Crawler crane for ports

Abstract

The present application relates to the technical field of crane, especially relates to a crawler crane for port, comprising: a crane main body; a stability detection mechanism; a wind volume detection mechanism; a control mechanism, used to determine the multi-degree-of-freedom anti-swing compensation mode of the crane main body according to the wind volume parameter, including determining the lateral compensation mode of the rotating acceleration of the rotating platform of the crane according to the change amount of the wind direction angle, and determining the vertical compensation mode of the electromagnetic damping force of the opposite direction of the hoist movement according to the airflow direction and the maximum wind speed, and determining the stability adjustment mode according to the vibration intensity of the empty hoist under the condition of determining the multi-degree-of-freedom anti-swing compensation mode, including adjusting the load threshold and instantaneous falling speed of the hoist according to the average corrosion rate of the crane boom hinge, or determining the position of the counterweight device of the crane according to the salt crystallization deposition amount of the surface of the hoist.The present application realizes the improvement of the working stability of the crane.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and more particularly to a crawler crane for port use. Background Technology

[0002] In the prior art, crawler cranes use tracks as the traveling device. In environments such as ports where there may be soft foundations, uneven or muddy ground, the crawler traveling device can ensure that the crane can move freely and is not easy to get stuck in the ground. Port crawler cranes transmit hydraulic power to each working mechanism through a hydraulic system to realize actions such as lifting and lowering the boom and traveling the tracks.

[0003] Chinese Patent Publication No. CN115626574A discloses a high-safety boom for an intelligent crawler crane, including a turntable (1). The turntable (1) is characterized by a pair of first connecting blocks (9) fixedly connected to both sides of the turntable (1). A second connecting block (11) is rotatably connected to the inner wall of each first connecting block (9). A main lifting boom (12) is fixedly connected to the second connecting block (11). A first pulley (15) is provided at the upper end of the main lifting boom (12). The inner wall of the first connecting block (9) is rotatably connected to the second connecting block (11). The first winch (25) is dynamically connected, and the first winch (25) is equipped with a main boom wire rope (26). The main boom wire rope (26) passes through the main boom (12) and through the first pulley (15). The end of the main boom wire rope (26) away from the first winch (25) is fixedly connected to a main hook (27). The main hook (27) is equipped with a locking plate (28). A locking buckle (29) is provided between the main boom wire rope (26) and the main hook (27). The turntable (1) is equipped with multiple counterweight blocks (8) at the end away from the first connecting block (9). It is evident that the high-safety boom of the intelligent crawler crane suffers from problems such as instability caused by wind pressure deflection or updrafts from the sea breeze, instability in lifting due to reduced friction of the crane's articulated structure caused by humid air erosion in the port, and vibration caused by seawater impact on the crane during high tide, leading to decreased operational stability. Summary of the Invention

[0004] To address these issues, the present invention provides a tracked crane for ports, which overcomes the problems in the prior art where the crane is unstable due to wind pressure deflection or updrafts, where the friction of the crane's articulated structure is reduced due to humid air in the port, leading to unstable lifting, and where the impact of seawater on the crane during high tide causes vibration and reduces operational stability.

[0005] To achieve the above objectives, the present invention provides a tracked crane for ports, comprising:

[0006] The crane body includes a lifting device, a turntable for driving the crane to rotate around its own axis, a boom connected to the turntable for providing lifting torque to the lifting device, a movable slide rail disposed on the upper surface of the turntable for adjusting the position of the counterweight on the turntable, and a counterweight connected to the movable slide rail for providing vertical balancing torque to the crane.

[0007] A stability testing mechanism, which is connected to the main body of the crane, is used to test 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 is installed on the working ground of the crane body to detect air volume parameters within the working ground, including wind speed, wind direction angle, and airflow direction.

[0009] A control mechanism, connected to the crane body, the stability detection mechanism, and the airflow detection mechanism, is used to determine the multi-degree-of-freedom anti-sway compensation method of the crane body based on the airflow parameters. This includes a lateral compensation method that determines the rotational acceleration of the crane's turntable based on the change in the wind direction angle, and a vertical compensation method that determines the electromagnetic damping force in the opposite direction of the lifting device's movement based on the airflow direction and the maximum wind speed within a unit airflow detection time.

