizontal plane, finally forming a spiral trajectory. By adjusting the rotation speed and direction of the third motor, the horizontal displacement and rotation angle of the slide bar 84 can be precisely controlled. The bottom surface of the slide bar 84 is fixedly connected to the upper surface of the lifting ring 9, thereby driving the electric hoist 10 to perform the above movements, and further achieving the adjustment of the displacement of the material suspended by the electric hoist 10; Specifically, when the electric hoist 10 of the crane hoists materials, during the handling process, if the boom 7 yaws in the Figure 3 front side direction as shown, then at this time, control the disc 81 to rotate, driving the slide bar 84 to displace to the Figure 8 state shown, that is, the displacement direction of the slide bar 84 is opposite to the yaw direction of the boom 7. By changing the position of the suspension point of the electric hoist 10, a reverse moment is generated to counteract the centrifugal force or wind force, avoiding the synchronous yaw of the materials and resulting in the overturning of the crane, bringing inevitable losses.

[0022] Refer to Figure 3 , a first laser sensor 29, a second laser sensor 30, and a third laser sensor 31 are sequentially installed on the bottom surface of the boom 7 from its head to its root, and the first laser sensor 29, the second laser sensor 30, and the third laser sensor 31 are arranged in a straight line along the longitudinal center line of the boom 7; Refer to Figure 2 , Figure 4 and Figure 5, a sliding ring 32 is sleeved outside the first upright column 2. The sliding ring 32 is a structure with a notch at one end on a circular ring. The end face of the notch is fixedly connected with an installation box 33 for installing and protecting mechanical components. A helical gear rack 34 is fixedly connected to the surface of the first upright column 2 near the notch of the sliding ring 32. Rod bodies are connected to the two inner walls of the installation box 33 by bearings. A spiral gear 35 is fixedly connected to the middle of the rod bodies. The spiral gear 35 is meshed and connected with the helical gear rack 34. A worm 36 is installed above the spiral gear 35. The worm 36 is meshed and connected with the spiral gear 35. One end of the worm 36 is connected to the inner wall of the installation box 33 by a bearing, and this end is fixedly connected with a second motor through a coupling. By starting the second motor, the worm 36 rotates and drives the rotation of the spiral gear 35. Through the meshing of the spiral gear 35 and the helical gear rack 34, the displacement of the spiral gear 35 on it is realized, and then the installation box 33 performs synchronous displacement; Further, referring to Figure 2 , a positioning box 37 is fixedly connected above the installation box 33. A laser receiver 38 is fixedly connected inside the positioning box 37. Thus, the height adjustment of the laser receiver 38 is realized through the displacement of the installation box 33. The laser emitted by the first laser sensor 29, the second laser sensor 30, and the third laser sensor 31 is received by the laser receiver 38. The initial coordinates of the three laser sensors are set. Then, the spot position coordinates of the three laser sensors are read through the laser receiver 38 when needed, and the coordinates of the three spots can be obtained in real time. By comparing the front and back coordinates, it can be judged whether the boom 7 has a yaw situation.

[0023] Among them, the rotary motor, the anemometer, the first motor, the third motor, the second motor, and the laser receiver 38 are all signal-connected to the remote control terminal.

