Crawler crane for port

Abstract

The invention relates to the technical field of cranes, in particular to a port crawler crane which comprises a crane body. A stability detection mechanism; an air volume detection mechanism; the control mechanism is used for determining multi-degree-of-freedom anti-swing compensation modes of the crane main body according to the air volume parameters, including a transverse compensation mode for determining the rotational acceleration of a rotary table of the crane according to the variable quantity of the wind direction angle, a vertical compensation mode for determining the electromagnetic damping force in the opposite direction of the movement of the lifting appliance according to the airflow direction and the maximum wind speed, and a vertical compensation mode for determining the rotational acceleration of the rotary table of the crane; and under the condition of determining the multi-degree-of-freedom anti-swing compensation mode, determining a stability adjusting mode according to the vibration intensity of the no-load lifting appliance, namely adjusting the load threshold value and the instantaneous descending speed of the lifting appliance according to the average corrosion rate of a lifting arm hinge, or determining the position of a counterweight device of the crane according to the salt crystal deposition amount on the surface of the lifting appliance. The working stability of the crane is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and particularly to a crawler crane for ports. Background Art

[0002] In the prior art, crawler cranes use crawlers as the traveling device. In an environment such as a port where there may be soft ground, uneven or muddy ground, the crawler traveling device can ensure that the crane can travel freely and is not easily stuck in the ground. The port crawler crane transmits power to each working mechanism through a hydraulic system to achieve actions such as the lifting of the boom and the traveling of the crawlers.

[0003] Chinese Patent Publication No.: CN115626574A discloses a high - safety boom for an intelligent crawler crane, including a slewing platform (1). It is characterized in that a pair of first connection blocks (9) are fixedly connected to the slewing platform (1), and the pair of first connection blocks (9) are fixed to both sides of the slewing platform (1). A second connection block (11) is rotatably connected to the inner side wall of the first connection block (9). A main boom (12) is fixedly connected to the second connection block (11). A first pulley (15) is arranged at the upper end of the main boom (12). A first winch (25) is rotatably connected to the inner side wall of the first connection block (9). A main boom wire rope (26) is arranged on the first winch (25). The main boom wire rope (26) passes through the main boom (12) and through the first pulley (15). One end of the main boom wire rope (26) far from the first winch (25) is fixedly connected to a main hook (27). A locking plate (28) is arranged on the main hook (27). A locking buckle (29) is arranged between the main boom wire rope (26) and the main hook (27). A plurality of counterweight blocks (8) are arranged at one end of the slewing platform (1) far from the first connection block (9). Thus, the high - safety boom for the intelligent crawler crane has problems such as instability of the crane due to the deflection of the wind pressure of the sea breeze or the updraft, reduction of the frictional force of the articulated structure of the crane due to the erosion of the humid air in the port, resulting in unstable hoisting, and vibration of the crane caused by the impact of seawater on the crane in the seawater spray environment during high tide, resulting in a decrease in working stability. Summary of the Invention

[0004] Therefore, the present invention provides a crawler crane for ports to overcome the problems in the prior art, such as instability of the crane due to the deflection of the wind pressure of the sea breeze or the updraft, reduction of the frictional force of the articulated structure of the crane due to the erosion of the humid air in the port, resulting in unstable hoisting, and vibration of the crane caused by the impact of seawater on the crane in the seawater spray environment during high tide, resulting in a decrease in working stability.

[0005] To achieve the above object, the present invention provides a crawler crane for a port, comprising:

[0006] A crane main body, including a spreader, a turntable for driving the crane to rotate about its own axis, a boom connected to the turntable for providing a lifting moment for the spreader, a moving slide rail provided on the upper surface of the turntable for adjusting the position of the counterweight on the turntable, and a counterweight connected to the moving slide rail for providing a vertical balance moment for the crane;

[0007] A stability detection mechanism, which is connected to the crane main body and is used to detect the average corrosion rate of the top hinge of the boom, the amount of salt crystal deposition on the surface of the spreader, and the vibration intensity of the unloaded boom;

[0008] An air volume detection mechanism, which is arranged on the working ground of the crane main body and is used to detect the air volume parameters in the working ground, and the air volume parameters include wind speed, wind direction angle, and air flow direction;

[0009] A control mechanism, which is respectively connected to the crane main body, the stability detection mechanism, and the air volume detection mechanism, and is used to determine the multi-degree-of-freedom anti-sway compensation method of the crane main body according to the air volume parameters, including a lateral compensation method for determining the rotational acceleration of the turntable of the crane according to the change amount of the wind direction angle, and a vertical compensation method for determining the electromagnetic damping force in the reverse direction of the spreader movement according to the air flow direction and the maximum wind speed within a unit air volume detection time period,

[0010] and, under the condition of determining the multi-degree-of-freedom anti-sway compensation method, determining the stability adjustment method according to the vibration intensity of the unloaded spreader, including adjusting the load threshold and the instantaneous descending speed of the spreader, or determining the slip distance of the counterweight of the crane according to the amount of salt crystal deposition on the surface of the spreader.