[0010] Furthermore, under the condition of determining the multi-degree-of-freedom anti-sway compensation method, the stability adjustment method is determined based on the vibration intensity of the unloaded lifting device, including adjusting the load threshold and instantaneous descent speed of the lifting device, or determining the sliding distance of the crane's counterweight based on the amount of salt crystal deposition on the surface of the lifting device.

[0011] Furthermore, the stability testing mechanism includes:

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

[0013] A vision sensor, mounted on the crane body near the side of the lifting device, is used to acquire images of the surface of the lifting device to obtain the amount of salt crystal deposition on the surface of the lifting device;

[0014] A vibration sensor, connected to the boom, is used to detect the vibration intensity of the boom under no-load conditions.

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

[0016] Furthermore, the control mechanism is connected to the plurality of wind field scanners and the crane body respectively, to obtain the maximum wind speed, the change in wind direction angle, and the instantaneous airflow direction within a unit air volume detection time. If the change in wind direction angle is greater than or equal to a preset change in wind direction angle, it is determined that the degree of wind pressure deflection affecting the crane does not meet the requirements, and the rotational acceleration of the crane's turntable is increased.

[0017] If the maximum wind speed is greater than or equal to the preset wind speed and the airflow direction is upward, it is determined that the degree of lifting of the lifting device due to the airflow does not meet the requirements, and an electromagnetic damping force in the opposite direction of the downward movement of the lifting device is increased.

[0018] The change in wind direction angle is the angle between the wind direction angle at the end of the unit air volume detection time and the wind direction angle at the beginning of the unit air volume detection time.

[0019] Furthermore, the rotational acceleration of the turntable is positively correlated with the change in the wind direction angle, and the electromagnetic damping force of the lifting device is positively correlated with the maximum wind speed.

[0020] Furthermore, the control module is connected to the vibration sensor to obtain the vibration intensity of the unloaded spreader when the degree of deflection of the crane due to wind pressure does not meet the requirements or the degree of lifting of the spreader due to airflow 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 preliminarily determined that the stability of the crane under the impact of seawater droplets does not meet the requirements.

[0023] Furthermore, the control module is connected to both the corrosion sensor and the crane body to obtain the average corrosion rate of the crane boom hinge within a unit corrosion detection time, provided that the initial assessment indicates the sea wind's erosion of the crane does not meet requirements.

[0024] If the average corrosion rate is greater than or equal to the preset corrosion rate, then the degree of corrosion of the crane by the sea wind is determined to be unacceptable, and the load threshold of the lifting device is reduced, and the instantaneous descent speed of the lifting device is increased under the condition of controlling the direction of the crane boom toward the wind direction.

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

[0026] Furthermore, the load threshold of the lifting device is negatively correlated with the average corrosion rate, and the instantaneous descent speed of the lifting device is positively correlated with the average corrosion rate.

[0027] Furthermore, the control module is connected to both the vision sensor and the crane body to obtain the amount of salt crystal deposition on the surface of the lifting device within the unit corrosion detection time, under the condition that the crane's stability under seawater spray impact does not meet the requirements.

[0028] If the amount of salt crystal deposition is greater than or equal to the preset deposition amount, the crane is then judged to be affected by seawater droplets, and the counterweight of the crane is adjusted to slide in a horizontal direction away from the boom.

[0029] The salt crystal deposition amount is the difference between the salt crystal area on the surface of the lifting device at the end of the unit corrosion detection time and the salt crystal area on the surface of the lifting device at the beginning of the unit corrosion detection time.

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

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows: The device of the present invention, by setting up a stability detection mechanism, an air volume detection mechanism, and a control mechanism, addresses the issue that the working environment of cranes in ports exposes them to harsh environments such as sea breezes, humidity, and salt spray for extended periods, making them susceptible to erosion and corrosion. Port cranes suffer from uncontrolled swaying of the spreader and poor structural stability due to the variable sea breeze and salt spray corrosion, thus affecting their operational stability and safety. The stability detection mechanism monitors in real time the corrosion rate of the boom hinge, the amount of salt crystal deposition on the spreader surface, and the vibration intensity of the unloaded boom. By determining the multi-degree-of-freedom anti-sway compensation method of the crane and adjusting the rotation of the turntable... The speed and electromagnetic damping force of the spreader are used to stabilize the crane, enhancing its wind resistance and structural stability, and reducing the risk of safety accidents caused by uncontrolled swaying or structural instability. After implementing anti-sway compensation, the crane's operational stability is stabilized due to structural instability caused by high tide humidity, sea breeze corrosion, or seawater droplet impact. The stability testing mechanism can respond quickly and determine the stability adjustment method, including adjusting the load threshold of the spreader, the instantaneous descent speed, and the sliding distance of the crane's counterweight. This improves the safety and stability of the crane's lifting operations in high tide seawater droplet environments and reduces the failure rate of the crane caused by environmental factors.