[0024] Embodiment 2; On the basis of Embodiment 1, the following structure is added. As Figure 3 shown, an auxiliary laser sensor 1 is arranged between the first laser sensor 29 and the second laser sensor 30, and an auxiliary laser sensor 2 is arranged between the second laser sensor 30 and the third laser sensor 31. The laser signals emitted by the auxiliary laser sensor 1 and the auxiliary laser sensor 2 are both received by the laser receiver 38. Before the crane is used, a yaw test is carried out on the boom 7. Specifically, the coordinates of the three laser sensors are read through the laser receiver 38: If the coordinates of the three laser sensors read at this time are exactly the same as the initial coordinates of the three set laser sensors, it indicates that the current boom 7 is in a non-yaw state and can be directly used normally; If the change amounts of the coordinates of the three laser sensors read at this time show the same direction and the same proportion of increase and decrease, the boom 7 has an overall yaw. At this time, it is judged according to its change direction: In Case 1, the direction of change is horizontal, indicating that the boom 7 has a yaw in the horizontal direction. At this time, operate the control lever of the crane to align the boom 7, and at the same time, the driving motor 2 controls the laser receiver 38 to rise synchronously to expand the measurement range and enhance the deformation monitoring ability of the long-distance boom 7. After aligning the boom 7, the laser receiver 38 conducts a secondary detection. If there is no longer any yaw at this time, it means that the initial detection result is accidental; if there is again a yaw, it means that there is wind blowing, resulting in frequent offsets. Adjust the opening of the wing plate 28 according to the real-time data of the anemometer to reduce the yaw impact of the wind on the boom 7. In Case 2, the direction of change is vertical, indicating that the boom 7 has a yaw in the vertical direction. At this time, first, the anemometer feeds back the current wind volume to determine whether the vertical yaw is caused by the wind. If it is caused by the wind, the opening of the wing plate 28 is adjusted according to the judgment in Embodiment 1. If it is not caused by the wind, it means that the boom 7 has residual deformation due to mechanical stress during the previous use. Set the length of the boom 7 as L. At this time, it is necessary to compare the offset: Set the maximum coordinate change value as T 1 , and the coordinate change value obtained through the feedback of the laser receiver 38 and processed by the remote control terminal is T 2 ; When T 1 <T 2 , it means that the boom 7 has a slight deformation. At this time, start the rotating motor and control the movement of the support arm 13 to displace it from the root position of the boom 7 to the head position, and continuously read the coordinate changes during this process until the three coordinates change in the same proportion as the initial coordinates and then stop; At this time, record the position of the support arm 13 on the boom 7. If the extended distance of the support arm 13 is less than L / 2, it means that the boom 7 is stable and can continue to be used. If the extended distance of the support arm 13 is greater than or equal to L / 2, it means that the boom 7 is unstable, but it can still be used within a certain range through the support of the support arm 13. At this time, record the situation of the crane and control the weight limit of its subsequent hoisting to be reduced by half; When T 1 ≥T 2 , it means that the boom 7 has a moderate or even severe deformation. At this time, the crane is prohibited from starting, and the workers conduct inspections and repairs on the crane boom 7.

[0025] Furthermore, if the coordinate change amounts feedback by the three laser sensors are different in direction and proportion, it is necessary to judge whether there is an abnormal situation with the laser sensors at this time, and start the auxiliary laser sensor 1 and the auxiliary laser sensor 2; If only one laser sensor shows a sudden change in distance or a different direction, it is determined as a sensor failure; If any two laser sensors show deviations in the same direction but with inconsistent change ratios, it indicates local deformation of the boom 7 or a malfunction of the laser sensor group; Based on this judgment, the coordinate data is transmitted to the laser receiver 38 by the auxiliary laser sensor 1 and the auxiliary laser sensor 2, and the coordinates of the feedback are read. In the case where any two laser sensors show deviations in the same direction but with inconsistent change ratios, if any adjacent main sensor and the corresponding auxiliary sensor change in the same way, or non - adjacent main sensors and auxiliary sensors form cross - verification, or the auxiliary sensors and the main sensors form a continuous monitoring chain, it is determined that there is local deformation of the boom 7; conversely, if the change directions or ratios are completely discrete, or there is only a single - point mutation, or cross - region continuity verification cannot be formed, it is determined that there is a malfunction of the laser sensor, and it needs to be inspected and maintained.

[0026] Through the above - mentioned embodiments, by adding auxiliary laser sensors and a grid - type monitoring matrix, multi - dimensional and precise diagnosis of the yaw of the crane boom 7 is achieved. Combined with the anemometer and the wing plate 28 compensation system, dynamic suppression of wind - induced yaw is realized, ensuring the safety and reliability of the crane under complex working conditions.