[0011] Further, the stability detection mechanism includes:

[0012] A corrosion sensor, which is connected to the boom hinge and is used to detect the corrosion rate of the boom hinge;

[0013] A vision sensor, which is arranged on the crane main body close to the spreader side and is used to obtain the amount of salt crystal deposition on the surface of the spreader by collecting the surface image of the spreader;

[0014] A vibration sensor, which is connected to the boom and is used to detect the vibration intensity of the boom under unloaded conditions.

[0015] Further, the air volume detection mechanism includes a plurality of wind field scanners arranged at equal intervals on the working ground of the crane main body.

[0016] Further, the control mechanism is respectively connected to the several wind field scanners and the crane main body, and is used to obtain the maximum wind speed, the change amount of the wind direction angle, and the instantaneous air flow direction within the unit air volume detection duration. If the change amount of the wind direction angle is greater than or equal to the preset wind direction angle change amount, it is determined that the degree of influence of the crane's deflection due to wind pressure does not meet the requirements, and the rotational acceleration of the turntable of the crane is increased.

[0017] If the maximum wind speed is greater than or equal to the preset wind speed and the air flow direction is the upward air flow, it is determined that the degree of the spreader being affected by the air flow does not meet the requirements, and the electromagnetic damping force in the opposite direction of the downward movement of the spreader is increased.

[0018] Wherein, the change amount of the wind direction angle is the included angle between the wind direction angle at the end moment of the unit air volume detection duration and the wind direction angle at the start moment of the unit air volume detection duration.

[0019] Further, the rotational acceleration of the turntable is positively correlated with the change amount of the wind direction angle, and the electromagnetic damping force of the spreader is positively correlated with the maximum wind speed.

[0020] Further, the control module is connected to the vibration sensor, and is used to obtain the vibration intensity of the unloaded spreader under the condition that the degree of influence of the crane's deflection due to wind pressure does not meet the requirements or the degree of the spreader being affected by the air flow does not meet the requirements.

[0021] If the vibration intensity is greater than or equal to the preset second vibration intensity, it is preliminarily determined that the degree of erosion of the crane by the sea breeze does not meet the requirements.

[0022] If the vibration intensity is greater than or equal to the preset first vibration intensity and less than the preset second vibration intensity, it is determined that the stability of the crane against the impact of sea water droplets does not meet the requirements.

[0023] Further, the control module is respectively connected to the corrosion sensor and the crane main body, and is used to obtain the average corrosion rate of the boom hinge within the unit corrosion detection duration under the condition that it is preliminarily determined that the degree of erosion of the crane by the sea breeze does not meet the requirements.

[0024] If the average corrosion rate is greater than or equal to the preset corrosion rate, it is secondarily determined that the degree of erosion of the crane by the sea breeze does not meet the requirements, and the load threshold of the spreader is reduced, and the instantaneous downward speed of the spreader is increased under the condition of controlling the boom to face the wind direction angle.

[0025] Wherein, the average corrosion rate is the ratio of the sum of several corrosion rates detected within the unit corrosion detection duration to the number of detections.

[0026] Further, the load threshold of the spreader is negatively correlated with the average corrosion rate, and the instantaneous descending speed of the spreader is positively correlated with the average corrosion rate.

[0027] Further, the control module is respectively connected to the vision sensor and the crane main body, and is used for obtaining the salt crystal deposition amount on the surface of the spreader within the unit corrosion detection duration under the condition that the preliminary determination of the stability of the crane impacted by seawater droplets does not meet the requirements.

[0028] If the salt crystal deposition amount is greater than or equal to the preset deposition amount, it is determined secondarily that the influence degree of the crane impacted by seawater droplets does not meet the requirements, and the counterweight of the crane is adjusted to slide horizontally away from the boom.

[0029] Wherein, the salt crystal deposition amount is the difference between the salt crystal area on the surface of the spreader at the end of the unit corrosion detection duration and the salt crystal area on the surface of the spreader at the start of the unit corrosion detection duration.