[0032] Furthermore, the device described in this invention, by incorporating corrosion sensors, visual sensors, vibration sensors, and several wind field scanners, determines the durability of the crane structure by monitoring the corrosion of hinges, salt crystal deposition on the surface of the spreader, and the vibration of the unloaded crane boom. Image analysis of salt crystals allows for the timely detection of potential corrosion problems. The vibration sensors monitor the vibration intensity of the unloaded crane boom to assess the crane's dynamic stability and anti-sway performance, achieving real-time monitoring of the crane structure. By acquiring wind volume parameters within the working area, the stability of the crane's working surface affected by environmental factors is detected. The use of equally spaced wind field scanners improves the accuracy of wind field perception and reduces the decrease in environmental monitoring accuracy caused by sudden changes in local wind speeds in the complex turbulent environment of ports.

[0033] Furthermore, the device described in this invention, by setting a preset wind direction angle change and a preset wind speed, addresses the significant impact of sea breezes on the stability of the crane's operation. An increase in the wind direction angle change causes the crane to be deflected by wind pressure, leading to uncontrolled swaying. High wind speeds, being in an updraft, and the high position of the crane's lifting device result in the wire rope of the lifting device being significantly affected by the airflow during operation. By increasing the rotational acceleration of the turntable to counteract the wind pressure deflection torque, and by increasing the electromagnetic damping force in the opposite direction of the lifting device's movement to reduce the sway amplitude, the stability of the suspended load is increased, thereby improving the safety and stability of crane operation.

[0034] Furthermore, the device of the present invention, by setting a preset first vibration intensity and a preset second vibration intensity, addresses the issue that the crane's articulated structure is corroded due to the humid environment of the port. The reduced friction on the surface of the corroded articulated structure leads to loosening of the crane's articulated parts. The loosened articulated structure will generate abnormal vibrations during crane operation. By reducing the load threshold of the lifting device, the pressure on the articulated structure is reduced, thereby slowing down the corrosion process. By controlling the crane boom to face the wind direction, the instantaneous descent speed of the lifting device is increased. The increased instantaneous descent speed accelerates the shedding of corrosion from the corroded parts of the articulated structure. At the same time, controlling the crane boom to face the wind direction allows the sea breeze to disperse the corrosion, preventing the shedding corrosion from adhering to the wire rope. This reduces the surface friction of the wire rope during descent, thus decreasing the working stability of the lifting device and increasing the working stability of the crane.

[0035] Furthermore, the device described in this invention, by setting a preset deposition amount, addresses the issue that the vibration of the crane is caused by seawater spray impact during high tide and the long-term exposure of the lifting gear and wire rope to a salt spray environment, which causes salt crystals to accumulate on their surfaces. The accumulation of salt crystals not only increases the weight of the lifting gear and wire rope but also accelerates corrosion, thereby affecting the overall stability of the crane. By adjusting the sliding distance of the crane's counterweight, the device improves the crane's anti-overturning ability in harsh environments and increases operational safety. Attached Figure Description

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

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

[0038] Figure 3 This is a structural block diagram of the detection mechanism of a tracked crane used in a port, according to an embodiment of the present invention.