[0027] Embodiment 3; Based on Embodiment 2, when the crane hoists and transports materials, yaw tests also need to be carried out. At this time, the first laser sensor 29, the second laser sensor 30, and the third laser sensor 31 are used to monitor the yaw of the boom 7, and the auxiliary laser sensor 1 and the auxiliary laser sensor 2 are used to monitor the swing of the materials; Specifically, after connecting the hook group and the materials, first do not start the electric hoist 10 to lift the materials, and let the materials stand still for a period of time t. At this time, judge the yaw of the boom 7 again: If the boom 7 does not show any yaw in any direction, the crane directly starts to carry the materials; If the boom 7 shows any yaw in any direction, at this time, take the measures of Embodiment 2 to correct and judge the risk of the boom 7 again. If it is possible to continue to lift and transport the materials after excluding the situation of the boom 7 itself, the following operations are carried out: The electric hoist 10 starts, and the materials suspended on the hook group are lifted at a speed of v 1 to the specified height H. During this process, the weight of the materials is divided into three grades of G 1 、G 2 、G 3 , where G 1 <G 2 <G 3 , and all are within the weighing range of the boom 7; When the material is lifted, if there is a horizontal yaw, it is caused by wind force. At this time, the wing plate 28 is opened according to the monitoring of the anemometer to stabilize the boom 7. If there is still a horizontal yaw when the material is lifted to H / 2, the compensation mechanism 8 is activated at this time to compensate and adjust the material, and at the same time the lifting speed is reduced to v / 2 until the material reaches the specified height H; if there is a vertical yaw, the support arm 13 is controlled to extend on the original basis until the laser receiver 38 receives the stable position of the boom 7. If there are yaws in both the horizontal and vertical directions at the same time, and V is detected by the anemometer 2 ≥V 1 and the wing plate 28 is already in the open state, then the yaw amount in each direction is judged by the laser receiver 38. When the vertical yaw amount is equal to the horizontal yaw amount, the disc 81 of the compensation mechanism 8 rotates, driving the slide rod 84 to move in the opposite direction of the horizontal yaw to offset the horizontal centrifugal force, and the support arm 13 is synchronously adjusted to move towards the head of the boom 7 to enhance the rigid support for the vertical bending deformation, and the lifting speed of the electric hoist 10 is reduced to v / 3 to reduce the amplification effect of dynamic inertia on the compound yaw. When the vertical yaw amount is greater than the horizontal yaw amount, the material lifting is immediately paused, and the maximum deformation area is located by the laser receiver 38. If the deformation is concentrated at the head of the boom 7, the support arm 13 is controlled to quickly move below the deformation area; if the deformation is concentrated at the root, the motor two is started to drive the laser receiver 38 to move down, combined with the meshing of the helical gear rack 34 and the spiral gear 35, driving the sliding ring 32 to apply a reverse torque to the first column 2 to balance the bending moment of the boom 7; at the same time, the remote control terminal automatically limits the maximum lifting weight of the electric hoist 10 to half of the current value, and prompts the operator to check the structural integrity of the boom 7 through sound and light alarms. If the yaw amount continues to increase, the electromagnetic brake of the compensation mechanism 8 is triggered to lock the disc 81 to prevent the slide rod 84 from further offsetting and causing torque out of control. When the vertical yaw amount is less than the horizontal yaw amount, the motor one is controlled to drive the wing plate 28 to fully unfold, and the unfolding angle of the wing plate 28 is increased to 45° through the linkage of the auxiliary rod 25 and the ejector rod 26 to form a multi-stage turbulent flow surface. The compensation mechanism 8 intermittently drives the disc 81 to make the slide rod 84 finely adjusted in the horizontal direction at high frequency to offset the periodic wind vibration, and the position of the support arm 13 is synchronously adjusted to the middle of the boom 7 to improve the anti-lateral bending ability.

[0028] Further, when the material shows a change in the offset situation during the lifting process, corresponding measures are taken. When the horizontal yaw changes to a vertical yaw, the wing plates 28 quickly retract to avoid increasing the structural stress in the vertical direction due to wind resistance intervention. The support arm 13 moves towards the head of the boom 7 at the maximum speed to preferentially enhance the rigid support at the head of the boom 7. At the same time, the laser receiver 38 continuously monitors the coordinate changes of the support arm 13 after movement. If the vertical yaw amount does not decrease, the motor two is triggered to drive the slip ring 32 to move downward, and a reverse bending moment is applied to the first column 2 through the meshing of the helical gear rack 34 and the helical gear 35. When the vertical yaw changes to a horizontal yaw, the motor one drives the wing plates 28 to unfold to 45°, and the swing frequency of the wing plates 28 is increased through the linkage of the auxiliary rod 25 and the ejector rod 26 to form a dynamic turbulence barrier. The motor three drives the disc 81 to rotate in advance in the opposite direction of the predicted offset. The moving speed of the sliding rod 84 is proportional to the horizontal yaw rate, and the support arm 13 is controlled to retract from the head to the middle of the boom 7 to enhance the bending and torsional resistance capabilities.