[0030] Further, the sliding distance of the counterweight of the crane sliding horizontally away from the boom is positively correlated with the salt crystal deposition amount.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows. The device of the present invention is provided with a stability detection mechanism, a wind volume detection mechanism, and a control mechanism. Due to the port working environment of the crane, the crane is long-term exposed to harsh environments such as sea breeze, humidity, and salt fog, and is vulnerable to erosion and corrosion. Due to the variability of the sea breeze and salt fog corrosion of the port crane, the spreader swings out of control and the structural stability is poor, thereby affecting its working stability and safety. By the stability detection mechanism, the corrosion rate of the boom hinge, the salt crystal deposition amount on the surface of the spreader, and the vibration intensity of the unloaded boom are monitored in real time. By determining the multi-degree-of-freedom anti-swing compensation method of the crane, the crane is stabilized by adjusting the rotational acceleration of the turntable and the electromagnetic damping force of the spreader, enhancing the wind resistance and structural stability of the crane, and reducing the risk of safety accidents caused by the swing out of control or structural instability of the crane; due to the decline in working stability caused by the structural instability due to the corrosion of the high-tide humidity sea breeze or the impact of seawater droplets after the anti-swing compensation method, the stability detection mechanism can respond quickly. By determining the stability adjustment method, including adjusting the load threshold of the spreader, the instantaneous descending speed, and the sliding distance of the counterweight of the crane, the improvement of the safety and stability of the crane during the lifting operation in the high-tide seawater droplet environment is realized, and the reduction of the failure rate of the crane caused by environmental factors is realized.

[0032] Furthermore, the device of the present invention is provided with a corrosion sensor, a vision sensor, a vibration sensor, and several wind field scanners. By detecting the corrosion condition of the hinge, the salt crystal deposition on the surface of the spreader, and the vibration condition of the unloaded boom, the durability of the crane structure can be determined. By analyzing the salt crystals through images, potential corrosion problems can be detected in a timely manner. The vibration sensor monitors the vibration intensity of the unloaded boom to judge the dynamic stability and anti-sway performance of the crane, realizing real-time monitoring of the crane structure. By obtaining the air volume parameters within the working ground, the stability of the crane working surface affected by the environment is detected. By setting equally spaced wind field scanners, the accuracy of wind field perception is improved, and the problem of decreased environmental monitoring accuracy caused by sudden changes in local wind speed under the complex turbulent environment of the port is reduced.

[0033] Furthermore, the device of the present invention is provided with a preset wind direction angle change amount and a preset wind speed. Since the sea breeze has a great influence on the stability of the crane during operation, an increase in the wind direction angle change amount may cause the crane to be deflected by the wind pressure and then lead to out-of-control swinging. A large wind speed, an upward air current, and a high position of the crane spreader will cause a great influence on the wire rope of the spreader being lifted by the air current during operation. By increasing the rotational acceleration of the turntable to offset the wind pressure deflection moment, and by increasing the electromagnetic damping force in the opposite direction of the spreader movement to reduce the swinging amplitude and thereby increase the stability of the lifted load, the improvement of the safety and stability of the crane operation is realized.

[0034] Furthermore, the device of the present invention is provided with a preset first vibration intensity and a preset second vibration intensity. Since the articulated structure of the crane is corroded under the influence of the humid environment of the port, the surface friction of the corroded articulated structure decreases, which leads to the loosening of the articulated part of the crane. The loosened articulated structure will generate abnormal vibrations during the operation of the crane. By reducing the load threshold of the spreader to reduce the pressure on the articulated structure, the corrosion process can be slowed down. By controlling the instantaneous downward speed of the spreader under the condition that the boom is oriented towards the wind direction angle, the increased instantaneous downward speed accelerates the shaking off of the corrosion products at the corroded position of the articulated structure. At the same time, by controlling the boom to face the wind direction angle, the sea breeze blows away the corrosion products to prevent the shaken-off corrosion products from adhering to the wire rope again, which may cause the surface friction of the wire rope to become smaller when the wire rope is retracted and lowered, thereby reducing the working stability of the spreader, realizing an increase in the working stability of the crane.