[0039] The following are the symbols and their meanings: 1-Wind field scanner, 2-Crawler, 3-Turntable, 4-Vision sensor, 5-Lifting device, 6-Top hinge, 7-Lifting boom, 8-Damper, 9-Counterweight, 10-Moving slide rail, 11-Working ground. Detailed Implementation

[0040] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0041] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

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

[0043] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] Please see Figure 1 , Figure 2 as well as Figure 3The figures shown are a schematic diagram of the overall structure of a port crawler crane according to an embodiment of the present invention, a block diagram of the overall structure, and a block diagram of the detection mechanism. An embodiment of the present invention provides a port crawler crane, comprising:

[0045] The crane body includes a lifting device 5, a turntable 3 for driving the crane to rotate around its own axis, a lifting boom 7 connected to the turntable 3 for providing lifting torque to the lifting device 5, a movable slide rail 10 set on the upper surface of the turntable 3 for adjusting the position of the counterweight 9 on the turntable 3, and a counterweight 9 connected to the movable slide rail 10 for providing vertical balancing torque to the crane.

[0046] A stability testing mechanism, which is connected to the main body of the crane, is 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 is installed on the working ground 11 of the crane body to detect air volume parameters within the working ground 11, including wind speed, wind direction angle, and airflow direction.

[0048] The control mechanism, connected to the crane body, the stability detection mechanism, and the airflow detection mechanism, determines the multi-degree-of-freedom anti-sway compensation method of the crane body based on the airflow parameters. This includes a lateral compensation method that determines the rotational acceleration of the crane's turntable 3 based on the change in wind direction angle, and a vertical compensation method that determines the electromagnetic damping force in the opposite direction of the lifting device 5's movement based on the airflow direction and the maximum wind speed within a unit airflow detection time.

[0049] Furthermore, under the condition of determining the multi-degree-of-freedom anti-swing compensation method, the stability adjustment method is determined based on the vibration intensity of the unloaded lifting device 5, including adjusting the load threshold and instantaneous descent speed of the lifting device 5, or determining the sliding distance of the counterweight 9 of the crane based on the amount of salt crystal deposition on the surface of the lifting device 5.

[0050] Specifically, the crane body also includes a track 2 installed below the turntable 3 to drive the crane to move, and a damper 8 connected to the wire rope of the lifting device 5 to apply electromagnetic damping force to the lifting device 5.

[0051] In implementation, the device of this invention incorporates a stability detection mechanism, an airflow detection mechanism, and a control mechanism. Because the port working environment exposes cranes to harsh conditions such as sea breezes, humidity, and salt spray, they are susceptible to erosion and corrosion. The variable sea breezes and salt spray corrosion cause uncontrolled swaying and poor structural stability in port cranes, thus affecting their operational stability and safety. The stability detection mechanism monitors in real time the corrosion rate of the boom hinge, the amount of salt crystal deposition on the spreader surface, and the vibration intensity of the unloaded boom. By determining the crane's multi-degree-of-freedom anti-sway compensation method, and adjusting the rotational acceleration of the turntable and the electrical... Magnetic damping force is used to stabilize the crane, enhancing its wind resistance and structural stability, and reducing the risk of safety accidents caused by uncontrolled swaying or structural instability. After implementing anti-sway compensation, the crane's operational stability is stabilized even when structural instability due to high tide humidity, sea breeze corrosion, or seawater spray impact is reduced. The stability testing mechanism can respond quickly by determining stability adjustment methods, including adjusting the load threshold of the spreader, the instantaneous descent speed, and the sliding distance of the crane's counterweight. This improves the safety and stability of crane operations in high tide seawater spray environments and reduces the crane failure rate caused by environmental factors.

[0052] Specifically, the stability testing mechanism includes:

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

[0054] A vision sensor 4 is mounted on the crane body near the side of the lifting device 5 to obtain the amount of salt crystal deposition on the surface of the lifting device 5 by acquiring surface images of the lifting device 5.

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

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

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

[0058] Specifically, the number of wind field scanners 1 is positively correlated with the maximum working radius of the crane body. The number of scanners is not limited here, as long as they can detect the air volume parameters.

[0059] In practice, the device of this invention, by setting up a corrosion sensor, a vision sensor 4, a vibration sensor, and several wind field scanners 1, determines the durability of the crane structure by monitoring the corrosion of the hinges, the salt crystal deposition on the surface of the spreader 5, and the vibration of the unloaded boom 7. By analyzing the salt crystals through image analysis, potential corrosion problems can be detected in a timely manner. The vibration sensor monitors the vibration intensity of the unloaded boom 7 to determine the dynamic stability and anti-sway performance of the crane, realizing real-time monitoring of the crane structure. By acquiring the wind volume parameters within the working ground 11, the stability of the crane's working surface affected by the environment can be detected. By setting up equidistant wind field scanners 1, the accuracy of wind field perception is improved, and the decrease in environmental monitoring accuracy caused by sudden changes in local wind speed in the complex turbulent environment of the port is reduced.