[0029] When the material is being transported, the drive 6 is started, and the boom 7 is controlled to rotate at a speed of v 2 to a specified position, enabling the material to reach the transportation end point. At this time, the yaw degree of the boom 7 is fed back through the first laser sensor 29, the second laser sensor 30, and the third laser sensor 31, and the swing degree of the material is fed back through the auxiliary laser sensor one and the auxiliary laser sensor two. When the weight of the transported material is G 1 , at this time, the material weight is light, the inertia moment is small, and the centrifugal force generated during the rotation of the boom 7 has a limited impact on the overall stability. At this time, v 2 can be appropriately increased to quickly complete the transportation. However, at this time, the influence of the swing of the material due to wind factors will increase. When the auxiliary laser sensor one and the auxiliary laser sensor two feedback that the material has significant swing, v 2 is not increased, the opening angle of the wing plates 28 is controlled to the maximum, the high-frequency micro-swing mode of the compensation mechanism 8 is started, and the sliding rod 84 is controlled to swing reciprocally to offset the wind vibration influence by dynamically adjusting the center of gravity position of the material. When the weight of the transported material is G 2 , at this time, the material weight is moderate, the support arm 13 is pre-extended to the L / 2 position of the boom 7 to ensure its support stiffness, and the position of the support arm 13 is dynamically adjusted in real time according to the bending condition of the boom 7 feedback by the laser sensor. When the weight of the transported material is G 3 , at this time, the material weight is heavy, the inertia moment is large, and the centrifugal force generated during the rotation of the boom 7 is large, which will affect the stability of the crane. The speed v 2 of the electric hoist 10 moving in the rotation direction of the boom 7 is appropriately reduced to avoid the occurrence of structural overload. At the same time, the dynamic compensation mechanism 8 performs displacement compensation to enable the material to stably land at the transportation end point.

[0030] Through the above embodiments, precise control over the yaw of the boom 7 and the swing of the material is achieved. A differentiated support scheme is adopted for materials of different weights. Combining the spoiler compensation of the wing plate 28 and the displacement adjustment of the slide bar 84 effectively suppresses the combined yaw caused by wind vibration and centrifugal force. Through the synergistic effect of the dynamic displacement of the support arm 13 and the sliding ring 32, the bending stiffness of the boom 7 is significantly improved, greatly enhancing the material handling efficiency and operation reliability.

[0031] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0032] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A crane boom deflection measuring device, comprising a base (1) and a remote control terminal, characterized in that: The upper bearing of the base (1) is connected to a first column (2), the upper part of the first column (2) is fixedly connected to a second column (3), the top of the second column (3) is welded to a connecting platform (4), the upper part of the connecting platform (4) is welded to a connecting support (5), a driving machine (6) is installed in the middle of the connecting support (5), a boom (7) is riveted to one side of the connecting support (5), a compensation mechanism (8) is installed at the bottom of the boom (7), a lifting ring (9) is fixedly connected to the bottom of the compensation mechanism (8), and an electric hoist (10) is arranged on the lifting ring (9); A first laser sensor (29), a second laser sensor (30) and a third laser sensor (31) are mounted on the bottom surface of the arm support (7); The compensation mechanism (8) comprises a disc (81), a first slide groove (82) and a second slide groove (83) are arranged inside the disc (81), and a slide rod (84) is installed below the first slide groove (82); A fixing frame (11) is welded to the bottom of the arm frame (7), a first slideway (12) is provided on the bottom surface of the fixing frame (11), a sliding member is slidably connected in the first slideway (12), a support arm (13) is hingedly connected to the sliding member, and wing plates (28) are provided on both sides of the fixing frame (11); The outer side of the first column (2) is slidably connected to a mounting box (33), and a laser receiver (38) is arranged on the top of the mounting box (33).

2. A crane boom deflection measuring device according to claim 1, characterized in that: A motor 3 is connected to the upper middle portion of the disk (81) via a rod; a first slider is slidably connected in the first slide groove (82); a second slider is slidably connected in the second slide groove (83); and the bottom surfaces of the first slider and the second slider are fixedly connected to the surface of the slide rod (84).