[0035] Furthermore, the device of the present invention is provided with a preset deposition amount. When the vibration of the crane is caused by the impact of sea water droplets during high tide, and the spreader and wire rope are exposed to the salt fog environment for a long time, salt crystals will accumulate on the surface. The accumulation of salt crystals not only increases the weight of the spreader and wire rope, but also accelerates corrosion, thereby affecting the overall stability of the crane. By adjusting the sliding distance of the counterweight of the crane, the anti-overturning ability of the crane in harsh environments is improved, and the operation safety is increased. Brief Description of the Drawings

[0036] Figure 1 This is a schematic diagram of the overall structure of the crawler crane for ports according to an embodiment of the present invention;

[0037] Figure 2 This is a block diagram of the overall structure of the crawler crane for ports according to an embodiment of the present invention;

[0038] Figure 3 This is a block diagram of the detection mechanism structure of the crawler crane for ports according to an embodiment of the present invention;

[0039] Explanation of the reference numerals in the drawings: 1 - wind field scanner, 2 - crawler, 3 - slewing platform, 4 - vision sensor, 5 - spreader, 6 - top hinge, 7 - boom, 8 - damper, 9 - counterweight, 10 - moving slide rail, 11 - working ground. Detailed Embodiment

[0040] In order to make the objectives and advantages of the present invention more clear and understandable, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0042] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0043] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0044] Please refer to Figure 1 、 Figure 2 and Figure 3As shown, they are respectively the overall structure schematic diagram, the overall structure block diagram, and the detection mechanism block diagram of the crawler crane for ports in the embodiments of the present invention. An embodiment of the crawler crane for ports in the present invention includes:

[0045] A crane main body, including a spreader 5, a turntable 3 used to drive the crane to rotate around its own axis, a boom 7 connected to the turntable 3 to provide a hoisting moment for the spreader 5, a moving slide rail 10 arranged on the upper surface of the turntable 3 to adjust the position of the counterweight 9 on the turntable 3, and a counterweight 9 connected to the moving slide rail 10 to provide a vertical balancing moment for the crane;

[0046] A stability detection mechanism, which is connected to the crane main body and used to detect the average corrosion rate of the top hinge 6 of the boom 7, the amount of salt crystal deposition on the surface of the spreader 5, and the vibration intensity of the unloaded boom 7;

[0047] An air volume detection mechanism, which is arranged on the working ground 11 of the crane main body and used to detect the air volume parameters in the working ground 11, and the air volume parameters include wind speed, wind direction angle, and air flow direction;

[0048] A control mechanism, which is respectively connected to the crane main body, the stability detection mechanism, and the air volume detection mechanism, and used to determine the multi-degree-of-freedom anti-sway compensation method of the crane main body according to the air volume parameters, including a lateral compensation method for determining the rotational acceleration of the turntable 3 of the crane according to the change amount of the wind direction angle, and a vertical compensation method for determining the electromagnetic damping force in the reverse direction of the movement of the spreader 5 according to the air flow direction and the maximum wind speed within the unit air volume detection time period,

[0049] And, determine the stability adjustment method according to the vibration intensity of the unloaded spreader 5 under the condition of determining the multi-degree-of-freedom anti-sway compensation method, including adjusting the load threshold and the instantaneous descent speed of the spreader 5, or determining the slip distance of the counterweight 9 of the crane according to the amount of salt crystal deposition on the surface of the spreader 5.

[0050] Specifically, the crane main body further includes a crawler 2 arranged under the turntable 3 to drive the crane to walk, and a damper 8 connected to the steel wire rope of the spreader 5 to apply an electromagnetic damping force to the spreader 5.

[0051] In implementation, the device of the present invention is provided with a stability detection mechanism, an air volume detection mechanism, and a control mechanism. Due to the port working environment of the crane, the crane is long-term exposed to harsh environments such as sea breeze, humidity, and salt spray, and is vulnerable to erosion and corrosion. Due to the variability of the sea breeze and salt spray corrosion of the port crane, the swing of the spreader gets out of control and the structural stability is poor, which in turn affects its working stability and safety. The corrosion rate of the boom hinge, the amount of salt crystal deposition on the surface of the spreader, and the vibration intensity of the unloaded boom are real-time monitored through the stability detection mechanism. By determining the multi-degree-of-freedom anti-swing compensation method of the crane, the rotation acceleration of the turntable and the electromagnetic damping force of the spreader are adjusted to stabilize the crane, enhancing the wind resistance and structural stability of the crane, and reducing the risk of safety accidents caused by out-of-control swing or structural instability of the crane; due to the instability of the structure caused by high-tide humidity sea breeze corrosion or seawater droplet impact after the anti-swing compensation method, the working stability decreases. The stability detection mechanism can respond quickly. By determining the stability adjustment method, including adjusting the load threshold of the spreader, the instantaneous descent speed, and the sliding distance of the counterweight of the crane, the safety and stability of the crane during lifting operations in the high-tide seawater droplet environment are improved, and the failure rate of the crane caused by environmental factors is reduced.