[0060] Specifically, the control mechanism is connected to the plurality of wind field scanners 1 and the crane body respectively, to obtain the maximum wind speed, the change in wind direction angle, and the instantaneous airflow direction within a unit air volume detection time. If the change in wind direction angle is greater than or equal to a preset change in wind direction angle, it is determined that the degree of wind pressure deflection affecting the crane does not meet the requirements, and the rotational acceleration of the crane's turntable 3 is increased.

[0061] If the maximum wind speed is greater than or equal to the preset wind speed and the airflow direction is upward, it is determined that the degree of lifting of the hoist 5 due to the airflow does not meet the requirements, and the electromagnetic damping force in the opposite direction of the descent motion of the hoist 5 is increased.

[0062] The change in wind direction angle is the angle between the wind direction angle at the end of the unit air volume detection time and the wind direction angle at the beginning of the unit air volume detection time.

[0063] Specifically, the rotational acceleration of the turntable 3 is positively correlated with the change in the wind direction angle, and the electromagnetic damping force of the hoist 5 is positively correlated with the maximum wind speed.

[0064] Specifically, the rotational acceleration of the crane's turntable 3 is adjusted by controlling the rotational speed of the turntable 3.

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

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

[0067] Those skilled in the art will understand that the range of preset wind direction angle change and preset wind speed provided in this embodiment, as well as the preferred embodiment, are the values ​​that best address the technical problem solved by the present invention under the condition that the maximum height of the crane is 30m and the unloaded self-weight is 48t. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset wind direction angle change and preset wind speed according to the actual application environment and application scenario.

[0068] In practice, for every 0.1° difference between the change in wind direction angle and the preset change in wind direction angle, the rotational acceleration increases by 0.5 rad / s². 2 For every 0.1 m / s difference between the maximum wind speed and the preset wind speed, the electromagnetic damping force of the lifting device 5 increases by 2 N.

[0069] In practice, the device of the present invention sets a preset wind direction angle change and a preset wind speed. Since the sea breeze has a great influence on the stability of the crane's operation, the increase in the wind direction angle change causes the crane to be deflected by wind pressure, which in turn leads to uncontrolled swinging. High wind speed, being in an updraft, and the high position of the crane's lifting device 5 will cause the wire rope of the lifting device 5 to be greatly affected by the airflow during operation. By increasing the rotational acceleration of the turntable 3 to counteract the wind pressure deflection torque, and by increasing the electromagnetic damping force in the opposite direction of the movement of the lifting device 5 to reduce the swing amplitude, the stability of the suspended object is increased, thereby improving the safety and stability of the crane operation.

[0070] Specifically, the control module is connected to the vibration sensor to obtain the vibration intensity of the unloaded spreader 5 under conditions where the degree of deflection of the crane due to wind pressure is not up to standard or the degree of lifting of the spreader 5 due to airflow is not up to standard.

[0071] 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.

[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 preliminarily determined that the stability of the crane under the impact of seawater droplets does not meet the requirements.

[0073] Specifically, under the condition that the weight of the unloaded spreader 5 is 100kg, the general range of the preset first vibration intensity is [0.5mm / s, 1mm / s], and the general range of the preset second vibration intensity is [1.4mm / s, 2mm / s].

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

[0075] Those skilled in the art will understand that the selectable range of the preset first vibration intensity and the preset second vibration intensity provided in this embodiment, as well as the preferred embodiment, are the values ​​that are most effective in solving the technical problem of the present invention under the condition that the weight of the unloaded lifting device 5 is 100kg. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset first vibration intensity and the preset second vibration intensity according to the actual application environment and application scenario.

[0076] In practice, the device of the present invention sets a preset first vibration intensity and a preset second vibration intensity. Due to the corrosion of the crane's articulated structure caused by the humid environment of the port, the friction on the surface of the corroded articulated structure decreases, leading to loosening of the crane's articulated parts. The loosened articulated structure will generate abnormal vibrations when the crane is working. 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 direction of the boom 7 toward the wind direction, the instantaneous descent speed of the spreader 5 is increased. The increased instantaneous descent speed accelerates the shaking off of the corroded parts of the articulated structure. At the same time, controlling the direction of the boom 7 toward the wind direction allows the sea breeze to disperse the corroded material, preventing the shaken-off corroded material from adhering to the wire rope. This reduces the surface friction of the wire rope when it is retracted and lowered, thus reducing the working stability of the spreader 5. This increases the working stability of the crane.