3. A crane boom deflection measuring device according to claim 2, characterized in that: The first laser sensor (29), the second laser sensor (30) and the third laser sensor (31) are sequentially arranged in a straight line along the longitudinal center line of the arm support (7).

4. A crane boom deflection measuring device according to claim 3, characterized in that: Auxiliary laser sensor 1 is arranged between the first laser sensor (29) and the second laser sensor (30), and auxiliary laser sensor 2 is arranged between the second laser sensor (30) and the third laser sensor (31).

5. A crane boom deflection measuring device according to claim 4, characterized in that: The other end of the support arm (13) is hingedly connected to a lifting block (14), a threaded hole is provided in the middle of the lifting block (14), a screw rod (15) is rotatably connected to the middle of the lifting block (14) through the threaded hole, a first bevel gear (16) is fixedly connected to the bottom of the screw rod (15), a second bevel gear (17) is provided on the outer side of the first bevel gear (16), a rotating rod (18) is passed through the middle of the second bevel gear (17), the first bevel gear (16) is meshingly connected to the second bevel gear (17), a bearing of the rotating rod (18) is connected to the inside of the second column (3), one end of the rotating rod (18) is fixedly connected to a rotating motor through a coupling, and the rotating motor is installed inside the second column (3); Two second slideways (19) are provided on the surface of the second upright column (3), and the two support arms (13) are respectively located in the second slideways (19).

6. A crane boom deflection measuring device according to claim 5, characterized in that: A sliding ring (32) is sleeved on the outer side of the first column (2); the sliding ring (32) is a structure with a notch at one end formed on a circular ring; a mounting box (33) is fixedly connected to the end surface of the notch; a helical rack (34) is fixedly connected to the surface of the first column (2) near the notch of the sliding ring (32); a rod body is bearing-connected to the inner walls of both sides of the mounting box (33); a helical gear (35) is fixedly connected to the middle of the rod body; a worm (36) is mounted above the helical gear (35); one end of the worm (36) is bearing-connected to the inner wall of the mounting box (33).

7. A crane boom deflection measuring device according to claim 6, characterized in that: The helical gear (35) is meshedly connected with the helical rack (34), the worm (36) is meshedly connected with the helical gear (35), and one end of the worm (36) mounted on the inner wall of the mounting box (33) is fixedly connected to the second motor via a coupling.

8. A crane boom deflection measuring device according to claim 7, characterized in that: Anemometers are mounted on the surfaces of both sides of the arm (7); two mounting frames (20) are fixedly connected to both sides of the fixing frame (11); the mounting frame (20) is a hollow square column structure with one side open; the open side of the mounting frame (20) is located on a side away from the fixing frame (11); a drive shaft (21) is connected to a bearing above the inner wall of the mounting frame (20); a motor 1 is mounted on the outer wall of the mounting frame (20); an output end of the motor 1 is passed through the outer wall of the mounting frame (20) and is fixedly connected to one end of the drive shaft (21); and a positioning shaft (22) is connected to a bearing below the inner wall of the mounting frame (20).

9. A crane boom deflection measuring device according to claim 8, characterized in that: The driving shaft (21) is fixedly connected to a driving rod (23); the other end of the driven rod (24) is fixedly connected to the positioning shaft (22); the middle of the driven rod (24) is rotatably connected to an auxiliary rod (25); the other end of the auxiliary rod (25) is rotatably connected to the other end of the driving rod (23); An ejector rod (26) is rotatably connected to one end of the driving rod (23) connected to the auxiliary rod (25) and at a side away from the auxiliary rod (25); the other end of the ejector rod (26) is rotatably connected to a moving rod (27); one end of the moving rod (27) is rotatably connected to the other end of the driven rod (24); the wing plate (28) is arranged between two mounting frames (20) located on the same side of the fixing frame (11); both side end surfaces of the wing plate (28) are fixedly connected to the outer end surface of the moving rod (27).

10. A crane boom deflection measuring device according to claim 9, characterized in that: A positioning box (37) is fixedly connected above the installation box (33), and the laser receiver (38) is fixedly connected inside the positioning box (37).

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