[0052] Specifically, the stability detection mechanism includes:

[0053] A corrosion sensor, which is connected to the boom 7 hinge to detect the corrosion rate of the boom 7 hinge;

[0054] A vision sensor 4, which is arranged on the crane main body close to one side of the spreader 5 to obtain the amount of salt crystal deposition on the surface of the spreader 5 by collecting the surface image of the spreader 5;

[0055] A vibration sensor, which is connected to the boom 7 to detect the vibration intensity of the boom 7 under no-load conditions.

[0056] Specifically, the air volume detection mechanism includes a plurality of wind field scanners 1 arranged at equal intervals on the working ground 11 of the crane main body.

[0057] Specifically, the wind field scanner 1 is a lidar wind field scanner 1.

[0058] Specifically, the plurality of wind field scanners 1 are positively correlated with the maximum working radius of the crane main body, and the setting quantity is not limited here, as long as the detection of the air volume parameters can be achieved.

[0059] In implementation, the device of the present invention is provided with a corrosion sensor, a vision sensor 4, a vibration sensor, and a plurality of wind field scanners 1. By detecting the corrosion condition of the hinge, the salt crystal deposition on the surface of the spreader 5, and the vibration condition of the empty boom 7, the durability of the crane structure is determined. By analyzing the salt crystals through images, potential corrosion problems can be detected in a timely manner. The vibration sensor monitors the vibration intensity of the empty boom 7 to judge the dynamic stability and anti-sway performance of the crane, realizing real-time monitoring of the crane structure. By obtaining the air volume parameters in the working ground 11, the stability of the crane working surface affected by the environment is detected. By setting the equally spaced wind field scanners 1, the wind field perception accuracy is improved, and the problem of the decline in environmental monitoring accuracy caused by the sudden change of local wind speed in the complex turbulent environment of the port is reduced.

[0060] Specifically, the control mechanism is respectively connected to the plurality of wind field scanners 1 and the crane body, and is used to obtain the maximum wind speed, the change amount of the wind direction angle, and the instantaneous air flow direction within the unit air volume detection duration. If the change amount of the wind direction angle is greater than or equal to the preset wind direction angle change amount, it is determined that the influence degree of the crane affected by wind pressure deflection does not meet the requirements, and the rotational acceleration of the slewing platform 3 of the crane is increased.

[0061] If the maximum wind speed is greater than or equal to the preset wind speed and the air flow direction is the upward air flow, it is determined that the lifting degree of the spreader 5 affected by the air flow does not meet the requirements, and the electromagnetic damping force in the opposite direction of the downward movement of the spreader 5 is increased.

[0062] Wherein, the change amount of the wind direction angle is the included angle between the wind direction angle at the end of the unit air volume detection duration and the wind direction angle at the start of the unit air volume detection duration.

[0063] Specifically, the rotational acceleration of the slewing platform 3 is positively correlated with the change amount of the wind direction angle, and the electromagnetic damping force of the spreader 5 is positively correlated with the maximum wind speed.

[0064] Specifically, the rotational acceleration of the slewing platform 3 of the crane is adjusted by controlling the rotational speed of the slewing platform 3.

[0065] Specifically, under the conditions of the maximum height of the crane being 30 m and the empty self-weight being 48 t, the general value range of the preset wind direction angle change amount is [2°, 5°], and the general value range of the preset wind speed is [5 m / s, 7 m / s].

[0066] Preferably, the preferred embodiment of the preset wind direction angle change amount is 4°, and the preferred embodiment of the preset wind speed is 5.4 m / s.

[0067] Those skilled in the art can understand that the optional ranges of the preset wind direction angle change amount and the preset wind speed provided in this embodiment, as well as the preferred embodiments, are the values that best solve the technical problems of the technical solution of the present invention under the conditions that the maximum height of the crane in this embodiment is 30 m and the no-load self-weight is 48 t. In actual applications or experiments, those skilled in the art can adaptively adjust the preset wind direction angle change amount and the preset wind speed according to the actual application environment and application scenarios.

[0068] In implementation, every time the difference between the change amount of the wind direction angle and the preset wind direction angle change amount exceeds 0.1°, the rotational acceleration increases by 0.5 rad / s 2 ; every time the difference between the maximum wind speed and the preset wind speed exceeds 0.1 m / s, the electromagnetic damping force of the spreader 5 increases by 2 N.