[0077] Specifically, the control module is connected to both the corrosion sensor and the crane body, and is used to obtain the average corrosion rate of the crane boom 7 hinge within a unit corrosion detection time, under the condition that the degree of corrosion of the crane by sea wind does not meet the requirements in the initial determination.

[0078] If the average corrosion rate is greater than or equal to the preset corrosion rate, then the degree of corrosion of the crane by the sea wind is determined to be unacceptable, and the load threshold of the lifting device 5 is reduced, and the instantaneous descent speed of the lifting device 5 is increased under the condition of controlling the direction of the boom 7 toward the wind direction angle.

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

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

[0081] Specifically, with the hinge width of the boom 7 being 80mm, the general 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 will understand that the range of preset corrosion rates and the preferred embodiments provided in this embodiment are the values ​​that are most effective in solving the technical problem of the present invention under the condition that the hinge width of the lifting arm 7 is 80mm. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset corrosion rates according to the actual application environment and application scenario.

[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 lifting device 5 decreases to 0.98, and the instantaneous descent speed of the lifting device 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 the crane that has been operating continuously for 4 hours is 70 tons, and the instantaneous descent speed of the lifting device 5 is 10 m / min, the load threshold decreases to 70 tons × 0.98 tons × 0.98 tons = 94.228 tons, and the instantaneous descent speed of the lifting device 5 increases to 10 m / min + 1 m / min + 1 m / min = 12 m / min.

[0084] Specifically, the control module is connected to the vision sensor 4 and the crane body, respectively, to obtain the amount of salt crystal deposition on the surface of the lifting device 5 within the unit corrosion detection time, under the condition that the stability of the crane under the impact of 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, then the degree of impact of seawater droplets on the crane is determined to be unacceptable, and the counterweight 9 of the crane is adjusted to slide in a horizontal direction away from the boom 7.

[0086] The amount of salt crystal deposition is the difference between the salt crystal area on the surface of the hanger 5 at the end of the unit corrosion detection time and the salt crystal area on the surface of the hanger 5 at the beginning of the unit corrosion detection time.

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

[0088] Specifically, assuming the unloaded spreader 5 weighs 100kg and the crane operates during high tide, the general range for the preset sedimentation amount is [2mm]. 2 2.6mm 2 The preferred embodiment for the preset deposition amount is 2.2 mm. 2 .

[0089] Those skilled in the art will understand that the range of preset sedimentation amounts and the preferred embodiments provided in this embodiment are the values ​​that best address the technical problem solved by the present invention, selected under the conditions that the weight of the unloaded lifting device 5 is 100 kg and the crane's working time is within the high tide period. In actual applications or experiments, those skilled in the art can make adaptive adjustments to the preset sedimentation amounts according to the actual application environment and application scenario.

[0090] In practice, the device of the present invention sets a preset deposition amount. When the vibration of the crane is caused by the impact of seawater droplets during high tide, and the long-term exposure of the lifting device 5 and the wire rope to the salt spray environment, salt crystals will accumulate on the surface. The accumulation of salt crystals not only increases the weight of the lifting device 5 and the 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 harsh environments is improved, and the operation safety is increased.