[0069] In implementation, by setting the preset wind direction angle change amount and the preset wind speed in the device of the present invention, since the sea breeze has a great influence on the stability of the crane during operation, an increase in the wind direction angle change amount causes the crane to be deflected by the wind pressure and then leads to out-of-control swinging. A large wind speed, an upward air current, and a high position of the spreader 5 of the crane will cause a great influence on the wire rope of the spreader 5 being lifted by the air current during operation. By increasing the rotational acceleration of the turntable 3 to offset the wind pressure deflection moment, and by increasing the electromagnetic damping force in the opposite direction of the movement of the spreader 5 to reduce the swinging amplitude and thus increase the stability of the lifted object, the improvement of the operation safety and stability of the crane is achieved.

[0070] Specifically, the control module is connected to the vibration sensor to obtain the vibration intensity of the no-load spreader 5 under the condition that the influence degree of the crane affected by the wind pressure deflection does not meet the requirements or the influence degree of the spreader 5 affected by the air current and being lifted does not meet the requirements.

[0071] If the vibration intensity is greater than or equal to the preset second vibration intensity, it is initially determined that the erosion degree of the sea breeze on the crane does not meet the requirements;

[0072] If the vibration intensity is greater than or equal to the preset first vibration intensity and less than the preset second vibration intensity, it is determined that the stability of the crane affected by the impact of sea water droplets does not meet the requirements.

[0073] Specifically, under the condition that the weight of the no-load spreader 5 is 100 kg, the general value range of the preset first vibration intensity is [0.5 mm / s, 1 mm / s], and the general value range of the preset second vibration intensity is [1.4 mm / s, 2 mm / s].

[0074] Preferably, the preferred embodiment of the preset first vibration intensity is 0.8 mm / s, and the preferred embodiment of the preset second vibration intensity is 1.6 mm / s.

[0075] Those skilled in the art can understand that the optional ranges of the preset first vibration intensity and the preset second vibration intensity and the preferred embodiments provided in this embodiment are the values that best solve the technical problems of the technical solution of the present invention under the condition that the weight of the unloaded spreader 5 is 100 kg. In actual applications or experiments, those skilled in the art can adaptively adjust the preset first vibration intensity and the preset second vibration intensity according to the actual application environment and application scenarios.

[0076] In implementation, the device of the present invention sets the preset first vibration intensity and the preset second vibration intensity. Due to the corrosion of the articulated structure of the crane affected by the humid port environment, the surface friction of the corroded articulated structure decreases, which leads to the looseness of the articulated part of the crane. The loosened articulated structure will generate abnormal vibrations during the operation of the crane. By reducing the load threshold of the spreader 5, the pressure on the articulated structure is reduced, thereby slowing down the corrosion process. By controlling the boom 7 to face the wind direction angle, the instantaneous descending speed of the spreader 5 is increased. The increased instantaneous descending speed accelerates the shaking off of the corrosion products at the corroded position of the articulated structure. At the same time, controlling the boom 7 to face the wind direction angle allows the sea breeze to blow away the corrosion products to prevent the shaken-off corrosion products from adhering to the steel wire rope again, which may cause the surface friction of the steel wire rope to become smaller when the steel wire rope is retracted and lowered, and further reduce the working stability of the spreader 5, thus increasing the working stability of the crane.

[0077] Specifically, the control module is respectively connected to the corrosion sensor and the crane body, and is used to obtain the average corrosion rate of the hinge of the boom 7 within the unit corrosion detection duration under the condition that the preliminary determination of the erosion degree of the sea breeze on the crane does not meet the requirements.

[0078] If the average corrosion rate is greater than or equal to the preset corrosion rate, it is secondarily determined that the erosion degree of the sea breeze on the crane does not meet the requirements, and the load threshold of the spreader 5 is reduced, and the instantaneous descending speed of the spreader 5 is increased under the condition that the boom 7 is controlled to face the wind direction angle.

[0079] Wherein, the average corrosion rate is the ratio of the sum of several corrosion rates detected within the unit corrosion detection duration to the number of detections.

[0080] Specifically, the load threshold of the spreader 5 is negatively correlated with the average corrosion rate, and the instantaneous descending speed of the spreader 5 is positively correlated with the average corrosion rate.

[0081] Specifically, under the condition that the width of the hinge of the boom 7 is 80 mm, the general value range of the preset corrosion rate is [0.04% per hour, 0.0412% per hour], and the preferred embodiment of the preset corrosion rate is 0.0406% per hour.

[0082] Those skilled in the art can understand that the optional range of the preset corrosion rate and the preferred embodiments provided in this embodiment are the values that best solve the technical problems of the technical solution of the present invention under the condition that the hinge width of the boom 7 is 80 mm in this embodiment. In actual applications or experiments, those skilled in the art can adaptively adjust the preset corrosion rate according to the actual application environment and application scenarios.

[0083] In practice, for every 0.0001% per hour that the difference between the average corrosion rate and the preset corrosion rate exceeds, the load threshold of the spreader 5 drops to 0.98 of the original value, and the instantaneous descent speed of the spreader 5 increases by 1 m / min. For example, if the difference between the average corrosion rate and the preset corrosion rate is 0.0003% per hour, and the current load threshold of a crane operating continuously for 4 h is 70 tons, and the instantaneous descent speed of the spreader 5 is 10 m / min, the load threshold drops to 70 tons × 0.98 × 0.98 = 94.228 tons, and the instantaneous descent speed of the spreader 5 increases to 10 m / min + 1 m / min + 1 m / min = 12 m / min.

[0084] Specifically, the control module is respectively connected to the vision sensor 4 and the crane body, and is used to obtain the amount of salt crystal deposition on the surface of the spreader 5 within the unit corrosion detection duration under the condition that the preliminary determination of the stability of the crane impacted by seawater droplets does not meet the requirements.

[0085] If the amount of salt crystal deposition is greater than or equal to the preset deposition amount, it is secondarily determined that the degree of influence of the crane impacted by seawater droplets does not meet the requirements, and the counterweight 9 of the crane is adjusted to slide horizontally away from the boom 7.

[0086] Wherein, the amount of salt crystal deposition is the difference between the salt crystal area on the surface of the spreader 5 at the end of the unit corrosion detection duration and the salt crystal area on the surface of the spreader 5 at the start of the unit corrosion detection duration.

[0087] Specifically, the sliding distance of the counterweight 9 that slides horizontally away from the boom 7 of the crane is positively correlated with the amount of salt crystal deposition.

[0088] Specifically, under the condition that the weight of the unloaded spreader 5 is 100 kg and the crane working time is within the flood tide period, the general value range of the preset deposition amount is [2 mm 2 , 2.6 mm 2 , and the preferred embodiment of the preset deposition amount is 2.2 mm 2 .

[0089] Those skilled in the art can understand that the optional range of the preset deposition amount and the preferred embodiments provided in this embodiment are the values that best solve the technical problems of the technical solution of the present invention under the conditions that the weight of the empty sling 5 is 100 kg and the working time of the crane is within the rising tide period. In actual applications or experiments, those skilled in the art can adaptively adjust the preset deposition amount according to the actual application environment and application scenario.

[0090] In implementation, the device of the present invention sets a preset deposition amount. When the vibration cause of the crane is the impact of sea water droplets during high tide, and the sling 5 and the steel wire rope are exposed to the salt spray environment for a long time, salt crystals will accumulate on the surface. The accumulation of salt crystals not only increases the weight of the sling 5 and the steel wire rope, but also accelerates corrosion, thereby affecting the overall stability of the crane. By adjusting the sliding distance of the counterweight 9 of the crane, the anti-overturning ability of the crane in a harsh environment is improved, and the operation safety is increased.

[0091] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the drawings. However, those skilled in the art can easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or replacements to the relevant technical features, and the technical solutions after these changes or replacements will all fall within the protection scope of the present invention.

Claims

1. A crawler crane for ports, characterized in that, Comprising: A crane main body, including a lifting tool, a turntable for driving the crane to rotate around its own axis, a boom connected to the turntable to provide a lifting moment for the lifting tool, a moving slide rail arranged on the upper surface of the turntable to adjust the position of the counterweight on the turntable, and a counterweight connected to the moving slide rail to provide a vertical balancing moment for the crane; A stability detection mechanism, which is connected to the crane main body and used to detect the average corrosion rate of the top hinge of the boom, the amount of salt crystal deposition on the surface of the lifting tool, and the vibration intensity of the unloaded boom; An air volume detection mechanism, which is arranged on the working ground of the crane main body and used to detect the air volume parameters in the working ground, and the air volume parameters include wind speed, wind direction angle, and air flow direction; A control mechanism, which is respectively connected to the crane main body, the stability detection mechanism, and the air volume detection mechanism, and is used to determine the multi-degree-of-freedom anti-swing compensation method of the crane main body according to the air volume parameters, including a lateral compensation method for determining the rotational acceleration of the turntable of the crane according to the change amount of the wind direction angle, and a vertical compensation method for determining the electromagnetic damping force in the reverse direction of the movement of the lifting tool according to the air flow direction and the maximum wind speed within the unit air volume detection duration, And, determining a stability adjustment method according to the vibration intensity of the unloaded lifting tool under the condition of determining the multi-degree-of-freedom anti-swing compensation method, including adjusting the load threshold and instantaneous descent speed of the lifting tool, or determining the sliding distance of the counterweight of the crane according to the amount of salt crystal deposition on the surface of the lifting tool.