[0091] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A crawler crane for port use, characterized in that, include: The crane body includes a lifting device, a turntable for driving the crane to rotate around its own axis, a boom connected to the turntable for providing lifting torque to the lifting device, a movable slide rail disposed on the upper surface of the turntable for adjusting the position of the counterweight on the turntable, and a counterweight connected to the movable slide rail for providing vertical balancing torque to the crane. A stability testing mechanism, which is connected to the main body of the crane, is used to test 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. An air volume detection mechanism is installed on the working ground of the crane body to detect air volume parameters within the working ground, including wind speed, wind direction angle, and airflow direction. A control mechanism, connected to the crane body, the stability detection mechanism, and the airflow detection mechanism, is used to determine the multi-degree-of-freedom anti-sway compensation method of the crane body based on the airflow parameters. This includes a lateral compensation method that determines the rotational acceleration of the crane's turntable based on the change in the wind direction angle, and a vertical compensation method that determines the electromagnetic damping force in the opposite direction of the lifting device's movement based on the airflow direction and the maximum wind speed within a unit airflow detection time. Furthermore, under the condition of determining the multi-degree-of-freedom anti-sway compensation method, the stability adjustment method is determined based on the vibration intensity of the unloaded lifting device, including adjusting the load threshold and instantaneous descent speed of the lifting device, or determining the sliding distance of the crane's counterweight based on the amount of salt crystal deposition on the surface of the lifting device.

2. The tracked crane for ports according to claim 1, characterized in that, The stability testing mechanism includes: A corrosion sensor, which is connected to the boom hinge, is used to detect the corrosion rate of the boom hinge. A vision sensor, mounted on the crane body near the side of the lifting device, is used to acquire images of the surface of the lifting device to obtain the amount of salt crystal deposition on the surface of the lifting device; A vibration sensor, connected to the boom, is used to detect the vibration intensity of the boom under no-load conditions.

3. The tracked crane for ports according to claim 2, characterized in that, The air volume detection mechanism includes several air field scanners that are set at equal intervals on the working ground of the crane body.

4. The tracked crane for ports according to claim 3, characterized in that, The control mechanism is connected to the plurality of wind field scanners and the crane body respectively, and is used to obtain the maximum wind speed, the change in wind direction angle, and the instantaneous airflow direction within a unit air volume detection time. If the change in wind direction angle is greater than or equal to a preset change in wind direction angle, it is determined that the degree of wind pressure deflection affecting the crane does not meet the requirements, and the rotational acceleration of the crane's turntable is increased. If the maximum wind speed is greater than or equal to the preset wind speed and the airflow direction is upward, it is determined that the degree of lifting of the lifting device due to the airflow does not meet the requirements, and an electromagnetic damping force in the opposite direction of the downward movement of the lifting device is increased. The change in wind direction angle is the angle between the wind direction angle at the end of the unit air volume detection time and the wind direction angle at the beginning of the unit air volume detection time.

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

6. The tracked crane for ports according to claim 5, characterized in that, The control mechanism is connected to the vibration sensor to obtain the vibration intensity of the unloaded lifting equipment when the degree of deflection of the crane due to wind pressure is not up to standard or the degree of lifting of the lifting equipment due to airflow is not up to standard. 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. 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 preliminarily determined that the stability of the crane under the impact of seawater droplets does not meet the requirements.

7. The tracked crane for ports according to claim 6, characterized in that, The control mechanism is connected to both the corrosion sensor and the crane body, and is used to obtain the average corrosion rate of the crane boom hinge within a unit corrosion detection time, under the condition that the degree of corrosion of the crane by sea wind does not meet the requirements in the initial determination. If the average corrosion rate is greater than or equal to the preset corrosion rate, then the degree of corrosion of the crane by the sea wind is determined to be unacceptable, and the load threshold of the lifting device is reduced, and the instantaneous descent speed of the lifting device is increased under the condition of controlling the direction of the crane boom toward the wind direction. The average corrosion rate is the ratio of the sum of several corrosion rates detected within the unit corrosion detection time to the number of detections.

8. The tracked crane for ports according to claim 7, characterized in that, The load threshold of the lifting device is negatively correlated with the average corrosion rate, and the instantaneous descent speed of the lifting device is positively correlated with the average corrosion rate.

9. The tracked crane for ports according to claim 8, characterized in that, The control mechanism is connected to both the vision sensor and the crane body, and is used to obtain the amount of salt crystal deposition on the surface of the lifting device within the unit corrosion detection time, under the condition that the crane's stability under seawater spray impact does not meet the requirements. If the amount of salt crystal deposition is greater than or equal to the preset deposition amount, the crane is then judged to be affected by seawater droplets, and the counterweight of the crane is adjusted to slide in a horizontal direction away from the boom. The salt crystal deposition amount is the difference between the salt crystal area on the surface of the lifting device at the end of the unit corrosion detection time and the salt crystal area on the surface of the lifting device at the beginning of the unit corrosion detection time.

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

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