2. The crawler crane for port according to claim 1, characterized in that, The stability detection mechanism includes: A corrosion sensor, which is connected to the boom hinge and used to detect the corrosion rate of the boom hinge; A vision sensor, which is arranged on the crane main body close to the lifting tool side and used to obtain the amount of salt crystal deposition on the surface of the lifting tool by collecting the surface image of the lifting tool; A vibration sensor, which is connected to the boom and used to detect the vibration intensity of the boom under no-load conditions.

3. The crawler crane for port according to claim 2, characterized in that, The air volume detection mechanism includes a plurality of wind field scanners arranged at equal intervals on the working ground of the crane main body.

4. The crawler crane for port according to claim 3, characterized in that, The control mechanism is respectively connected to the plurality of wind field scanners and the crane main body, and is used to obtain the maximum wind speed, the change amount of the wind direction angle, and the instantaneous air flow direction within the unit air volume detection duration. If the change amount of the wind direction angle is greater than or equal to the preset wind direction angle change amount, it is determined that the influence degree of the crane affected by wind pressure deflection does not meet the requirements, and the rotational acceleration of the turntable of the crane is increased, If the maximum wind speed is greater than or equal to the preset wind speed and the air flow direction is an upward air flow, it is determined that the lifting degree of the lifting tool affected by the air flow does not meet the requirements, and the electromagnetic damping force in the reverse direction of the downward movement of the lifting tool is increased; Wherein, the change amount of the wind direction angle is the included angle between the wind direction angle at the end moment of the unit air volume detection duration and the wind direction angle at the start moment of the unit air volume detection duration.

5. The crawler crane for port according to claim 4, characterized in that, The rotational acceleration of the turntable is positively correlated with the change amount of the wind direction angle, and the electromagnetic damping force of the lifting tool is positively correlated with the maximum wind speed.

6. The crawler crane for a port according to claim 5, characterized in that, The control module is connected to the vibration sensor and is used to obtain the vibration intensity of the unloaded spreader under the condition that the degree of deflection of the crane affected by wind pressure does not meet the requirements or the degree of lifting of the spreader affected by air flow does not meet the requirements. If the vibration intensity is greater than or equal to a preset second vibration intensity, it is preliminarily determined that the degree of erosion of the crane by sea breeze does not meet the requirements. If the vibration intensity is greater than or equal to a preset first vibration intensity and less than the preset second vibration intensity, it is preliminarily determined that the stability of the crane against the impact of sea water droplets does not meet the requirements.

7. The crawler crane for port according to claim 6, characterized in that, The control module is respectively connected to the corrosion sensor and the crane body and is used to obtain the average corrosion rate of the boom hinge within a unit corrosion detection time under the condition that it is preliminarily determined that the degree of erosion of the crane by sea breeze does not meet the requirements. If the average corrosion rate is greater than or equal to a preset corrosion rate, it is secondarily determined that the degree of erosion of the crane by sea breeze does not meet the requirements, the load threshold of the spreader is reduced, and the instantaneous descending speed of the spreader is increased under the condition of controlling the boom to face the wind direction angle. Wherein, the average corrosion rate is the ratio of the sum of a plurality of corrosion rates detected within the unit corrosion detection time to the number of detections.

8. The crawler crane for port according to claim 7, characterized in that, The load threshold of the spreader is negatively correlated with the average corrosion rate, and the instantaneous descending speed of the spreader is positively correlated with the average corrosion rate.

9. The crawler crane for a port according to claim 8, wherein, The control module is respectively connected to the vision sensor and the crane body and is used to obtain the salt crystal deposition amount on the surface of the spreader within a unit corrosion detection time under the condition that it is preliminarily determined that the stability of the crane against the impact of sea water droplets does not meet the requirements. If the salt crystal deposition amount is greater than or equal to a preset deposition amount, it is secondarily determined that the degree of influence of the crane by the impact of sea water droplets does not meet the requirements, and the counterweight of the crane is adjusted to slide horizontally away from the boom. Wherein, the salt crystal deposition amount is the difference between the salt crystal area on the surface of the spreader at the end of the unit corrosion detection time and the salt crystal area on the surface of the spreader at the start of the unit corrosion detection time.

10. The crawler crane for port according to claim 9, characterized in that, The sliding distance of the counterweight of the crane sliding horizontally away from the boom is positively correlated with the salt crystal deposition amount.

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